CN115040252B

CN115040252B - Front end actuator and method thereof, manipulator device and surgical instrument

Info

Publication number: CN115040252B
Application number: CN202210691470.1A
Authority: CN
Inventors: 王树新
Original assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Current assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2025-01-28
Anticipated expiration: 2040-11-30
Also published as: CN115040253A; CN115040251B; CN115040249A; CN115040254A; CN115040257B; CN115040248B; CN115040250A; CN112494143B; CN114848156B; CN115040253B; CN115040257A; CN115040256B; CN115040252A; CN115040254B; CN115040250B; CN115040251A; CN115040249B; CN115040255A; CN112494143A; CN115040256A

Abstract

The present disclosure provides a front-end actuator, comprising: a first driving arm, which can rotate around a first axis; and a second driving arm, which can rotate around a second axis and is connected to an actuator component; wherein the first axis and the second axis are perpendicular to each other and intersect at one point to realize movement of the front-end actuator in two degrees of freedom.

Description

Front end actuator, method thereof, manipulator device and surgical instrument

The application relates to a separate application of an application patent application with the application number 202011368299.8 and the application date 2020, 11 and 30, and the application name of the original application patent application is a front end actuator and a method thereof, a manipulator device and a surgical instrument.

Technical Field

The present disclosure relates to the field of manipulators, and more particularly to a front end effector, a method therefor, a manipulator device, and a surgical instrument.

Background

At present, the manipulator structure with the front end actuator is widely applied to surgical operations or processing and manufacturing industries, and has stricter requirements on the size and response speed of the front end actuator aiming at the fields of robot-assisted minimally invasive surgery systems or precision manufacturing and the like. In addition, the front end actuator needs to perform multi-degree-of-freedom motion, driving wires are generally distributed in the circumferential direction in the outer tube, when the front end actuator performs autorotation motion, the driving wires distributed in the circumferential direction are mutually wound, the wound driving wires can couple all motions on the front end actuator, and the friction force generated by the driving wires is far greater than the friction force of the driving wires on the guide wheel and the wire wheel, so that the motion precision and the load capacity of the front end actuator are seriously reduced.

Disclosure of Invention

First, the technical problem to be solved

The present disclosure provides a front end effector, a method thereof, a manipulator device and a surgical instrument to at least partially solve the technical problems set forth above.

(II) technical scheme

According to one aspect of the present disclosure, there is provided a front-end execution apparatus including:

the first sliding rail can rotate around a first shaft;

A second slide rail rotatable about a second axis intersecting the first axis at a point, and

The sliding block is connected between the first sliding rail and the second sliding rail in a sliding manner and is connected with an execution assembly of the front end executor.

According to another aspect of the present disclosure, there is provided a front-end execution apparatus, including:

a biaxial steering arm rotatable about a first axis, and

And the first end of the single-shaft steering arm is hinged with the double-shaft steering arm on a second shaft, and the second end of the single-shaft steering arm is connected with an execution assembly of the front end execution device, wherein the first shaft and the second shaft intersect at a point.

A circular arc shaped slide rail rotatable about a first axis, and

The sliding block is connected to the circular arc-shaped sliding rail in a sliding mode, can rotate around a second shaft and is connected to an execution assembly of the front end execution device, and the first shaft and the second shaft intersect at a point.

A first driving arm rotatable about a first axis, and

The second driving arm can rotate around the second shaft and is connected with the execution assembly;

The first shaft and the second shaft are perpendicular to each other and intersect at a point so as to realize the motion of the front end executing device in two degrees of freedom directions.

A cross-axis comprising a first cross-axis and a second cross-axis intersecting perpendicularly to each other, the front end actuator is used for being driven by the driving device to rotate around the first cross shaft and/or the second cross shaft so as to realize the driving of the front end actuator in two degrees of freedom, wherein the two degrees of freedom comprise a first degree of freedom and a second degree of freedom;

a front end effector fixed to both ends of one of the first and second intersecting axes of the intersecting axis, and

The guide wheel is arranged at two ends of the other one of the first cross shaft and the second cross shaft, so that the driving wire used for driving the rotation of the first degree of freedom is reversed to the same side of the driving wire used for driving the rotation of the second degree of freedom, wire penetrating holes of the driving wire located on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the rotation shaft of the second degree of freedom.

the front end actuator is fixed at two ends of one of a first cross shaft and a second cross shaft of the cross shaft;

A double-row guide wheel arranged at two ends of the other one of the first cross shaft and the second cross shaft, and

The four guide wheels are uniformly arranged on the side wall above the cross shaft, so that the driving wires used for driving the first degree of freedom to rotate are reversed to the same side as the driving wires for driving the second degree of freedom to rotate, wire penetrating holes of the driving wires located on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the rotating shaft of the second degree of freedom.

The two guide wheels are symmetrically arranged on the side wall above the cross shaft, so that the driving wires used for driving the first degree of freedom to rotate are reversed to the same side as the driving wires for driving the second degree of freedom to rotate, wire penetrating holes of the driving wires located on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the rotating shaft of the second degree of freedom.

A crisscross shaft including a first crisscross shaft and a second crisscross shaft intersecting perpendicularly to each other;

The U-shaped frame is provided with an upward opening, two front ends of the U-shaped frame are connected to two ends of the first cross shaft, and the bottom of the outer surface of the U-shaped frame is provided with an arc-shaped wire guide groove for arranging second driving wires and is used for rotating around the second cross shaft under the driving of the second driving wires so as to realize the driving of the front end executing device in a second degree of freedom;

A front end actuator fixed at both ends of the first cross shaft and coaxially connected with the U-shaped frame for rotating around the first cross shaft under the drive of a first driving wire to realize the driving of the front end actuator with a first degree of freedom, and

The guide wheel is arranged at two ends of the first cross shaft and used for guiding the second driving wires, so that wire penetrating holes of the first driving wires and the second driving wires on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the first cross shaft or the second cross shaft.

the double-row guide wheels are respectively arranged at two ends of the second cross shaft;

The U-shaped frame is provided with an upward opening, two front ends of the U-shaped frame are connected to two ends of the first cross shaft, and the bottom of the outer surface of the U-shaped frame is provided with a circular arc-shaped wire guide groove used for arranging a second driving wire and used for rotating around the second cross shaft under the driving of the second driving wire so as to realize the driving of the front end executing device in a second degree of freedom;

The two guide wheels are symmetrically arranged on the side wall above the cross shaft, so that wire penetrating holes of the first driving wire and the second driving wire on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the first cross shaft or the second cross shaft.

A cross shaft including a first cross shaft and a second cross shaft intersecting perpendicularly, the first cross shaft having first wire wheels at both ends and the second cross shaft having second wire wheels at both ends for rotating around the first cross shaft and/or the second cross shaft under the drive of a driving device to realize the driving of the front end executing device in two degrees of freedom including a first degree of freedom and a second degree of freedom, and

The guide wheel is arranged on the cross shaft and is coaxially arranged with the first wire wheel or the second wire wheel, so that the driving wire used for driving the rotation of the first degree of freedom is reversed to the same side of the driving wire used for driving the rotation of the second degree of freedom, wire penetrating holes of the driving wire positioned on the connecting seat are arranged in a straight line, and the straight line direction is parallel to the rotation shaft of the second degree of freedom.

A cross-shaft including a first cross-shaft and a second cross-shaft intersecting perpendicularly to each other for rotation about the first cross-shaft and/or the second cross-shaft under the drive of the drive device to achieve the drive of the front-end effector in two degrees of freedom including a first degree of freedom and a second degree of freedom, and

And the front end actuator is fixed at two ends of the first cross shaft or the second cross shaft of the cross shaft.

a U-shaped frame with an upward opening, two front ends of the U-shaped frame connected with the two ends of the first cross shaft and connected with a connecting seat of a front end actuator for rotating around the second cross shaft under the drive of a driving component to realize the driving of the front end actuator in a second degree of freedom, and

The front end actuator is fixed at two ends of the first cross shaft, is coaxially connected with the U-shaped frame and is used for rotating around the first cross shaft under the driving of the driving assembly so as to realize the driving of the front end actuator in a first degree of freedom.

According to another aspect of the present disclosure, there is provided a surgical instrument comprising a front end effector as previously described.

According to another aspect of the present disclosure, there is provided a robot apparatus, including:

a joint assembly comprising a front end effector as described above.

According to an embodiment of the disclosure, the front end execution device is provided in the joint assembly of the slave manipulator in the manipulator device, wherein the operation instruction of the slave manipulator is sent by the master manipulator.

(III) beneficial effects

As can be seen from the above technical solutions, the front end effector of the present disclosure, the method thereof, the manipulator device and the surgical instrument have at least one of the following beneficial effects:

(1) The deflection axis, the pitching axis and the self-rotation axis of the front end actuator are intersected at one point, namely, the front end actuator has the characteristic that three axes are intersected at one center, and compared with a structure which is not intersected at one center by three axes, the front end actuator has the advantages that under the condition of realizing the same movement angle, the movement turning radius of the structure is smaller, and the movement flexibility is higher;

(2) The three axes of the front end executor disclosed by the invention are intersected with a heart structure in kinematics to easily realize pose separation calculation, especially for an instrument arm with multiple degrees of freedom (six degrees of freedom or seven degrees of freedom), the kinematic inverse solution solving process of the instrument arm is easier, and the analytic solution can be obtained, so that the operand of a robot controller is reduced, and the motion control response speed of the robot is improved;

(3) The wire penetrating holes of the driving wires of the front-end actuator are distributed in a straight line, so that the driving wires in the outer tube are prevented from being mutually wound during autorotation, and the degree of coupling of each motion is reduced;

(4) In addition, the pressure angle of the sliding rail in the sliding block driving process is always 90 degrees, the theoretical value of the partial motion transmission efficiency is 100 percent, and the extremely high transmission efficiency can be still maintained in the sliding block moving process by considering the influence of friction force between the sliding block and the sliding rail;

(5) The front end executing device structure of the embodiment of the invention uses the guide rail sliding block structure to replace a part of the arrangement mode of the driving wire guide wheels, reduces the number of the guide wheels on the driving wire transmission path and can increase the driving force transmitted by the driving wire on the premise of meeting all the motion characteristics, and uses the guide rail sliding block structure to replace a part of the driving wire guide wheels can reduce the wrap angle of the driving wire by more than 50 percent, wherein the wrap angle of the driving wire in the front end executing device is only 3 pi/2 (each initial position), and the deflection motion and pitching motion loads of the front end executing device in the initial pose can reach 28N;

(6) The sliding blocks, the sliding rails and other tiny parts are generally made of medical metal materials, and the surfaces of the sliding blocks, the sliding rails and other parts are plated with fluorine-containing material films, so that the friction coefficient between the parts is further reduced, and the coated parts are easier to clean after operation;

(7) In the movement process of each part of the front end driving device, the position of the wire wheel is kept unchanged, namely the length of the driving wire between the driving wire wheel and the wire wheel is unchanged, and accurate driving can be realized after the driving wire is installed and pretensioned;

(8) In addition, as the upper end surfaces of the double-shaft steering arms and the connecting seat are provided with 30-degree included angles, one-way deflection angle of the deflection movement of the double-shaft steering arms can reach 150 degrees, and the operation flexibility of the surgical tool can be greatly improved;

(9) In addition, under the limit of the limit groove, the pulling force direction of the driving wire on the sliding block is always the same as the tangential direction of the sliding block movement, the influence of friction force is ignored, the pulling force of the driving wire is all acted on the sliding block, and the driving force of the driving mode is far greater than the driving mode of the wire wheel;

(10) The parts used by the front end execution device in the embodiment of the disclosure are usually micro parts or thin-walled parts, and the structure of the front end execution device has better rigidity under load due to the fact that the load direction of the front end execution device is different from the elastic deformation sensitive direction;

(11) The rotating axis of the front end execution device clamp page opening and closing action is overlapped with the deflection motion axis, so that the wrist size of the front end execution device can be further reduced, the structure is compact, the turning radius of deflection motion and pitching motion is shortened, and the load capacity is improved; in addition, the outer diameter of the normal operation tool is 8-10mm, a part with the length of 8mm at the next section of the outer diameter occupies a large part of image area, and the axial size of the front end execution device can be reduced by 8mm through the arrangement, so that the shielding of the operation tool on the visual field can be reduced to a great extent;

(12) Four guide wheels are uniformly distributed on the side wall above the cross shaft of the front end executing device, and the guide wheels are arranged above the cross shaft, so that occupation of space below the cross shaft can be reduced, and meanwhile, the rotation angle of pitching motion can be increased;

(13) According to the front end execution device, the clamp pages are arranged in a Z-shaped structure, so that parts which can interfere with the movement of the clamp pages do not exist in the rotation direction of the clamp pages, and the deflection angle of deflection movement can reach +/-125 degrees.

Drawings

Fig. 1 is a schematic structural view of a main hand end of a robot-assisted minimally invasive surgical system according to an embodiment of the disclosure.

Fig. 2 is a schematic diagram of a robot-assisted minimally invasive surgical system from the hand end in accordance with an embodiment of the present disclosure.

Fig. 3a is a schematic structural view of an instrument arm according to an embodiment of the present disclosure.

Fig. 3b is a schematic illustration of the movement of an instrument arm according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural view of a surgical tool according to an embodiment of the present disclosure.

Fig. 5a is a schematic structural diagram of a rear end driving device according to an embodiment of the disclosure.

Fig. 5b is a schematic diagram of an arrangement of a driving wire wheel according to an embodiment of the present disclosure.

Fig. 6 is a schematic structural view of an outer tube according to an embodiment of the present disclosure.

Fig. 7 is a schematic diagram of a drive wire versus outer tube in accordance with an embodiment of the present disclosure.

Fig. 8 is a schematic structural view of a flexible outer tube according to an embodiment of the present disclosure.

Fig. 9 is an enlarged partial schematic view of a flexible outer tube according to an embodiment of the present disclosure.

Fig. 10 is a cross-sectional view of a flexible outer tube along an axis of an embodiment of the present disclosure.

Fig. 11 is a schematic diagram of length compensation of a drive wire within a flexible outer tube in accordance with an embodiment of the present disclosure.

FIG. 12 is a schematic view of a transition ring of a device that may adjust the position of a cavity within a multi-lumen tube according to an embodiment of the present disclosure.

Fig. 13 is a schematic view of a change in the relative position of a drive wire in a bending direction within a flexible outer tube in accordance with an embodiment of the present disclosure.

Fig. 14 is a schematic structural view of a flexible outer tube according to yet another embodiment of the present disclosure.

Fig. 15 is a schematic diagram illustrating the movement of a front end effector according to an embodiment.

Fig. 16 is a schematic diagram illustrating an internal structure of a front end execution device according to an embodiment.

FIG. 17 is a schematic diagram of a front end effector drive wire arrangement according to one embodiment.

Fig. 18 is a schematic diagram illustrating the movement of the front end effector according to an embodiment.

Fig. 19 is a schematic structural view of a front end execution device according to another embodiment.

Fig. 20 is a schematic view of a deflection seat of a front end execution device according to another embodiment.

Fig. 21 is a schematic view of a jaw structure of a front end execution device according to another embodiment.

Fig. 22 is a schematic view of pitching motion of the front end effector according to still another embodiment.

Fig. 23 is a schematic view of a front end effector deflecting and opening and closing movement according to yet another embodiment.

Fig. 24 is a schematic view showing a driving wire arrangement mode of pitching motion of the front end executing device according to still another embodiment.

Fig. 25 is a schematic view showing a driving wire arrangement mode of the front end effector for deflection and opening and closing movements according to still another embodiment.

FIG. 26 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector in accordance with yet another embodiment.

Fig. 27 is a schematic structural diagram of a front end execution device according to another embodiment.

Fig. 28 is a schematic diagram illustrating an internal structure of a front end execution device according to another embodiment.

Fig. 29 is a schematic view of a structure of a deflection seat of a front end effector according to another embodiment.

Fig. 30 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment.

Fig. 31 is a schematic view of pitching motion of the front end effector according to still another embodiment.

FIG. 32 is a schematic view of a front end effector deflecting and opening and closing motion according to yet another embodiment.

FIG. 33 is a schematic view of a drive wire arrangement for pitching motion of the front end effector in accordance with yet another embodiment.

FIG. 34 is a schematic view of a drive wire arrangement for deflecting and opening movement of a front end effector according to yet another embodiment.

FIG. 35 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector according to yet another embodiment.

Fig. 36 is a schematic structural view of a front end execution device according to still another embodiment.

Fig. 37 is an exploded view of a front end actuator according to yet another embodiment.

Fig. 38 is a schematic view of a connection base structure of a front end execution device according to another embodiment.

Fig. 39 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment.

FIG. 40 is a schematic view of pitching motion of the front end effector of yet another embodiment.

FIG. 41 is a schematic view of a further embodiment of the front end effector deflecting and opening and closing motion.

FIG. 42 is a schematic view of a drive wire arrangement for pitching motion of the front end effector in accordance with yet another embodiment.

FIG. 43 is a schematic view of a drive wire arrangement for deflecting and opening movement of a front end effector according to yet another embodiment.

FIG. 44 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector according to yet another embodiment.

Fig. 45 is a schematic structural diagram of a front end execution device according to another embodiment.

Fig. 46 is an exploded view of a front end effector of yet another embodiment.

Fig. 47 is a schematic view of a deflection motion of a front end effector according to yet another embodiment.

Fig. 48 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment.

FIG. 49 is a schematic view of a front end effector pitch and yaw movement according to yet another embodiment.

Fig. 50 is a schematic structural diagram of a front end execution device according to another embodiment.

FIG. 51 is a schematic view of three degrees of freedom motion of a front end effector according to yet another embodiment.

Fig. 52 is a graph showing the change in the deflection angular displacement of each shaft when the distal end effector 231 simulates the "needle-holding suture" operation.

Fig. 53 is a graph showing the change in the deflection angular displacement of each shaft when the front end effector 232 simulates the "needle-holding suture" operation.

FIG. 54 is a schematic view of a drive wire arrangement for deflecting motion of a front end effector in accordance with yet another embodiment.

Fig. 55 is a schematic view of a driving wire arrangement mode of the front end executing device in autorotation motion according to still another embodiment.

Fig. 56 is a schematic structural diagram of a front end execution device according to another embodiment.

Fig. 57 is a schematic view of three degrees of freedom motion of a front end effector according to yet another embodiment.

Fig. 58 is an exploded view of a front end effector of yet another embodiment.

Fig. 59 is a schematic view showing a structure of a front end effector deflector mount according to still another embodiment.

Fig. 60 is a schematic view of a front end effector mounted on a rotating base according to yet another embodiment.

Fig. 61 is a schematic view of a front end effector jaw mounting structure according to yet another embodiment.

Fig. 62 is a schematic view of a front end effector jaw mounting in accordance with another embodiment.

Fig. 63 is a schematic structural diagram of a front end execution device according to another embodiment.

FIG. 64 is an exploded view of a front end actuator according to yet another embodiment.

FIG. 65 is a schematic view of a cross-shaft of a front end effector according to yet another embodiment.

FIG. 66 is a schematic view of a drive wire arrangement of a front end effector in accordance with yet another embodiment.

Fig. 67 is a schematic view of a driving wire arrangement of the front end effector in another view according to still another embodiment.

FIG. 68 is a schematic view showing a change in the length of a driving wire of a front end effector according to still another embodiment.

Fig. 69 is a schematic structural diagram of a front end execution device according to an embodiment of the present disclosure.

Fig. 70 is a partial enlarged view of a front end effector of an embodiment of the present disclosure.

Fig. 71 is a schematic structural view of a circular arc-shaped sliding rail of a front end execution device according to an embodiment of the disclosure.

Fig. 72 is a schematic structural diagram of a front end effector slider according to an embodiment of the present disclosure.

Fig. 73 is a schematic diagram of a driving wire arrangement of a front end effector according to an embodiment of the present disclosure.

Fig. 74 is a schematic view of a driving wire of a front end executing device driving a sliding rail to rotate according to an embodiment of the disclosure.

Fig. 75 is a schematic structural diagram of a front end execution device according to another embodiment of the present disclosure.

Fig. 76 is a schematic view showing a serial mechanical arm mechanism structure of a front end effector according to still another embodiment of the present disclosure.

Fig. 77 is a schematic structural view of a biaxial steering arm of a front end actuator according to yet another embodiment of the present disclosure.

Fig. 78 is a schematic structural view of a single-axis steering arm of a front end effector according to still another embodiment of the present disclosure.

Fig. 79 is a schematic view of a drive wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

FIG. 80 is a schematic illustration of a drive wire arrangement on a dual-axis steering arm according to yet another embodiment of the present disclosure.

Fig. 81 is a schematic view of a drive wire arrangement on a single axis steering arm in accordance with yet another embodiment of the present disclosure.

Fig. 82 is a schematic view of a driving wire of a front end executing device according to another embodiment of the disclosure driving a sliding rail to rotate.

Fig. 83 is a diagram showing a relationship between the rotation angles of the sliding rail driven by the driving wire of the front end actuator according to another embodiment of the present disclosure.

Fig. 84 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 85 is a schematic structural diagram of a dual-rail structure of a front-end execution device according to another embodiment of the disclosure.

Fig. 86 is a schematic view of a slider connection structure of a front end effector according to yet another embodiment of the present disclosure.

Fig. 87 is a schematic view of a drive wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 88 is a schematic view of a driving wire arrangement of a dual rail according to still another embodiment of the present disclosure.

Fig. 89 is a schematic view of a front end effector driven by a drive wire according to yet another embodiment of the present disclosure.

Fig. 90 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 91 is a schematic diagram of two driving arms of a front end actuator according to another embodiment of the present disclosure.

Fig. 92 is a schematic view of a lower driving arm of a front end actuator according to another embodiment of the present disclosure.

Fig. 93 is a schematic structural view of an upper driving arm of the front end actuator according to another embodiment of the present disclosure.

Fig. 94 is a schematic diagram of a coordinate system of a front-end execution device according to another embodiment of the disclosure.

Fig. 95 is a schematic view of a front end effector drive wire arrangement according to yet another embodiment of the present disclosure.

Fig. 96 is a schematic view of an arrangement of driving wires on a wire wheel of a front end effector according to yet another embodiment of the present disclosure.

Fig. 97 is a schematic view of a driving wire of a front end actuator according to yet another embodiment of the present disclosure driving a driving arm to rotate.

Fig. 98 is a schematic structural view of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 99 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure.

FIG. 100 is a schematic view of a cross-shaft of a front end effector according to another embodiment of the present disclosure.

Fig. 101 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

FIG. 102 is a schematic view of a drive wire arrangement on a cross-shaft of a front end effector according to yet another embodiment of the present disclosure.

Fig. 103 is a schematic diagram illustrating an arrangement of the driving wire cross shaft of the front end effector according to another embodiment of the present disclosure.

Fig. 104 is a schematic diagram of a front end effector performing pitch motions according to yet another embodiment of the present disclosure.

Fig. 105 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure on a deflecting wire wheel.

Fig. 106 is a schematic view of an arrangement of driving wires of a front end effector on a deflecting wire wheel according to another aspect of the present disclosure.

Fig. 107 is a schematic diagram illustrating a front end effector performing a yaw motion according to yet another embodiment of the present disclosure.

Fig. 108 is a schematic diagram illustrating a distribution of threading holes of a front end effector according to yet another embodiment of the present disclosure.

Fig. 109 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 110 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure.

Fig. 111 is a schematic structural view of an electric hook seat of a front end effector according to another embodiment of the present disclosure.

Fig. 112 is a schematic diagram of a driving wire arrangement of a front end effector 310 according to still another embodiment of the present disclosure.

Fig. 113 is a schematic view showing an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure on a pitch wire wheel.

Fig. 114 is a schematic view of a front end effector performing pitch motions according to yet another embodiment of the present disclosure.

Fig. 115 is a schematic view showing an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure on a deflecting wire wheel.

Fig. 116 is a schematic view illustrating an arrangement of driving wires of a front end effector on a deflecting wire wheel according to another embodiment of the present disclosure.

FIG. 117 is a schematic view of a front end effector performing a yaw motion according to yet another embodiment of the present disclosure.

Fig. 118 is a schematic structural diagram of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 119 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure.

Fig. 120 is a schematic diagram of a front end effector clamp according to another embodiment of the present disclosure.

Fig. 121 is a schematic view of a pitch angle of a front-end effector according to still another embodiment of the present disclosure.

Fig. 122 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

FIG. 123 is a schematic view of a pitch movement drive wire arrangement on a cross-shaft of a front end effector according to yet another embodiment of the present disclosure.

Fig. 124 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing a pitching motion.

Fig. 125 is a schematic view showing an arrangement of driving wires on a cross shaft for a deflection movement and an opening and closing movement of a front end effector according to still another embodiment of the present disclosure.

Fig. 126 is a schematic view of an arrangement of drive wires on a jaw for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 127 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing a yaw and an open/close motion.

Fig. 128 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 129 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure.

Fig. 130 is a schematic structural diagram of a front end effector structure clamp according to another embodiment of the present disclosure.

Fig. 131 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 132 is a schematic view illustrating an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure on a pitch wire wheel.

Fig. 133 is a schematic view of a front end effector performing pitch motions according to yet another embodiment of the present disclosure.

FIG. 134 is a schematic view of a drive wire arrangement on a cross-shaft for yaw movement and opening and closing movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 135 is a schematic view showing an arrangement of driving wires on a cross shaft for performing a yaw motion and an opening and closing motion of a front end effector according to another embodiment of the present disclosure.

Fig. 136 is a schematic view of an arrangement of drive wires on a jaw for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

FIG. 137 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing yaw and pitch motions.

Fig. 138 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 139 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure.

Fig. 140 is a schematic structural view of a cross-shaft of a front end effector according to yet another embodiment of the present disclosure.

Fig. 141 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 142 is a schematic view illustrating an arrangement of driving wires of a front end effector on a cross-shaft according to still another embodiment of the present disclosure.

Fig. 143 is a schematic diagram of a front end effector performing pitch motions according to yet another embodiment of the present disclosure.

Fig. 144 is a schematic view showing an arrangement of driving wires for deflecting and opening/closing movement of a front end effector according to still another embodiment of the present disclosure on a guide wheel.

Fig. 145 is a schematic view showing an arrangement of driving wires for a deflection movement and an opening and closing movement of a front end effector according to still another embodiment of the present disclosure on a jaw.

FIG. 146 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing yaw and pitch motions.

Fig. 147 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 148 is an exploded view of the front end effector structure of yet another embodiment of the present disclosure.

FIG. 149 is a schematic view of a cross-shaft of a front end effector according to another embodiment of the present disclosure.

Fig. 150 is a schematic view illustrating a structure of a front end effector clamp according to another embodiment of the present disclosure.

Fig. 151 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

FIG. 152 is a schematic view of an arrangement of drive wires on a cross-shaft of a front end effector according to yet another embodiment of the present disclosure.

Fig. 153 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing a pitching motion.

FIG. 154 is a schematic illustration of a drive wire arrangement for a deflection motion and an opening and closing motion of a front end effector according to yet another embodiment of the present disclosure.

Fig. 155 is a schematic diagram of a driving wire arrangement of a front end effector for yaw movement and opening and closing movement under another view of a further embodiment of the present disclosure.

Fig. 156 is a schematic view of the arrangement of drive wires on a jaw for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 157 is a schematic diagram illustrating a front end effector performing a yaw and an open/close motion according to yet another embodiment of the present disclosure.

Fig. 158 is a schematic structural diagram of a front end execution device according to another embodiment of the present disclosure.

Fig. 159 is an exploded view of the front end effector structure of yet another embodiment of the present disclosure.

Fig. 160 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 161 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 162 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure.

FIG. 163 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 164 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 165 is an exploded view of the structure of a front-end effector according to yet another embodiment of the present disclosure.

Fig. 166 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 167 is a schematic diagram of a drive wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 168 is a schematic diagram of a drive wire arrangement for pitching motion of a front end effector in accordance with yet another embodiment of the present disclosure.

Fig. 169 is a schematic view showing a driving wire arrangement mode of the deflection and opening-closing movement of the front-end effector according to still another embodiment of the present disclosure.

Fig. 170 is a schematic structural diagram of a front-end execution device according to another embodiment of the disclosure.

Fig. 171 is an exploded view of the structure of a front end effector according to still another embodiment of the present disclosure.

Fig. 172 is a schematic view of a jaw structure of a front-end execution device according to another embodiment of the disclosure.

Fig. 173 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 174 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure.

Fig. 175 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 176 is a schematic structural view of a front end executing device according to still another embodiment of the present disclosure.

Fig. 177 is an exploded view of a front end effector structure according to still another embodiment of the present disclosure.

Fig. 178 is a schematic view of a jaw structure of a front-end execution device according to another embodiment of the disclosure.

Fig. 179 is a schematic view of a deflection driving wheel structure of a front end actuator according to another embodiment of the present disclosure.

Fig. 180 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 181 is a schematic diagram of a driving wire arrangement of a pitching motion of a front end effector according to still another embodiment of the present disclosure.

FIG. 182 is a schematic illustration of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 183 is a schematic structural diagram of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 184 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure.

Fig. 185 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 186 is a schematic view of a deflection driving rack of a front end effector according to still another embodiment of the present disclosure.

Fig. 187 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 188 is a schematic view of a drive wire arrangement for pitching motion of a front end effector in accordance with yet another embodiment of the present disclosure.

FIG. 189 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 190 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure.

Fig. 191 is an exploded view of a front-end actuator structure according to yet another embodiment of the present disclosure.

Fig. 192 is a schematic cross-shaft structure of a front end effector according to another embodiment of the present disclosure.

Fig. 193 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure.

Fig. 194 is a schematic diagram of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 195 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure.

Fig. 196 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 197 is a schematic structural view of a flexible front end effector according to an embodiment of the present disclosure.

FIG. 198 is a schematic illustration of a joint of a flexible front end effector in a V-shaped slot according to an embodiment of the present disclosure.

Fig. 199 is a schematic view of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 200 is a schematic diagram of a joint structure of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 201 is a cross-sectional view of a joint structure of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 202 is a schematic structural view of a flexible front end actuator according to yet another embodiment of the present disclosure.

Fig. 203 is a schematic view illustrating a bending angle of a flexible front end effector according to still another embodiment of the present disclosure.

FIG. 204 is a schematic diagram of a flexible front end effector having variable stiffness properties according to an embodiment of the present disclosure.

Fig. 205 is a schematic diagram of the internal structure of a flexible front end effector with variable stiffness capability according to an embodiment of the present disclosure.

Fig. 206 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 207 is a schematic view of a flexible hinge connection structure of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 208 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 209 is a schematic view of an articulation structure of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 210 is a schematic view of a discrete joint working of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 211 is a cross-sectional view in the cross-sectional direction shown in fig. 208.

FIG. 212 is a thickened discrete joint schematic diagram of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 213 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 214 is a schematic main body structure of a flexible front end execution device according to still another embodiment of the present disclosure.

Fig. 215 is a schematic diagram of a driving unit structure of a flexible front end execution device according to still another embodiment of the present disclosure.

Fig. 216 is a side view of a drive unit of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 217 is a schematic view of torque generated when the outer tube of the drive unit of the flexible front end effector of yet another embodiment of the present disclosure is bent.

FIG. 218 is a schematic view of the cutting direction of the outer tube and the inner tube of the flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 219 is a schematic structural diagram of a front-end execution device according to an embodiment of the present disclosure.

Fig. 220 is a schematic view illustrating an internal structure of a swing joint of the front end effector according to an embodiment of the present disclosure.

Fig. 221 is a schematic diagram of a deflection motion of a front end effector according to an embodiment of the present disclosure.

Fig. 222 is a schematic diagram of driving modes of each swing joint of the front end effector according to the embodiment of the present disclosure.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather as provided so that the disclosure meets applicable legal requirements.

In one exemplary embodiment of the present disclosure, a front end execution apparatus is provided. The front-end execution device is used for a surgical instrument structure of a robot-assisted minimally invasive surgery system, the surgical instrument structure can be configured for a multi-hole minimally invasive surgery robot and a single-hole minimally invasive surgery robot, and the surgical instrument structure can be used as a common multi-degree-of-freedom minimally invasive surgery instrument or a handheld electrically-driven minimally invasive surgery instrument by adjusting a driving mode and a control method of the instrument.

It should be noted that, the application of the front-end execution device of the present disclosure is not limited to this, and the front-end execution device of the present disclosure may also be used in other technical fields such as manufacturing or warehouse logistics.

Fig. 1 is a schematic structural view of a main hand end of a robot-assisted minimally invasive surgical system according to an embodiment of the disclosure. Fig. 2 is a schematic diagram of a robot-assisted minimally invasive surgical system from the hand end in accordance with an embodiment of the present disclosure. As shown in fig. 1 and 2, the robot-assisted minimally invasive surgery system comprises a master hand end 01, a slave hand end 02 and a three-dimensional image display system 03. The master manipulator 11 and the three-dimensional image system 03 are provided on the master manipulator 01, and the master manipulator 11 is used for controlling the instrument arm 12 and the surgical tool 13 provided on the slave means 02. The slave hand 02 is provided with a plurality of instrument arms 12, each instrument arm 12 being provided with a different functional surgical tool 13, such as tissue forceps, needle holder, energy tool, ultrasonic knife, etc., at the time of surgery to cope with the surgical needs of different surgeries. One of the plurality of instrument arms 12 is mounted with an endoscope 14 for intra-operative image transmission.

During the surgical procedure, the instrument arm 12 with the endoscope 14 mounted thereto positions and orients the endoscope 14 via attitude adjustment. The endoscope 14 enters the human body after passing through the minimally invasive incision (poking card), can acquire three-dimensional images of the operation implementation part, synchronously transmits the three-dimensional images of the focus part to the three-dimensional image system 03 arranged on the main hand end 01, and performs operation by watching the three-dimensional images, namely, the doctor watches the synchronous images of the focus part on the three-dimensional image system 03 at the main hand end 01, simultaneously operates the main operation hand 11, and controls the positions and the actions of the instrument arms 12 and the operation tool 13 on the auxiliary hand end 02 by adjusting the position and the posture of the main operation hand 11 so as to complete the operation. Fig. 3a is a schematic structural view of an instrument arm according to an embodiment of the present disclosure. Fig. 3b is a schematic illustration of the movement of an instrument arm according to an embodiment of the present disclosure. As shown in fig. 3a and 3b, the surgical tool 13 is driven by the instrument arm 12 to perform the spatial 3 degree-of-freedom motions P1, P2, wherein P1 is a linear motion passing through the stationary point O, and P1, P2 is a deflection motion around the stationary point O.

The master hand end 01 and the slave hand end 02 can be arranged in the same operating room to perform robot-assisted minimally invasive surgery, and the master hand end 01 and the slave hand end 02 can also be respectively arranged in different areas, and the robot-assisted remote minimally invasive surgery is completed through signal transmission of a commercial broadband or 5G mobile network.

Fig. 4 is a schematic structural view of a surgical tool according to an embodiment of the present disclosure. As shown in fig. 4, the surgical tool 13 includes a rear end driving device 21, an outer tube 22, and a front end effector 23. The surgical tool 13 is usually driven by a wire drive to achieve remote driving force transmission in a narrow channel, so as to meet the operation requirements of different surgical modes of various minimally invasive surgeries.

Fig. 5a is a schematic structural diagram of a rear end driving device according to an embodiment of the disclosure. As shown in fig. 5a, the main structure includes driving wire wheels 21a and guiding wheels 21b, and the number of the driving wire wheels 21a is determined by the number of degrees of freedom of the actual structure of the front end effector 23, and is not limited to a specific number. The driving wire is wound on the driving wire wheel 21a at one end, the other end bypasses the guide wheel, and extends from the inside of the outer tube 22 to the front end executing device 23, and the rotation of the driving wire wheel 21a can pull the driving wire to move so as to drive all parts of the front end executing device 23 to move.

The arrangement of the driving wire wheel 21a on the rear end driving device 21 is generally that the rotation axis of the driving wire wheel 21a is parallel to the axis of the outer tube 22. Such an arrangement facilitates mounting of the surgical tool 13 on the instrument arm 12. In the robot-assisted minimally invasive surgery process, surgical tools 13 with different functions can be frequently replaced on the instrument arm 12, and the surgical tools 13 adopting the arrangement mode are shorter in replacement time, so that the risk of surgical infection is reduced. In addition, with the surgical tool 13 of this arrangement, the drive wire lengths between the different drive wire wheels 21a and the front end effector 23 are substantially the same. Because the driving wires are subjected to creep elongation during the whole service life after being installed and tensioned, the driving wires in the surgical tool 13 in the arrangement mode have basically the same loosening amount in the use process, and the accurate driving of the surgical tool 13 is facilitated.

For the surgical tool 13 with a large number of degrees of freedom, such as a single-hole robotic surgical tool or a natural-cavity robotic surgical tool, the rear end driving device 21 thereof adopts a structure in which the rotation axis of the driving wire wheel 21a is arranged perpendicularly to the axis of the outer tube 22. Fig. 5b is a schematic diagram of an arrangement of a driving wire wheel according to an embodiment of the present disclosure. As shown in fig. 5b, due to the greater number of driving wire wheels 21a, the tangential dimension of the surgical tool 13 can be reduced by adopting the arrangement mode, thereby reducing the dimension of the robot from the hand end 02, and being more beneficial to increasing the movable space of the driving arm 12.

In the robot-assisted minimally invasive surgery implementation process, the surgical tool 13 is to be installed at a surgical tool interface on the instrument arm 12, and a driving motor is arranged at the interface and can drive the rotation of the driving wire wheel 21a in the rear end driving device 21 so as to control the movement of the front end executing device 23. Namely, during the operation, the doctor controls the precise movement of the instrument arm 12 and the front end actuating device 23 of the operation tool 13 by manipulating the main manipulator 11, thereby completing the operation.

The outer tube 22 shown in fig. 4 is an elongated tube structure, two ends of which are respectively connected to the rear end driving device 21 and the front end actuating device 21, and for surgical tools 13 with different functions, the outer diameter of the outer tube 22 is often set to be 10mm, 9.5mm, 8mm, 5mm, etc., and the outer shape is not limited to a straight rod form, and in some specific surgical formulas, the outer tube 22 with an "S" shape and an "L" shape may be used.

Fig. 6 is a schematic structural view of an outer tube according to an embodiment of the present disclosure. As shown in fig. 6, the outer tube 22 is not limited to a rigid structure, such as in endoscopic surgery, natural orifice surgery, and it is desirable to use the surgical tool 13 with a flexible outer tube 22. To achieve a precise drive of the front end effector 23, a quantitative preload is applied to the drive wire during the production and assembly of the surgical tool 13. When the outer tube 22 is of a flexible tubular structure, bending of the flexible outer tube 22 may loosen the driving wire, rendering the front end effector 23 incapable of accurate driving. Fig. 7 is a schematic diagram of a drive wire versus outer tube in accordance with an embodiment of the present disclosure. As shown in fig. 7, when the flexible outer tube 22 is bent and then a driving force is applied to the driving wire, the driving wire can find the shortest path in the outer tube 22 to be tensioned again, and the movement of the front end actuating device 23 can not be controlled. So for surgical tools 13 that use a flexible outer tube 22, the drive is a wire sheath drive.

Fig. 8 is a schematic structural view of a flexible outer tube according to an embodiment of the present disclosure. As shown in FIG. 8, the outer tube 22 is a multi-lumen tube structure made of a flexible material having a low coefficient of friction, such as LDPE, HDPE, or the like. A plurality of cavities with circular cross sections for driving wires 22a to pass through are distributed in the outer tube 22, the axis of each cavity is parallel to the axis of the outer tube 22, and the cavities penetrate through the whole outer tube 22. The inner diameter of the cavity is slightly larger than the outer diameter of the driving wire 22a, and the driving wire can be limited to move radially, so that the driving wire always moves along the axis when being pulled by driving force, and the driving wire 22a and the cavity form a wire sheath transmission system.

The cavity is formed with the outer tube 22 in one piece. Fig. 9 is an enlarged partial schematic view of a flexible outer tube according to an embodiment of the present disclosure. Referring to fig. 9, a plurality of cavities may be provided in the outer tube 22, wherein the number of threading cavities 22b for the passage of the drive wires 22a is the same as the number of drive wires 22 a. Depending on the application of the surgical tool 13, one or more functional cavities 22c may be provided in the outer tube 22 for passing through other components than the drive wires, such as wires for power supply, optical fibers for data transmission, catheters for suction under negative pressure, hypotubes, wire-harnesses, springs, etc. for improving the bending resilience, axial compression resistance of the outer tube 22. The cross-sectional size and shape of the functional cavity 22c may be set according to the type of the component inside thereof, not limited to a specific specification.

The surgical tool 13 having the flexible outer tube 22 is used for an inner diameter surgery or a natural orifice surgery, and the surgical tool 13 passes through natural orifice of human body such as esophagus, intestinal tract, urethra, etc. during the operation. Fig. 10 is a cross-sectional view of a flexible outer tube along an axis of an embodiment of the present disclosure. When the surgical tool 13 passes through the natural cavity, the flexible outer tube 22 is bent, so that the theoretical length value of the inner driving wire 22a and the outer driving wire 22a in the bending direction is changed, and the length difference of the two driving wires 22a is aθpi/180. Fig. 11 is a schematic diagram of length compensation of a drive wire within a flexible outer tube in accordance with an embodiment of the present disclosure. If no drive wire length compensation is taken, the initial attitude of the front end effector 23 and thus the operation of the surgical tool 13 is affected.

The flexible outer tube 22 of the multi-cavity tube structure is manufactured by extrusion molding, and the inner radial position of each cavity in the whole pipeline is kept unchanged, so that the length compensation of the driving wire cannot be realized by changing the position or the shape of the cavity.

FIG. 12 is a schematic view of a transition ring of a device that may adjust the position of a cavity within a multi-lumen tube according to an embodiment of the present disclosure. The device transition ring 22g is internally provided with threading cavities 22b with spiral structures, the number of the threading cavities is the same as that of the flexible outer tube 22, and the outlet positions of each threading cavity 22b on two end surfaces of the transition ring 22g are different by 180 degrees in the axial direction. The transition ring 22g may be injection molded or 3D printed, with both ends bonded or welded to the flexible outer tube 22.

Fig. 13 is a schematic view of a change in the relative position of a drive wire in a bending direction within a flexible outer tube in accordance with an embodiment of the present disclosure. As shown in fig. 13, after the driving wires 22a in the flexible outer tube 22 pass through the transition ring 22g, the relative positions of the driving wires 22a in the bending direction change, the positions of the inner driving wires 22a and the outer driving wires 22a in the bending direction are exchanged, the lengths of the driving wires at the two ends of the transition ring 22g compensate each other, and the initial pose of the front end driving device 23 is not affected. Depending on the length of the surgical tool 13, a plurality of transition rings 22g may be provided on the flexible outer tube 22, the number of transition rings being 2n-1, where n=1, 2,3.

Fig. 14 is a schematic structural view of a flexible outer tube according to yet another embodiment of the present disclosure. The main structure of the flexible outer tube 22 is in the form of a flexible metal tube 22d wrapped with an insulating film 22 e. The flexible metal tube 22d may be a wire (ribbon) braided tube, hypotube, spring tube, or the like, which provides a high torsional stiffness to the outer tube 22. The inner wall of the flexible metal tube 22d is fixed with a plurality of beam tubes 22f, and the axis of the beam tube 22f is parallel to the axis of the flexible metal tube 22. The harness tube 22f and the drive wire 22a constitute a wire sheath transmission system.

Fig. 15 is a schematic diagram illustrating the movement of a front end effector according to an embodiment. The front end executing device 231 is fixedly connected with the outer tube 22, and can perform multi-degree-of-freedom motion under the driving of the rear end driving device 21, including rotation motion R1, yaw motion R2 and pitch motion R3 around the axis of the outer tube 22, and the front end executing device 231 with different functions can perform other types of actions, such as opening and closing actions K performed by the clamping front end executing device.

Fig. 16 is a schematic diagram illustrating an internal structure of a front end execution device according to an embodiment. The front end effector includes a connection base 231a, a deflection base 231b, a support base 231c, and the like. The connection seat 231a is used for connecting the outer tube 22 with the front end executing device 231, the connection seat 231a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 231a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 231 to realize the rotation motion R1.

The deflection seat 231b is mounted on the shaft seat 231d of the connection seat 231a, and the deflection seat 231b can rotate around the shaft R3. The other end of the deflection seat 231b is provided with a supporting seat 231c, and the supporting seat 231c is used for installing a device for implementing specific operation actions, which can be clamping pliers, scissors, energy tools, negative pressure suction tools and the like, and various tools are of general structures and are not described in detail. The support seat 231c is rotatable about the axis R2.

FIG. 17 is a schematic diagram of a front end effector drive wire arrangement according to one embodiment. For pitching motion R3, a driving wire 231e is fixedly arranged on a pitching wire wheel 231f at the inner side of a deflection seat 231b, and two ends of the driving wire 231e pass through wire penetrating holes formed in a connecting seat 231a after bypassing the pitching wire wheel 231f and are fixedly arranged on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22. The rotation of the deflection seat 231b about the axis R3 can be achieved by pulling both ends of the driving wire 231 e.

For the deflection movement R2, the driving wire 231e is fixedly mounted on the deflection wire wheel 231g inside the supporting seat 231c, and both ends of the driving wire 231e pass through the wire threading holes provided on the connecting seat 231a after bypassing the deflection wire wheel 231g and are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The rotation of the support seat 231c around the axis R2 can be achieved by pulling both ends of the driving wire 231 e.

Fig. 18 is a schematic diagram illustrating the movement of the front end effector according to an embodiment. As shown in fig. 18, the front end effector 241 is fixedly connected to the outer tube 22, and is capable of performing multiple degrees of freedom motions including a rotation motion R1, a yaw motion R2, and a pitch motion R3 about the axis of the outer tube 22 under the driving of the rear end driving device 21.

Fig. 19 is a schematic structural diagram of a front end execution device according to an embodiment. As shown in fig. 19, the front end effector 241 includes a socket 241a, a deflector 241b, a clamp 241c, and the like. The connecting seat 241a is used for connecting the outer tube 22 with the front end executing device 241, the connecting seat 241a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 241a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 241 to realize the rotation motion R1.

Fig. 20 is a schematic view of a deflection seat of a front end effector according to an embodiment. Referring to fig. 19 and 20, the deflection seat 241b is mounted on a rotation shaft 241f provided on a deflection shaft seat 241d of the connection seat 241a, and the deflection seat 241b is rotatable on the rotation shaft 241f about an axis R2, as shown in fig. 18. The pivot seat 241e provided at the other end of the pivot seat 241b is provided with a clamp 241c, and the clamp 241c is rotatable about the axis R3.

Fig. 21 is a schematic view of a jaw structure of a front-end execution device according to an embodiment. Referring to fig. 21, a pitching wire wheel 241g is fixedly mounted on the jaw 241, the rotation axis of the pitching wire wheel 241g coincides with the rotation axis of the jaw 241c, and the rotation of the pitching wire wheel 241g can drive the jaw 241c to rotate around the axis R3, as shown in fig. 22. A pitch guide wire groove 241l is provided on the cylindrical surface of the yaw seat 241 b.

Referring to fig. 19, two clamp sheets 241c disposed on the deflection seat 241b are respectively driven by respective pitching wire wheels 241g, the rotation movements of the two clamp sheets 241c are independent from each other, and the pivoting movement of the clamp sheets 241c can simultaneously realize a pitching movement R3 and an opening and closing movement K, as shown in fig. 23.

Fig. 24 is a schematic view showing a driving wire arrangement mode of pitching motion of the front end executing device according to still another embodiment. Fig. 25 is a schematic view showing a driving wire arrangement mode of the front end effector for deflection and opening and closing movements according to still another embodiment. For the deflection movement R2, a deflection guide wire groove 241i is formed in the deflection seat 241b, one end of a driving wire 241h is fixed in a wire hole in the upper portion of the deflection guide wire groove 241g, the other end of the driving wire 241h passes through a wire penetrating hole formed in the connection seat 241a and is fixedly arranged on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other driving wire 241h is symmetrically arranged in the same mode, and the two driving wires 241h are pulled to realize the rotation of the supporting seat 241c around the shaft R2.

For the pitching movement R3 and the opening and closing movement K, the driving wire 241h is mounted on the pitching wire wheel 241g by a screw 241K fixed thereto. FIG. 26 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector in accordance with yet another embodiment. As shown in fig. 26, two ends of a driving wire 241h bypass a pitching wire wheel 241g, pass through wire penetrating holes formed in a connecting seat 241a along a pitching wire guiding groove 241l and a double-row guiding wheel 241m, and are fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through an outer tube 22, and the other driving wire 241h is symmetrically arranged in the same manner, and pulls the driving wire 241h, so that the rotation and opening and closing movement K of a supporting seat 241c around an axis R3 can be realized.

Fig. 27 is a schematic structural diagram of a front end execution device according to another embodiment. The front end executing device 242 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the drive of the rear end driving device 21, including rotation motion R1, yaw motion R2 and pitch motion R3 around the axis of the outer tube 22.

Fig. 28 is a schematic diagram illustrating an internal structure of a front end execution device according to another embodiment. The front end effector 242 includes a seat 242a, a deflector 242b, a jaw 242c, and the like. The connection seat 242a is used for connecting the outer tube 22 with the front end executing device 242, the connection seat 242a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 242a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 242 to realize the rotation motion R1.

Fig. 29 is a schematic view of a structure of a deflection seat of a front end effector according to another embodiment. Referring to fig. 28 and 29, the deflection seat 242b is mounted on a rotation shaft 242f provided on a deflection shaft seat 242d of the connection seat 242a, and the deflection seat 242b is rotatable on the rotation shaft 242f about an axis R2, as shown in fig. 31. A jaw 242c is mounted on a pitch shaft seat 242e provided at the other end of the yaw seat 242b, and the jaw 242c is rotatable about the axis R3. Fig. 30 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment. Referring to fig. 30, a pitching wire wheel 242g is fixedly mounted on the jaw 242c, the rotation axis of the pitching wire wheel 242g coincides with the rotation axis of the jaw 242c, and rotation of the pitching wire wheel 242g can drive the jaw 242c to rotate around the axis R3, as shown in fig. 32. A pitch guide wheel 242l is mounted on the cylindrical surface of the yaw seat 242 b.

Referring to fig. 28, two clamp pages 242c disposed on the deflection seat 242b are respectively driven by respective pitching wire wheels 242g, the rotation movements of the two clamp pages 242c are independent, and the rotation movements of the clamp pages 242c around the axis can simultaneously realize pitching movement R3 and opening and closing movement K, as shown in fig. 28.

FIG. 33 is a schematic view of a drive wire arrangement for pitching motion of the front end effector in accordance with yet another embodiment. FIG. 34 is a schematic view of a drive wire arrangement for deflecting and opening movement of a front end effector according to yet another embodiment. For the deflection movement R2, a deflection guide wire groove 242i is formed in the deflection seat 242b, one end of a driving wire 242h is fixed in a wire hole in the upper portion of the deflection guide wire groove 242g, the other end of the driving wire 242h passes through a wire penetrating hole formed in the connection seat 242a and is fixedly arranged on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22 along the deflection guide wire groove 242g, the other driving wire 242h is symmetrically arranged in the same manner, and the rotation of the supporting seat 242c around the shaft R2 can be realized by pulling the two driving wires 242 h.

FIG. 35 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector according to yet another embodiment. For the pitching motion R3 and the opening and closing motion K, the driving wire 242h is mounted on the pitching wire wheel 242g through a screw thread 242K fixed on the driving wire 242h, as shown in fig. 35, two ends of the driving wire 242h bypass the pitching wire wheel 242g, pass through wire penetrating holes formed in the connecting seat 242a along the pitching guide wheel 242l and the double-row guide wheel 242m, pass through the outer tube 22 and then are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21, and the other driving wire 241h is symmetrically arranged in the same way, pulls the driving wire 242h, and can realize the rotation and the opening and closing motion K of the supporting seat 242c around the shaft R3.

Fig. 36 is a schematic structural view of a front end execution device according to still another embodiment. The front end executing device 245 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the drive of the rear end driving device 21, including rotation motion R1, deflection motion R2 and pitching motion R3 around the axis of the outer tube 22.

Fig. 37 is an exploded view of a front end actuator according to yet another embodiment. The front end effector 245 includes a socket 245a, a deflection socket 245b, a clamp 245c, and the like. The connection seat 245a is used for connecting the outer tube 22 with the front end execution device 245, the connection seat 245a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 245a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 245 to realize the rotation motion R1.

Fig. 38 is a schematic view of a connection base structure of a front end execution device according to another embodiment. Referring to fig. 37 and 38, the deflection seat 245b is mounted at a deflection shaft 245f disposed on a deflection shaft seat 245d of the connection seat 245a, the deflection seat 241b can rotate on the rotation shaft 241f around the shaft R2, a deflection wheel 245g for driving the deflection seat 245b to rotate is mounted inside the deflection seat 245b, a rotation axis of the deflection wheel 245g is overlapped with an axis of the deflection shaft 245f, and rotation of the deflection wheel 245g can drive the deflection seat 245b to rotate around the shaft, so as to realize a deflection motion R2, as shown in fig. 40.

The pivot seat 245e provided at the other end of the pivot seat 245b is provided with a jaw 245c, and the jaw 245c is rotatable about the axis R3. Fig. 39 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment. Referring to fig. 39, a pitching wire wheel 245h is fixedly mounted on the jaw 245c, the rotation axis of the pitching wire wheel 245h coincides with the rotation axis of the jaw 245c, and rotation of the pitching wire wheel 245h can drive the jaw 245c to rotate around the axis R3.

Referring to fig. 36, two clamp pages 245c disposed on the deflection seat 245b are driven by respective pitching wire wheels 245h, the rotation movements of the two clamp pages 245c are independent, and the rotation movements of the clamp pages 245c around the shaft can realize pitching movement R3 and opening and closing movement K at the same time, as shown in fig. 41.

FIG. 42 is a schematic view of a drive wire arrangement for pitching motion of the front end effector in accordance with yet another embodiment. FIG. 43 is a schematic view of a drive wire arrangement for deflecting and opening movement of a front end effector according to yet another embodiment. For the deflection movement R2, the deflection seat driving wire 245i is fixed on the deflection wheel 245g through a screw thread, two ends of the driving wire 245i bypass the deflection wheel 245g and pass through a wire penetrating hole arranged on the connection seat 245a, and the deflection seat driving wire 245i is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the rotation of the deflection seat 245b around the shaft R2 can be realized by pulling the driving wire 245 i.

For the pitching motion R3 and the opening and closing motion K, the driving wire 245i is mounted on the pitching wire wheel 245h by threading. FIG. 44 is a schematic view of a drive wire arrangement on a pitch wire wheel of a front end effector according to yet another embodiment. As shown in fig. 44, two ends of the driving wire 245i bypass the pitching wire wheel 245h, pass through the wire penetrating hole provided on the connecting seat 245a along the pitching wire guiding groove 245K, pass through the outer tube 22 and then are fixedly installed on the driving wire wheel 21a in the rear end driving device 21, and the other driving wire 245i is symmetrically arranged in the same way, and the driving wire 245i is pulled to realize the rotation and the opening and closing movement K of the jaw 245c around the axis R3.

Fig. 45 is a schematic structural diagram of a front end execution device according to another embodiment. As shown in fig. 45, the front end actuating device 246 is fixedly connected to the outer tube 22, and can perform multi-degree-of-freedom motions under the driving of the rear end driving device 21, including a rotation motion R1, a yaw motion R2 and a pitch motion R3 around the axis of the outer tube 22.

The deflection movement R2 of the front end effector 246 is driven by a rigid rod in a manner that provides greater load capacity of the deflection movement R2 to the front end effector 246. Fig. 42 shows the internal structure of the front end effector 246, including the connecting base 245a, the deflecting base 245b, the clamp 245c, and the like. The connecting seat 246a is used for connecting the outer tube 22 with the front end execution device 246, the connecting seat 246a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connecting seat 246a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 246 to realize the rotation motion R1.

Fig. 46 is an exploded view of a front end effector of yet another embodiment. Referring to fig. 46, the deflection seat 246b is fixedly installed on a guide wheel shaft 246e at one end of the deflection frame 246d, a guide wheel 246f for guiding driving wires is installed on the guide wheel shaft 246e, and the guide wheels 246f are disposed at both sides of the deflection frame 246 d. The other end of the deflection frame 246d is provided with a deflection driving frame 246g, the deflection driving frame 246g can rotate on the deflection frame 246d, and the deflection driving frame 246g is fixedly provided with a push rod 246h. The deflection frame 246d is mounted in the middle of the deflection shaft 246i, and the deflection shaft 246i is mounted at the shaft seat 246k on the connection seat 246 a. Movement of the push rod 246h along its axis causes the yaw drive frame 246g to push the yaw frame 246d to rotate on the yaw axis 246i, thereby driving the yaw motion R2 of the yaw seat 246b, as shown in FIG. 47.

The jaw 246c is mounted on an opening and closing shaft 246l, and the opening and closing shaft 246l is mounted on a shaft seat of the eccentric seat 246 b. Fig. 48 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment. As shown in fig. 48, a pitching wire wheel 246m is fixedly mounted on the jaw 246c, the rotation axis of the pitching wire wheel 246m is overlapped with the rotation axis of the jaw 246c, and the rotation of the pitching wire wheel 246m can drive the jaw 246c to rotate around the shaft R3.

Referring to fig. 45, two clamp pages 246c disposed on the deflection seat 246b are driven by respective pitching wire wheels 246m, the rotation movements of the two clamp pages 246c are independent, and the rotation movements of the clamp pages 246c around the shaft can simultaneously realize pitching movement R3 and opening and closing movement K, as shown in fig. 49.

Fig. 50 is a schematic structural diagram of a front end execution device according to another embodiment. The front end executing device 232 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the driving of the rear end driving device 21, including rotation motion R1, deflection motion R2 and front end rotation motion R3 around the axis of the outer tube 22, and the front end executing device 232 with different functions can also complete other types of actions, such as opening and closing actions K which can be completed by the clamping type front end executing device. The front end executing device 232 adopts a motion arrangement mode with two motions rotating around the axis, namely a rotation motion R1 and a front end rotation motion R2. FIG. 51 is a schematic view of three degrees of freedom movement of a front end effector according to yet another embodiment, as shown in FIG. 51, such a movement arrangement may improve the flexibility of movement of the front end effector. In different minimally invasive surgical operation actions, suturing and knotting are two operation actions with the greatest difficulty, and the operation difficulty of the suturing and knotting actions can be reduced by adopting the structure of the front-end execution device 232 for the surgical tool 13.

The front end executing device 232 includes a connecting base 232a, a deflecting base 232b, a supporting base 232c, etc. The connection base 232a is used for connecting the outer tube 22 with the front end executing device 232, the connection base 232a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection base 232a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 232 to realize the rotation motion R1.

The deflection seat 232b is mounted on the shaft seat 231d of the connection seat 232a, the deflection seat 232b can rotate around the shaft R2, a deflection wire wheel 232e is disposed in the deflection seat 232b, the axis of the deflection wire wheel 232e is overlapped with the axis of the shaft R2, and the rotation of the deflection wire wheel 232e can drive the deflection seat 232b to rotate around the shaft R2. The other end of the deflection seat 232b is provided with a supporting seat 232c, and the supporting seat 232c is used for installing a device for implementing specific operation actions, which can be clamping pliers, scissors, energy tools, negative pressure suction tools and the like, and various tools are of general structures and are not described in detail. The support base 232c is rotatable about the axis R3. A spinning wheel 232f is fixedly arranged on the lower rotating shaft, the axis of the spinning wheel 232f is overlapped with the axis of the R3, and the rotation of the spinning wheel 232f can drive the supporting seat 232c to rotate around the axis R3.

Fig. 52 is a graph showing the change in the deflection angular displacement of each shaft when the distal end effector 231 simulates the "needle-holding suture" operation. Fig. 53 is a graph showing the change in the deflection angular displacement of each shaft when the front end effector 232 simulates the "needle-holding suture" operation. Each curve in fig. 52 and 53 is smooth, which illustrates that the motion is continuous and smooth, and both front end effectors can meet the motion requirements of the stitching operation. As can be seen from fig. 52, the front end effector 231 has high motion coupling, and a wide range of spindle linkages are required to perform the suturing operation. As can be seen from fig. 53, in the process of completing the suturing operation, the front end effector 232 has small movement amplitude of the rotation movement R1 and the deflection movement R2, which indicates that the suturing operation can be completed by means of the front end rotation movement R3, thereby effectively reducing the operation difficulty.

FIG. 54 is a schematic view of a drive wire arrangement for deflecting motion of a front end effector in accordance with yet another embodiment. Fig. 55 is a schematic view of a driving wire arrangement mode of the front end executing device in autorotation motion according to still another embodiment. As shown in fig. 54 and 55, for the deflection movement R2, the driving wire 232g is fixedly mounted on the deflection wire wheel 232e inside the deflection seat 232b, and both ends of the driving wire 232g pass through the wire threading holes provided in the connection seat 232a after bypassing the deflection wire wheel 231e, and are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Pulling on both ends of the driving wire 232g can realize the rotation of the deflection seat 232b around the axis R2.

For front end rotation motion R3, one end of a driving wire 232g is fixedly arranged in a large wheel groove of a rotation wire wheel 232f, the other end bypasses the rotation wire wheel 232f, passes through a wire threading hole formed in a connecting seat 232a along a large wheel groove of a guide wheel 232h arranged on the inner side of a deflection seat 232b and is fixedly arranged on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22, one end of another driving wire 232g is fixedly arranged in a small wheel groove of the rotation wire wheel 232f, and the other end bypasses the rotation wire wheel 232f, passes through a wire threading hole formed in the connecting seat 232a along a small wheel groove of the guide wheel 232h arranged on the inner side of the deflection seat 232b and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The winding directions of the two driving wires 232g on the wire rotating wheel 232f are opposite, and the two driving wires 232e are pulled, so that the support seat 232c can rotate around the shaft R3.

Fig. 56 is a schematic structural diagram of a front end execution device according to another embodiment. The front end effector 244 is driven by a rigid catheter, geared. Fig. 57 is a schematic view of three degrees of freedom motion of a front end effector according to yet another embodiment. As shown in fig. 56 and 57, the front end of the rigid conduit is in a bevel gear configuration, and the rotational motion of the conduit transmits the driving force to the components of the front end effector 244. Under the drive of the catheter, the front end execution device 244 can realize the rotation motion R1, the deflection motion R2 and the front end rotation motion R3, and the front end execution device 244 with different functions can also complete other types of actions, such as the opening and closing actions K which can be completed by the clamping type front end execution device. Surgical tools used in robot-assisted minimally invasive surgery typically employ a wire-driven approach, which is limited by the tensile strength of the drive wire and the dimensional requirements of the surgical tool, and which cannot provide a large load capacity. The front end actuating device 244 is driven by a rigid catheter, the rigid catheter can transmit larger torque, and the rotation of the rigid catheter replaces the stretching movement of the driving wire, so that the front end actuating device has larger bending and torsion load capacity.

The front end effector 244 includes a connection block 244a, a deflection block 244b, a support block 244c, a clamp 244d, and the like. The connection seat 244a is used for connecting the outer tube 22 with the front end execution device 244, the connection seat 244a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 244a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 244 to realize the rotation motion R1.

Fig. 58 is an exploded view of a front end effector of yet another embodiment. As shown in fig. 58, the rigid tube for driving includes a deflection driving tube 244e, a rotation driving tube 244f, and an opening and closing driving tube 244g, which are housed in the outer tube 22 with their respective rotation axes being arranged in a superposed manner, and the rotation of the three rigid tubes is independent of each other. The front end of the rigid conduit is provided with a bevel gear structure. The connection base 244a is provided with a yaw shaft 244h, the rotation axis of the yaw shaft 244h is superposed with R2, and a rotation guide wheel 244i and an opening/closing guide wheel 244k for transmitting driving force are mounted on the yaw shaft 244 h. The rotation guide wheel 244i and the opening/closing guide wheel 244k are bevel gears, and are respectively meshed with the rotation driving tube 244f and the opening/closing driving tube 244 g.

Fig. 59 is a schematic view showing a structure of a front end effector deflector mount according to still another embodiment. Referring to fig. 59, the deflecting seat 244b is mounted on a deflecting shaft 244h, and the deflecting seat 244b is rotatable about an axis R2. The deflection wheel 244l is installed on the inner side of the deflection seat 244b, the rotation axis of the deflection wheel 244l is overlapped with the rotation axis of the deflection seat 244b, and the rotation of the deflection wheel 244l can drive the rotation of the deflection seat 244 b. The deflection wheel 244l is a bevel gear, which is meshed with the bevel gear surface of the deflection driving tube 244e, and the rotation of the deflection driving tube 244e can drive the deflection wheel 244l to rotate, so as to drive the deflection seat 244b to realize deflection movement R2.

Fig. 60 is a schematic view of a front end effector mounted on a rotating base according to yet another embodiment. Referring to fig. 60, the rotation seat 244c is mounted at the upper end of the deflection seat 244b, the rotation wheel 244m is fixedly mounted below the rotation seat 244c, the rotation axis of the rotation wheel 244m coincides with the rotation axis of the rotation seat 244c, and the rotation of the rotation wheel 244m can drive the rotation seat 244c to rotate at the upper end of the deflection seat 244 b. The rotation wheel 244m extends to the lower end of the deflection seat 244b through a hole arranged at the axis of the deflection seat 244b, and is meshed with the rotation guide wheel 244 i. The bevel gear surface of the rotation driving tube 244f, the rotation guiding wheel 244i and the rotation wheel 244m are meshed with each other, the driving force of the rotation driving tube 244f for rotation can be transmitted to the rotation seat 244c, and the rotation driving tube 244f can be driven to realize the rotation motion R3.

Fig. 61 is a schematic view of a front end effector jaw mounting structure according to yet another embodiment. Fig. 62 is a schematic view of a front end effector jaw mounting in accordance with another embodiment. Referring to fig. 61 and 62, the jaw 244d is mounted on a rotating shaft of the opening and closing seat 244c, an opening and closing wheel 244n is fixedly mounted at one end of the jaw 244d, a rotation axis of the opening and closing wheel 244n is overlapped with a rotation axis of the jaw 244d, and rotation of the opening and closing wheel 244n can drive the jaw 244d to rotate around a shaft. The opening and closing driving wheel 244o for transmitting opening and closing driving force is arranged in the middle of the self-rotating wheel 244m, the axis of the opening and closing driving wheel 244o is overlapped with the axis of the self-rotating wheel 244m, and the rotation of the opening and closing driving wheel 244o and the rotation of the self-rotating wheel 244m are mutually independent. The other end of the opening and closing driving wheel 244o extends into the opening and closing seat 244c through the inside of the rotation wheel 244m and the hole arranged at the axis of the opening and closing seat 244c, and is fixedly connected with the opening and closing driven wheel 244p, and the opening and closing driving wheel 244o and the opening and closing driven wheel 244p can synchronously rotate. The driven opening and closing wheel 244p is engaged with an opening and closing wheel 244n fixed on the two clamp pages 244d, and the driven opening and closing wheel 244p actively drives the clamp pages 244d to open and close. The opening and closing driving pipe 244g is meshed with the opening and closing guide wheel 244K, meanwhile, the opening and closing guide wheel 244K is meshed with the opening and closing driving wheel 244o, driving force generated when the opening and closing driving pipe 244g rotates can be transmitted to the clamp page 244d through the opening and closing guide wheel 244K, the opening and closing driving wheel 244o, the opening and closing driven wheel 244p and the opening and closing wheel 244n, and the opening and closing movement K is realized by rotating the opening and closing driving pipe 244 g.

The rotation axis of each rigid driving tube, the axis of the deflection shaft 244h, the rotation axis of the autorotation wheel 244m and the rotation axis of the opening and closing driving wheel 244o are intersected at one point, and the arrangement mode can realize that the deflection motion R2, the autorotation motion R3 and the opening and closing motion K are mutually independent and do not interfere with each other.

Fig. 63 is a schematic structural diagram of a front end execution device according to another embodiment. As shown in fig. 63, the front end effector 233 is fixedly connected to the outer tube 22, and can perform multiple degrees of freedom motions under the driving of the rear end driving device 21, including a rotation motion R1, a yaw motion R2, and a pitch motion R3 about the axis of the outer tube 22, and the front end effector 233 having different functions can perform other types of actions, such as an opening and closing action K performed by the clamping type front end effector.

Referring to fig. 63, the three axes of rotation of motions R1, R2, R3 provided by the front end effector 233 of the present invention intersect at one center. The triaxial structure is arranged on the front end execution device 233, so that the volume of the front end execution device can be reduced, and the structure is compact. Generally, the minimally invasive surgical instrument adopts an elongated rod structure to reduce the body surface wound of a patient, for a surgical tool 23 used on a minimally invasive surgical robot, the outer diameter of an outer tube 22 and the outer diameter of a front end actuating device 23 of the surgical tool are smaller than 10mm, and compared with a structure which is not three-axis intersected with one heart, the structure with the three-axis intersected with one heart at the scale can have higher movement flexibility, and under the condition of realizing the same movement angle, the movement turning radius of the three-axis intersected with one heart structure is smaller. The three axes are intersected with the one-heart structure, so that pose separation calculation is easy to realize in kinematics, the surgical robot is provided with the surgical tool 13 with the three-axis one-heart structure, and particularly, for the surgical robot with the multi-degree-of-freedom (six-degree-of-freedom or seven-degree-of-freedom) instrument arm 12, the kinematic inverse solution solving process of the instrument arm 12 is easier, and the analytic solution can be obtained, so that the operation amount of a surgical robot controller is reduced, and the motion control response speed of the robot is improved.

FIG. 64 is an exploded view of a front end actuator according to yet another embodiment. As shown in fig. 64, the front end effector 233 includes a link seat 233a, a support seat 233b, a cross 233c, and a clamp 233d. The connection seat 233a is used for connecting the outer tube 22 with the front end execution device 233, the connection seat 233a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 233a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 233 to realize the rotation motion R1. The support seat 233b is connected to the connection seat 233a via a cross 233 c. FIG. 65 is a schematic view of a cross-shaft of a front end effector according to yet another embodiment. Referring to fig. 65, two rotation axes of the cross 233c are respectively coincident with rotation axes of the yaw motion R2 and the pitch motion R3, so as to realize a triaxial intersection-centered characteristic.

The supporting seat 233b is provided with a device for implementing a specific operation, which may be a clamping forceps, a scissors, an energy tool, a negative pressure suction tool, etc., and various tools are all of a general structure and will not be described in detail.

The clamp page 233d shown in fig. 64 is one of the illustrations. The structure composed of the connection base 233a, the support base 233b, and the cross shaft 233c can be regarded as one hook hinge, which is commonly used for industrial robots or large-sized multi-joint flexible robots in the robot field. For the minimally invasive surgical instrument structure with a small size, the same movement is realized, and the structure with the Hooke's hinge is more beneficial to reducing the size of the surgical instrument and improving the movement flexibility. The Hooke's hinge or the structure of the evolution configuration thereof has two-degree-of-freedom motion characteristics, can realize four-way rotation around the intersection point of two rotating shafts, and can enable the movement of the structure to be controllable by arranging four driving wires around the intersection point.

FIG. 66 is a schematic view of a drive wire arrangement of a front end effector in accordance with yet another embodiment. Fig. 67 is a schematic view of a driving wire arrangement of the front end effector in another view according to still another embodiment. As shown in fig. 66 and 67, one end of a driving wire 233e is fixedly mounted on the supporting seat 233b, and the other end passes through a wire through hole 233f formed in the connecting seat 233a and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the driving wire may be fixedly mounted by screwing, bonding or welding. Four driving wires 233e are uniformly distributed at the intersection points of the axes of the cross shaft 233c, and the deflection motion R2 and the pitching motion R3 of the front end driving device 233 can be realized by pulling the driving wires 233 e.

FIG. 68 is a schematic view showing a change in the length of a driving wire of a front end effector according to still another embodiment. When the driving wire 233e pulls the supporting seat 233b to move, the length of the driving wire 233e between the connecting seat 233a and the supporting seat 233b is changed, and the change is shown in fig. 68. Taking the deflection motion R2 as an example, the length of the driving wire between the connection seat 233a and the supporting seat 233b is L, the supporting seat 233b rotates around the axis R2 by an angle θ, the lengths of the driving wires at the inner side and the outer side in the rotation direction become L ₁ and L ₂ respectively, and the length variation amounts Δ ₁、Δ₂ of the driving wires at the inner side and the outer side are:

It can be seen that Δ ₁＜Δ₂, that is, the contraction amount of the inner driving wire is smaller than the elongation amount of the outer driving wire, so that the length change of the driving wire can be compensated or corrected in the surgical robot control system, so as to realize the accurate driving of the front end execution device 233, and the phenomenon that the length change amounts of the driving wires are different can be eliminated in other manners, for example, the manner of adopting the guide wheel to cooperate with the driving wire is adopted to realize the accurate driving.

Because the front end execution device with the characteristic that the three axes intersect with the heart has higher movement flexibility, the movement turning radius of the structure that the three axes intersect with the heart is smaller under the condition of realizing the same movement angle. The three axes intersecting with a heart structure can easily realize pose separation calculation in kinematics, so that fig. 69-222 of one embodiment provide more front end actuators for realizing three axes intersecting with a heart structure, namely the rotation axes of deflection, pitch and self-transmission of the front end actuator in the corresponding embodiment of fig. 69-222 intersect at one point

In one exemplary embodiment of the present disclosure, a front end execution apparatus is provided. The front end 301 is a front end actuator that uses a wire-wheel drive. The front end executing device 301 is provided with two mutually staggered circular arc-shaped sliding rails, the axes of the two sliding rails intersect at a point, and a sliding block is arranged on the sliding rails and can perform sliding movement around the intersection point between the two sliding rails. The arc shape of the two sliding rails is utilized to limit the movement form of the sliding block arranged on the sliding rail to only the rotation movement around the axis of the sliding rail, and after the rotation movement coupling of the sliding block around the shaft on the two sliding rails, the movement of the sliding block is synthesized into the movement on the spherical surface taking the intersection point of the axis of the two sliding rails as the sphere center. The arrangement mode that the two slide rails with orthogonal axes jointly support one slide block can enable the structure to have larger supporting rigidity, and the front end executing device 301 is ensured not to deform or be driven reversely when keeping a certain posture under load.

Fig. 69 is a schematic structural diagram of a front end execution device according to an embodiment of the present disclosure. Fig. 70 is a partial enlarged view of a front end effector of an embodiment of the present disclosure. As shown in fig. 69 and 70, the front end 301 includes a connecting base 301a, an inner rail 301b, an outer rail 301c, a slider 301d, a supporting base 301e, and the like. The inner slide rail 301b and the outer slide rail 301c are arc-shaped, two ends of the inner slide rail 301b and the outer slide rail 301c are respectively connected to the shaft seats of the connecting seat 301a, the sliding block 301d is slidably connected between the inner slide rail 301b and the outer slide rail 301c, and the supporting seat 301e is connected to the sliding block 301 d. The connection seat 301a is used for connecting the outer tube 22 with the front end executing device 301, the connection seat 301a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 301a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 301 to realize rotation motion around the shaft R1.

Fig. 71 is a schematic structural view of a circular arc-shaped sliding rail of a front end execution device according to an embodiment of the disclosure. As shown in fig. 71, two wire wheels are fixedly mounted on the outer sides of two ends of the inner slide rail 301B, the axes of the two wire wheels are coincident, the axis A of the two wire wheels is perpendicular to the axis x of the inner slide rail 301B, two wire wheels are fixedly mounted on the inner sides of two ends of the outer slide rail 301c, the axes of the two wire wheels are coincident, the axis B of the two wire wheels is perpendicular to the axis y of the outer slide rail 301c, and the axis B of the two wire wheels is perpendicular to the axis y of the outer slide rail 301 c. The rotation of the wire wheel can drive the sliding rail to rotate around the axis A, and the inner sliding rail 301B and the outer sliding rail 301c are arranged on the shaft seat 301h of the connecting seat 301a and can rotate around the shafts R2 (the shaft A) and R3 (the shaft B). Wherein axis a intersects axis B. In this embodiment, the axis a is substantially 90 ° from the axis B.

Fig. 72 is a schematic structural diagram of a front end effector slider according to an embodiment of the present disclosure. The slider 301d is fixedly mounted to the support base 301 e. The slider 301d includes two parts, namely a lower slider 301f and an upper slider 301g, which are connected to each other. The sliding contact surfaces of the two sliding blocks are curved surfaces, the curvature radius of the sliding contact surface of the upper surface of the lower sliding block 301f is the same as that of the inner arc surface of the inner sliding rail 301b, and the curvature radius of the sliding contact surface of the lower surface of the upper sliding block 301g is the same as that of the outer arc surface of the outer sliding rail 301c, so that the sliding block 301d can move on the two sliding rails simultaneously. The sliding block 301d, the sliding rail and other micro parts are generally made of medical metal materials, such as medical 316 stainless steel or titanium alloy, and the materials have low friction coefficients, but in the operation implementation process, the operation tool is often soaked in human tissue secretion or blood, the friction coefficient between the parts is increased after the operation tool is coated by the liquid, and the working efficiency of the operation tool is reduced. The friction coefficient between parts can be further reduced by plating fluorine-containing material films on the surfaces of the parts such as the sliding block, the sliding rail and the like, and the parts after being plated with the films are easier to clean after operation.

Referring to fig. 69 and 71, the rotation of the wire wheels at the two ends of the inner slide rail 301B around the axis a can drive the sliding block 301d to slide on the outer slide rail 301c around the axis y, and the rotation of the wire wheels at the two ends of the outer slide rail 301c around the axis B can drive the sliding block 301d to slide on the inner slide rail 301B around the axis x. The sliding block 301d slides around the shaft between the two sliding rails to enable the supporting seat 301e to complete the yaw motion R2 and the pitch motion R3, so that the triaxial intersection-centered characteristic is realized. The three-axis intersection-centering structure formed by the sliding block 301d and the two sliding rails has the motion transmission direction that the sliding rail rotates around the axis to drive the sliding block arranged on the sliding rail to move. The tangential direction of the sliding rail rotation motion is always parallel to the sliding block motion direction, namely the pressure angle of the sliding rail in the sliding block driving process is always 90 degrees, the theoretical value of the motion transmission efficiency is 100%, and the extremely high transmission efficiency can be maintained in the sliding block motion process by considering the influence of the friction force between the sliding block and the sliding rail.

The front end executing device 301 uses a guide rail sliding block structure to replace a part of the arrangement mode of the driving wire guide wheels, so that the number of the guide wheels on the driving wire transmission path is reduced on the premise of meeting all motion characteristics, and the driving force transmitted by the driving wire can be increased. In the wire wheel transmission system, the number of guide wheels through which the driving wires pass, namely the wrap angle of the driving wires, is the most direct factor influencing the transmission efficiency of the driving wires, the wrap angle of the driving wires can be reduced by more than 50% by using a guide rail sliding block structure to replace part of the guide wheels for the driving wires, the wrap angle of the driving wires in the front end execution device 301 is only 3 pi/2 (each initial position), and the deflection motion and pitching motion loads of the front end execution device 301 in the initial pose can reach 28N.

Fig. 73 is a schematic diagram showing a driving wire arrangement manner of the front end effector according to the embodiment of the present disclosure. As shown in fig. 73, one end of the driving wires 301i and 301i 'is fixed to the wire wheel, and the fixing method of the driving wires 301i and 301i' to the wire wheel is not limited to a single type, and may be a screw 301k fixing method shown in fig. 21, or a welding or bonding method. The other end of the driving wire 301i bypasses the 9-wire wheel, passes through a wire penetrating hole arranged on the connecting seat 301a and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The winding directions of the driving wires 301i on the two end wire wheels of the inner slide rail 301b are opposite to those of the driving wires 301i' on the two end wire wheels of the outer slide rail 301c, and the forward and backward two-direction rotation of the slide rail can be realized by pulling different driving wires 301 i. During the movement process of each part of the front end driving device 301, the positions of the wire wheels are kept unchanged, namely the lengths of the driving wires 301i and 301i 'between the driving wire wheels 21a and the wire wheels are unchanged, and accurate driving can be realized after the driving wires 301i and 301i' are mounted and pretensioned, as shown in fig. 74.

Fig. 75 is a schematic structural view of a front-end execution device according to another embodiment of the present disclosure. As shown in fig. 75, the front end effector 302 is provided with two circular arc-shaped steering arms in series, and the axes of the two steering arms intersect at a point, and the two steering arms can rotate around their respective rotation axes. The two steering arms are arranged in series to form a group of series mechanical arm mechanisms, and the most remarkable advantage of the series mechanical arm mechanisms is that kinematic positive solutions are easy to obtain. Meanwhile, the front-end execution device 302 has the advantage of a triaxial cross-heart structure, so that pose separation calculation is easy to realize, and the kinematic inverse solution is easier. The kinematic solution of the front-end effector 302 is extremely simple.

Referring to fig. 75, the front end effector 302 includes a connection base 302a, a biaxial steering arm 302b, a uniaxial steering arm 302c, a support base 302d, and the like. The biaxial steering arm 302b is connected to the connection mount 302a, the uniaxial steering arm 302c is connected to the biaxial steering arm 302b, and the support mount 302d is connected to the uniaxial steering arm 302c. The connecting seat 302a is used for connecting the outer tube 22 with the front end executing device 302, the connecting seat 302a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 302a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 302 to realize the rotation motion R1.

Fig. 76 is a schematic view showing a serial mechanical arm mechanism structure of a front end effector according to still another embodiment of the present disclosure. Fig. 77 is a schematic structural view of a biaxial steering arm of a further front end actuator according to an embodiment of the present disclosure. As shown in fig. 76 and 77, the outer sides of the left and right ends of the dual-axis steering arm 302b are respectively provided with a wire wheel 302e and a guide wheel 302f, the wire wheel 302e and the guide wheel 302f are arranged in an axis overlapping manner, and the rotation of the wire wheel 302e can drive the dual-axis steering arm 302b to rotate around the axis a. The single-axis steering arm 302c is mounted on a steering arm seat 302g provided in the middle of the double-axis steering arm 302 b.

Fig. 78 is a schematic structural view of a single-axis steering arm of a further front end effector according to an embodiment of the present disclosure. Referring to fig. 78, the single-axis steering arm 302c is in the form of an arc-shaped link, and a wire wheel 302h is disposed on the inner side of the arc surface at one end of the single-axis steering arm 302c, and the rotation of the wire wheel 302h drives the single-axis steering arm 302c to rotate around an axis B, where the axis a is perpendicular to the axis B and intersects at a point. The support base 302d is fixedly mounted on the other end of the single-axis steering arm 302 c. The rotation of the biaxial steering arm 302B around the axis a and the rotation of the uniaxial steering arm 302c around the axis B cause the support base 302d to complete the yaw motion R2 and the pitch motion R3, realizing the triaxial intersection-centered characteristic.

Fig. 79 is a schematic diagram of a front end effector drive wire arrangement in accordance with an embodiment of the present disclosure. FIG. 80 is a schematic illustration of a drive wire arrangement on a dual-axis steering arm in accordance with an embodiment of the present disclosure. For the biaxial steering arm 302b, the driving wire 302i is fixed in a groove provided on the wire wheel 302e through the wire joint 302k, both ends of the driving wire 302i bypass the wire wheel 302e, pass through a wire through hole provided on the connection base 302a, pass through the outer tube 22, and then are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21.

FIG. 81 is a schematic illustration of a drive wire arrangement on a single axis steering arm in accordance with an embodiment of the present disclosure. For the single-shaft steering arm 302c, the driving wire 302i ' is fixed in a groove arranged on the wire wheel 302e through the wire joint 302k ', two ends of the driving wire 302i ' bypass the wire wheel 302e, pass through a wire penetrating hole arranged on the connecting seat 302a along the limiting block 302l and the guide wheel 302f, pass through the outer tube 22 and then are fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. Pulling the two ends of the driving wire 302i' can realize the forward and reverse rotation of the biaxial steering arm 302b and the uniaxial steering arm 302 c.

Fig. 82 is a schematic view of a driving wire of a front end executing device according to another embodiment of the disclosure driving a sliding rail to rotate. As shown in fig. 82, in the moving process of each part of the front end driving device 302 in this embodiment, the positions of the wire wheel and the steering wheel are kept constant, that is, the lengths of the driving wires 302i and 302i 'between the driving wire wheel 21a and the wire wheel are unchanged, and accurate driving can be realized after the driving wires 302i and 302i' are mounted and pretensioned.

Fig. 83 is a diagram showing a relationship between the rotation angles of the sliding rail driven by the driving wire of the front end actuator according to another embodiment of the present disclosure. Referring to fig. 83, when the front end effector 302 is in the initial position, the angle a between the biaxial steering arm 302b and the upper end face of the joint base 302a is set to 30 °. To meet the design requirements of the initial pose of the front-end effector and the triaxial cross-over-one-heart structure, the central angle b of the single-axis steering arm 302c must satisfy the condition a+b=90°. When a is increased, b is correspondingly decreased, the rotation radius of the single-axis steering arm 302c is decreased, the load capacity of the single-axis steering arm 302c is improved, and the motion control accuracy is lowered, and when a is decreased, b is correspondingly increased, the rotation radius of the single-axis steering arm 302c is increased, the load capacity of the single-axis steering arm 302c is lowered, and the motion control accuracy is improved. For the rotational movement of the single-axis steering arm 302c about the R3 axis, with the load capacity and the movement control accuracy as boundary conditions, b=60°, a=30° is selected.

For a front end effector of a rigid structure, the angle of deflection is typically less than 90 degrees in all directions. In the front end execution device 302, as the included angle between the biaxial steering arm 302b and the upper end surface of the connecting seat 302a is 30 degrees, the deflection angle of one direction of the deflection motion R2 of the biaxial steering arm 302 can reach 150 degrees, and the operation flexibility of the surgical tool can be greatly improved. For example, in the implementation process of robot-assisted minimally invasive surgery, when a certain organ in the visual field needs to be operated in the back direction, a surgical tool with a certain deflection angle larger than 90 degrees can more easily meet the operation requirement.

Fig. 84 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. As shown in fig. 84, the front end executing device 303 is provided with a circular arc-shaped dual-slide rail structure, on which a slide block can slide, and other degrees of freedom of movement of the slide block are limited except for the sliding direction, that is, the slide block can only slide on the slide rail. The arc-shaped sliding rail adopts a virtual constraint mode of a double-sliding rail structure, so that the rigidity of the front-end execution device 303 in a load state can be improved, and meanwhile, the influence of a sliding gap on a motion error can be reduced. Referring to fig. 84, the front end effector 303 includes a connection base 303a, a double slide rail 303b, a slider 303c, a support base 303d, and the like. The circular arc-shaped double slide rail 303b is connected to the connecting seat 303a, the sliding block 303c is slidably connected to the upper portion of the double slide rail 303b, and the supporting seat 303d is connected to the sliding block 303 c. The connection seat 303a is used for connecting the outer tube 22 with the front end executing device 303, the connection seat 303a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 303a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 303 to realize the rotation motion R1.

Fig. 85 is a schematic structural diagram of a dual-rail structure of a front-end execution device according to another embodiment of the disclosure. As shown in fig. 84 and 85, the double slide rail 303b is a circular arc slide rail, and includes two parallel sliding rail structures, and is mounted on a shaft seat 303e on the connecting seat 303a, two wire wheels 303f are fixedly mounted on the inner sides of two ends, the axes of the two wire wheels 303f are coincident, the axis is a, and the rotation of the wire wheels 303f can drive the double slide rail 303b to rotate around the axis a. The sliding contact surface of the double slide rail 303B has a rotation axis B, and the axis a is perpendicular to the axis B and intersects at a point.

Fig. 86 is a schematic view of a slider connection structure of a front end effector according to yet another embodiment of the present disclosure. Referring to fig. 86, a slider 303c is slidable on a double slide rail 303B about an axis B, and the slider 303c includes an upper slider 303g and a lower slider 303h, wherein a lower surface of the upper slider 303g is in contact with upper surfaces of two parallel rails, and an upper surface of the lower slider 303h is in contact with lower surfaces of the two parallel rails. The sliding contact surfaces of the two sliding blocks are curved surfaces, and the curvature radius of the sliding contact surfaces is the same as that of the upper and lower sliding contact surfaces of the two parallel tracks of the double sliding rail 303 b. The supporting seat 303d is fixedly connected with the sliding block 303c, and the sliding block 303c moves on the double sliding rail 303b to drive the supporting seat 303d to move.

The rotation of the sliding rail 303c around the axis a and the sliding of the sliding block 303c around the axis B make the supporting seat 303d complete the yaw motion R2 and the pitch motion R3, so as to realize the triaxial intersection-centered characteristic. The sliding block, the sliding rail and other tiny parts are generally made of medical metal materials, such as medical 316 stainless steel or titanium alloy, and the materials have low friction coefficients, but in the operation implementation process, an operation tool is often soaked in human tissue secretion or blood, the friction coefficient among the parts after the operation tool is coated by the liquid is increased, and the working efficiency of the operation tool is reduced. The friction coefficient between parts can be further reduced by plating fluorine-containing material films on the surfaces of the parts such as the sliding block, the sliding rail and the like, and the parts after being plated with the films are easier to clean after operation.

Fig. 87 is a schematic view of a drive wire arrangement of a front end effector according to yet another embodiment of the present disclosure. Fig. 88 is a schematic view of a driving wire arrangement of a dual rail according to still another embodiment of the present disclosure. As shown in fig. 87 and 88, for the double slide rail 303b, one end of the driving wire 303i is fixed to the wire wheel 303f, and the fixing method of the driving wire 303i and the wire wheel 303f is not limited to a single type, and may be a screw 303k fixing method shown in fig. 35, or may be a welding method, an adhesive method, or the like. The other end of the driving wire 303i bypasses the wire wheel 303f, passes through a wire penetrating hole arranged on the connecting seat 303a, passes through the outer tube 22 and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 303i is mounted on the wire wheel 303f at the other end of the double sliding rail 303b, and the two driving wires 303i are mounted in the same mode. The driving wires 303i on the wire wheels 303f at the two ends of the double slide rail 303b are wound in opposite directions. The two driving wires 303i are pulled respectively, so that the rotation of the double slide rail 303b around the shaft R3 can be realized.

For the slider 303c, one end of the driving wire 303i 'is fixed in a wire hole on the upper slider 303g, and the other end of the driving wire 303i' passes through a wire through hole on the connecting seat 303a along a limit groove 303l arranged on the double slide rail 303b and passes through the outer tube 22 to be fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 303i '(not shown) is mounted on the other side of the slider 303c, and the two driving wires 303i' are mounted in the same manner and in opposite directions. By pulling the two driving wires 303i' respectively, the sliding of the slider 303c on the double slide rail 303B around the axis B can be realized. In the movement process of each part of the front end driving device 303, the positions of the wire wheels are kept unchanged, namely, the lengths of the driving wires 303i and 303i' between the driving wire wheels 21a and the wire wheels are unchanged, and accurate driving can be realized after the driving wires 303i are installed and pretensioned, as shown in fig. 89.

Referring to fig. 87 again, the limiting groove 303l is parallel to the two sliding tracks of the dual sliding track 303b, the driving wire 303i' is arranged along the sliding direction of the sliding block 303c, the driving mode of the deflection motion R2 driving the front end executing device 303 is that the driving wire 303i directly pulls the sliding block 303c to slide on the dual sliding track 303b, under the limitation of the limiting groove 303l, the pulling force direction of the driving wire 303i on the sliding block 303c is always the same as the tangential direction of the sliding block 303c, the influence of the friction force is ignored, the pulling force of the driving wire 303i acts on the sliding block 303c, and the driving force of the driving mode is far greater than that of the wire wheel driving mode.

Taking the front end executing device 303 as an example, the radius of curvature of the double slide rail 303B is 5mm, the radius of the wire wheel 303F is 2mm, and because the front end executing device 303 has the three-axis crossed-center structural characteristic, the distance from the axis A to the front end load point is the same as that from the axis B, the distance from the load point to the two axes is L, the pulling forces of the driving wires 303i and 303i' are F, the driving force G ₂ =2F/L generated by deflection motion and the driving force G ₃ =5F/L generated by pitching motion are obviously G ₃ which is far larger than G ₂. At the front end execution device of the minimally invasive surgery tool, the radius of the wire wheel is 2-3mm and the radius of the circular arc-shaped sliding rail is 4-5mm under the limitation of the size of the surgery tool, so that when the driving wire pulling force is the same, the loading capacity of the sliding rail sliding block structure is larger than that of the wire wheel structure. As with the front end effector 303, the yaw motion load capacity is 18N and the pitch motion load capacity may reach 35N.

Fig. 90 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. As shown in fig. 90, the front end effector 304 is provided with two driving arms, and the two steering arms can rotate around respective axes, and the two axes vertically intersect. The front end effector 304 includes a connection base 304a, a lower driving arm 304b, an upper driving arm 304c, a support base 304d, and the like. The connecting seat 304a is used for connecting the outer tube 22 with the front end executing device 304, the connecting seat 304a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 304a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 304 to realize the rotation motion R1.

Fig. 91 is a schematic diagram of two driving arms of a front end actuator according to another embodiment of the present disclosure. Fig. 92 is a schematic view of a lower driving arm of a front end actuator according to another embodiment of the present disclosure. Referring to fig. 91 and 92, the lower driving arm 304b includes a steering arm 304e and a lower connecting rod 304f, where the steering arm 304e is in an arc-shaped connecting rod, and is mounted on a shaft seat 304g provided on the connecting seat 304a, and a wire wheel 304h is mounted on the inner side of an arc surface at one end of the shaft seat, and the axis is a. Rotation of wire wheel 304h may carry rotation of steering arm 304e about axis a. The other end of the steering arm 304e is mounted with a lower link 304f, which lower link 304f is pivotally movable about an axis x, which is perpendicular to the axis a and intersects at a point.

Fig. 93 is a schematic structural view of an upper driving arm of the front end actuator according to another embodiment of the present disclosure. Referring to fig. 91 and 93, the upper driving arm 304c includes an upper link rod 304i of a steering arm 304e ', where the steering arm 304e is in an arc-shaped link rod, and is mounted on a shaft seat 304g provided on the connecting seat 304a, and a wire wheel 304h' is mounted on an inner side of an arc surface at one end of the upper link rod, and an axis B is provided on an inner side of an arc surface, and rotation of the wire wheel 304h can bring rotation of the steering arm 304e around the axis B, and the axis B is perpendicular to the axis a and intersects with the axis a at a point. The other end of the steering arm 304e is mounted with an upper link 304i which is pivotally movable about an axis y which is perpendicular to and intersects the axis B at a point.

As shown in fig. 91, the lower link 304f and the upper link 304i are respectively connected to the steering arms 304e and 304e' to form a lower driving arm 304b and an upper driving arm 304c. While the lower link 304f is hingedly connected to the upper link 304i, the links being rotatable about axis C. The supporting seat 304d is fixedly arranged at the upper end of the upper connecting rod 304i, and the movements of the lower driving arm 304B and the upper driving arm 304c around the axis A and the axis B enable the supporting seat 304d to complete the deflection movement R2 and the pitching movement R3, so that the triaxial intersection-centered characteristic is realized. The coordinate system shown in fig. 94 is established at the rotation axis of the front end effector 304, and the axial radius of the front end effector 304 is set to a, the movement screw of the lower driving arm 304b is (1, 0; a, 0), (0, 1,0;0, a, 0), and the movement screw of the upper driving arm 304c is (0, 1,0;0, -a, 0), (1, 0; a, 0). After the two driving arms are coupled in motion, the motion of the supporting seat 304d mounted on the upper connecting rod 304i is (1, 0;0, 0), that is, the yaw motion R2 and the pitch motion R3, which indicates that the supporting seat 304d can realize the triaxial cross-centering motion characteristic under the driving of the wire wheel 304 h.

Fig. 95 is a schematic view of a front end effector drive wire arrangement according to yet another embodiment of the present disclosure. Fig. 96 is a schematic view of an arrangement of driving wires on a wire wheel of a front end effector according to yet another embodiment of the present disclosure. The driving wires 304k and 304k 'are fixed in grooves formed in the wire wheel 304h through the wire joints 304l, and after bypassing the wire wheel 304h, the two ends of the driving wires 304k and 304k' pass through wire penetrating holes formed in the connecting seat 304a and pass through the outer tube 22 to be fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. Pulling the two ends of the driving wires 304k, 304k' can realize the forward and reverse rotation of the different steering arms 304 e. In the movement process of each part of the front end driving device 304, the positions of the wire wheels are kept unchanged, namely the lengths of the driving wires 304k and 304k 'between the driving wire wheels 21a and the wire wheels are unchanged, and accurate driving can be realized after the driving wires 304k and 304k' are installed and pretensioned, as shown in fig. 97.

At the scale of the surgical tool, the parts used are usually tiny or thin-walled parts, and elastic deformation often occurs under load to influence the motion accuracy. As shown in fig. 92 and 93, the steering arm 304e has a thickness of about 0.8mm and a cross-sectional aspect ratio of about 3:1 to 4:1, referring to fig. 92, the elastic deformation sensitive direction of the steering arm 304e is the x-axis direction, the load direction is the x-axis direction, referring to fig. 93, the elastic deformation sensitive direction of the steering arm 304e is the y-axis direction, and the load direction is the y-axis direction, so that the load direction of the front end effector 304 is different from the elastic deformation sensitive direction, and the structure has better rigidity under load.

The four embodiments have the common feature of precisely driving the support seat 23b on the front end executing device 23 by adopting a wire wheel transmission mode, so as to realize the characteristic of three-axis intersection. The support base 23b is provided with means for performing a specific surgical action, such as clamping pliers, etc. Referring to fig. 11 and 12, the rotation axis of the opening and closing motion K of the jaw 23d is parallel to the yaw motion axis R2, and if the two axes are overlapped, that is, the jaw 23d is mounted on the cross shaft 23c, the axial dimension of the front end actuating device 23 can be further reduced, so that the front end actuating device is compact in structure, and meanwhile, the turning radii of the yaw motion R2 and the pitch motion R3 are shortened, so that the load capacity is improved. In kinematics, after the two axes are overlapped, the kinematic model of the front end executing device 23 can be simplified, the kinematic calculation amount of a control program is reduced, the control precision and the operation instantaneity of the system are improved, and the operation quality of a surgery is ensured.

Fig. 98 is a schematic structural view of a front-end execution device according to still another embodiment of the present disclosure. Fig. 99 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure. The front end effector 305 is provided with a cross shaft structure, and two opening and closing forceps pages for completing operation actions are mounted on the cross shaft, and the rotation axis of the forceps page opening and closing movement is overlapped with the axis of the deflection movement R2. The front end effector 305 includes a connection base 305a, a cross 305b, a jaw 305c, a guide wheel 305d, and the like. The connection seat 305a is used for connecting the outer tube 22 with the front end execution device 305, the connection seat 305a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 305a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 305 to realize the rotation motion R1.

FIG. 100 is a schematic view of a cross-shaft of a front end effector according to another embodiment of the present disclosure. Referring to fig. 99 and 100, the pitch axis 305e on the cross 305b is mounted on the shaft seat 305f of the connection seat 305a, and the cross 305b can rotate around the axis R3. Two pitching silk wheels 305g are fixedly installed on the pitching shaft 305e, the axis of the pitching silk wheels 305g coincides with the axis of the pitching shaft 305e, and the rotation of the pitching silk wheels 305g can drive the cross shaft 305b to rotate around the shaft R3. The jaw 305c is mounted on a deflection shaft 305h of the cross-shaft 305b, and the jaw 305c is rotatable about the axis R2. The jaw 305c is provided with an inner deflecting wire wheel 305i and an outer deflecting wire wheel 305k, which are coaxial. The rotation of the inner deflection wire wheel 305i and the outer deflection wire wheel 305K on the deflection shaft 305h can drive the jaw 305c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. All guide wheels and wire wheels for guiding the driving wires are arranged on the pitching shaft 305e and the deflection shaft 305h, and the arrangement mode can reduce the occupation of the space below the cross shaft 305b and avoid the mutual interference between parts below the rotating shaft and the driving wires. Pitch axis 305e intersects yaw axis 305h at a point perpendicular to and about the axis of motion of spider 305b and jaw 305c, resulting in a triaxial cross-over-one-heart characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased. Taking the front end executing device 305 as an example, by adopting the triaxial cross-over-center characteristic structure, the axial dimension can be reduced by 8mm, the distance between a jaw loading point and a rotating shaft is 12mm, the deflection motion load capacity can be improved by about 60%, the deflection motion load capacity of a rigid member surgical tool is 20N, and the deflection motion load capacity of the front end executing device 305 can reach 30N. On the other hand, in the implementation process of robot-assisted minimally invasive surgery, the image of the surgical operation part is enlarged by tens of times, the outer diameter of a surgical tool is usually 8-10mm, a part with the length of 8mm below the outer diameter occupies a large part of image area, the axial size of a front-end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a triaxial cross-heart structure.

A cross-shaft structure (hook joint) is often used as an intermediate component in a driving force transmission line for changing the driving force transmission direction. In the field of robots, a cross shaft is often used as a connecting piece of joints of a flexible arm, two ends of the cross shaft are respectively provided with a single part capable of rotating, the single part at one end is relatively fixed, and the single part at the other end can be provided with other parts and controlled by a driving wire, so that two-degree-of-freedom rotation around the intersection point of the cross shaft is realized. The cross 305b of the front end effector 305 has a single component connection seat 305a at one end and two jaw pages 305c with independent motion at the other end, and the jaw pages are directly mounted on the cross, so that the axial size of the front end effector can be reduced, and the load capacity of deflection motion can be increased. Taking the front end executing device 305 as an example, the triaxial cross-centering characteristic structure can reduce the axial dimension by 8mm, the distance between the clamp page load point and the rotating shaft by 12mm, and the deflection motion load capacity can be improved by about 60%.

In order to make the deflection movement R2 of the jaw 305c coincide with the rotation axis of the opening and closing movement K, two jaw 305c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 305c are distributed on both sides of the cross axle 305b and still can be correctly engaged, the clamp pages 305c are configured in a "Z" shape.

Fig. 101 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. FIG. 102 is a schematic illustration of an arrangement of drive wire cross shafts of a front end effector according to yet another embodiment of the present disclosure. Fig. 103 is a schematic diagram illustrating an arrangement of the driving wire cross shaft of the front end effector according to another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 102 and 103, one end of a driving wire 305l is fixed on a pitching wire wheel 305g, and the other end bypasses the pitching wire wheel 305g, passes through a wire through hole provided in the connection seat 305a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 305l is mounted on the pitch wire wheel 305g on the other side of the cross 305b in the same manner, and winding directions of the two driving wires 305l on the pitch wire wheel 305g are opposite. Pulling on the two drive wires 305l effects rotation of the cross-shaft 305b about the axis R3, i.e., pitching motion R3 of the front end effector 305, as shown in fig. 104.

Fig. 105 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure on a deflecting wire wheel. Fig. 106 is a schematic view of an arrangement of driving wires of a front end effector on a deflecting wire wheel according to another aspect of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 105 and 106, one end of a driving wire 305l 'is fixed on an inner deflection wire wheel 305i, the other end passes through a wire threading hole arranged on a connecting seat 305a along a small wheel groove on a guide wheel 305d after bypassing the inner deflection wire wheel 305i, passes through an outer tube 22 and is fixedly arranged on the driving wire wheel 21a in a rear end driving device 21, one end of the other driving wire 305l' is fixed on an outer deflection wire wheel 305K, and the other end passes through a wire threading hole arranged on the connecting seat 305a along a large wheel groove on the guide wheel 305d after bypassing the outer deflection wire wheel 305K and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 305i' are wound in opposite directions on the inner deflection wire wheel 305i and the outer deflection wire wheel 305 k. Pulling the two drive wires 305l' can achieve rotation of the jaw 305c about the axis R2, i.e., a deflection movement R2 and an opening and closing movement K of the front end effector 305, as shown in fig. 107.

The threading holes on the connecting seat 305a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, so that the effect of reducing the coupling degree of each motion can be achieved. Fig. 108 is a schematic diagram illustrating a distribution of threading holes of a front end effector according to yet another embodiment of the present disclosure. As shown in fig. 108 (a), in general, the driving wires of the surgical tool are circumferentially distributed in the outer tube 22, and when the front end effector performs the rotation motion R1, the circumferentially distributed driving wires are intertwined, so that the intertwined driving wires are coupled with each other in each motion on the front end effector, and the friction force generated by the intertwined driving wires is far greater than the friction force of the driving wires on the guide wheel and the wire wheel, which results in serious degradation of the motion precision and the load capacity of the front end effector. As shown in fig. 108 (b), the use of the driving wires distributed in a straight line prevents the driving wires in the outer tube 22 from being entangled with each other and coupled with each other during the rotation.

In order to make the deflection motion R2 of the clamp page 305c coincide with the rotation axis of the opening and closing motion K, two clamp pages 305c are arranged on the same shaft of the cross shaft and distributed on two sides of the shaft, and the driving wire realizes the cross shaft crossing. At the same time, in order to make the front end effector more compact and the two clamp pages 305c are distributed on both sides of the cross axle 305b and still can be correctly engaged, the clamp pages 305c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the pincer pages in movement are not arranged in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 DEG

The clamping type tool structure is most complex for the different functional surgical tools 13, since at least two independently movable actuating parts (jaw, scissors) need to be provided on the front end effector 23 of the clamping type surgical tool 13. The above embodiment will thus be described with reference to the gripping tool as an example of the front end effector 23 having the characteristic of intersecting three axes with one center. The surgical tools 13 other than the clamping type tools, such as energy tools, ultrasonic blades, negative pressure tools, etc., may be simply modified based on the above embodiments to achieve the functions.

Fig. 109 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 110 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure. As shown in fig. 109 and 110, the front end effector 310 may be regarded as a function expanding structure of the front end effector 305, and the method of expanding the same front end effector to different functional surgical tools is shown by way of example as an energy tool. The front end effector 310 is provided with a cross-shaft structure on which an energy tool for performing a surgical operation is mounted. The front end effector 310 includes a connector block 310a, a cross 310b, an electrical hook block 310c, an electrical hook 310d, etc. The connection seat 310a is used for connecting the outer tube 22 with the front end executing device 310, the connection seat 310a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 310a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 310 to realize the rotation motion R1.

Referring to fig. 110 and 111, the pitch axis 310e of the cross 310b is mounted on the shaft seat 310f of the connecting seat 310a, and the cross 310b can rotate around the axis R3. Two pitching wire wheels 310g are fixedly arranged on the pitching shaft 310e, the axes of the pitching wire wheels 310g are coincident with the axis of the pitching shaft 310e, and the rotation of the pitching wire wheels 310g can drive the cross shaft 310b to rotate around the shaft R3. The electric hook seat 310c is mounted on a deflection shaft 310h of the cross shaft 310b, and the electric hook seat 310c can rotate around the shaft R2. The inner side of the electric hook seat 310c is provided with deflection wire wheels 310i, and the two deflection wire wheels are coaxial. The rotation of the deflecting wire wheel 310i on the deflecting shaft 310h can drive the electric hook seat 310c and the electric hook 310d fixed at the top end of the electric hook seat 310c to rotate around the shaft R2, so as to realize the deflecting motion R2. The pitch axis 310e is perpendicular to the yaw axis 310h and intersects at a point, and the cross 310b and the electric hook 310c move around the axes, thereby realizing the triaxial intersection-centered characteristic.

Fig. 112 is a schematic diagram of a driving wire arrangement of a front end effector 310 according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 113, one end of the driving wire 310k is fixed on the pitching wire wheel 310g, and the other end bypasses the pitching wire wheel 310g, passes through the wire through hole provided in the connection base 310a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 310k is mounted on the pitch wire wheel 310g on the other side of the cross 310b in the same manner, and winding directions of the two driving wires 310k on the pitch wire wheel 310g are opposite. Pulling on the two drive wires 310k effects rotation of the cross 310b about the axis R3, i.e., pitching motion R3 of the front end effector 310, as shown in fig. 114.

Fig. 115 is a schematic view showing an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure on a deflecting wire wheel. Fig. 116 is a schematic view illustrating an arrangement of driving wires of a front end effector on a deflecting wire wheel according to another embodiment of the present disclosure. For the deflection movement R2, referring to fig. 115 and 116, one end of a driving wire 310k 'is fixed on an inner deflection wire wheel 310i, the other end bypasses the deflection wire wheel 310i, passes through a wire penetrating hole formed in a connecting seat 310a along a wheel groove formed in a guide wheel 310l, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through an outer tube 22, and the other driving wire 310k' is mounted on the deflection wire wheel 310i at the other side of the electric hook seat 310c in the same manner. The winding directions of the two driving wires 310k' on the deflecting wire wheel 310i are opposite. Pulling on the two drive wires 310k' effects rotation of the electrical hook 310c about the axis R2, i.e., the yaw movement R2 of the front end effector 310, as shown in fig. 117.

Fig. 118 is a schematic structural diagram of a front-end execution device according to still another embodiment of the present disclosure. Fig. 119 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure. As shown in fig. 118 and 119, the front end effector 307 includes a connection base 307a, a cross 307b, a clamp 307c, and the like. The connection seat 307a is used for connecting the outer tube 22 with the front end executing device 307, the connection seat 307a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 307a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 307 to realize the rotation motion R1.

Fig. 120 is a schematic diagram of a front end effector clamp according to another embodiment of the present disclosure. Referring to fig. 119 and 120, the pitch shaft 307d on the cross 307b is mounted on the shaft seat 307e of the connection seat 307a, and the cross 307b is rotatable about the axis R3. Two pitching wire wheels 307f are fixedly arranged on the pitching shaft 307d, the axis of the pitching wire wheels 307f coincides with the axis of the pitching shaft 307d, and the rotation of the pitching wire wheels 307f can drive the cross shaft 307b to rotate around the shaft R3. Two double row guide wheels 307g are also mounted on the pitch shaft 307d for driving wire guides. Four guide wheels 307m are uniformly distributed on the side wall above the cross shaft 307b, and the guide wheels 307m are used for guiding driving wires of the control clamp pages 307 c. The guide wheels are arranged above the cross 307b, so that the occupation of space below the cross 307b can be reduced, and the rotation angle of the pitching motion R3 can be increased. For a front end effector of a rigid structure, the angle of deflection is typically less than 70 degrees in all directions.

Fig. 121 is a schematic view of a pitch angle of a front-end effector according to still another embodiment of the present disclosure. In the front end effector 307, as the space below the cross 307b is increased, as shown in fig. 121, the movement range of the pitching movement R3 can reach ±110°, and the operation flexibility of the surgical tool can be greatly improved. For example, in the implementation process of robot-assisted minimally invasive surgery, when a certain organ in the visual field needs to be operated in the back direction, a surgical tool with a certain deflection angle larger than 90 degrees can more easily meet the operation requirement. The jaw 307c is mounted on a deflection shaft 307h of the cross 307b, the jaw 307c being rotatable about the axis R2. The jaw 307c is provided with an inner deflecting wire wheel 307i and an outer deflecting wire wheel 307k, which are coaxial. The rotation of the inner deflecting wire wheel 307i and the outer deflecting wire wheel 307K on the deflecting shaft 307h can drive the jaw 307c to rotate around the shaft R2, thereby realizing the deflecting motion R2 and the opening and closing motion K. The pitch axis 307d is perpendicular to the yaw axis 307h and intersects at a point, and the movement of the spider 307b and the jaw 307c about the axis achieves a triaxial intersection-centered characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased. Taking the front end executing device 307 as an example, by adopting the triaxial cross-over-center characteristic structure, the axial dimension can be reduced by 8mm, the distance between a jaw loading point and a rotating shaft is 12mm, the deflection motion load capacity can be improved by about 60%, the deflection motion load capacity of a general rigid member surgical tool is 20N, and the deflection motion load capacity of the front end executing device 307 can reach 30N. On the other hand, in the implementation process of robot-assisted minimally invasive surgery, the image of the surgical operation part is enlarged by tens of times, the outer diameter of a surgical tool is usually 8-10mm, a part with the length of 8mm below the outer diameter occupies a large part of image area, the axial size of a front-end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a triaxial cross-heart structure.

Fig. 122 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 123 is a schematic view showing an arrangement of driving wires on a cross-shaft of a front end effector according to still another embodiment of the present disclosure. For pitching motion R3, referring to fig. 123, one end of a driving wire 307l is fixedly mounted on a pitching wire wheel 307f, and the other end bypasses the pitching wire wheel 307f, passes through a wire through hole provided in the connection base 307a, and is fixedly mounted on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 307l is mounted on the pitch wire wheel 307f on the other side of the cross 307b in the same manner, and winding directions of the two driving wires 307l on the pitch wire wheel 307f are opposite. Pulling on the two drive wires 307l effects rotation of the cross 307b about the axis R3, i.e. pitching movement R3 of the front end effector 307, as shown in fig. 124.

Fig. 125 is a schematic view showing an arrangement of driving wires on a cross shaft for a deflection movement and an opening and closing movement of a front end effector according to still another embodiment of the present disclosure. Fig. 126 is a schematic view of an arrangement of drive wires on a jaw for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, see fig. 125 and 126, one end of the driving wire 307l 'is fixed on the inner deflection wire wheel 307i, the other end bypasses the inner deflection wire wheel 307i and then the guide wheel 307m mounted above the inner deflection wire wheel to realize the first reversing, and then bypasses the guide wheel 307m adjacent to the inner deflection wire wheel to realize the second reversing, and then bypasses the outer side wheel of the double-row guide wheel 307g, passes through the wire threading hole arranged on the connecting seat 307a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other driving wire 307l' is mounted and fixed on the outer deflection wire wheel 307K, and the other end bypasses the inner side wheel of the double-row guide wheel 307g to realize the reversing, passes through the wire threading hole arranged on the connecting seat 307a and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 307l' are wound in opposite directions on the inner deflection wire wheel 307i and the outer deflection wire wheel 307 k. Pulling the two drive wires 307l' can achieve rotation of the jaw 307c about the axis R2, i.e. a deflection movement R2 and an opening and closing movement K of the front end effector 307.

Fig. 127 is a schematic view of a front end effector according to yet another embodiment of the present disclosure performing a yaw and an open/close motion. As shown in fig. 125-127. After the driving wire 307l 'bypasses two adjacent guide wheels 307m, the driving wire 307l' can be turned from the plane where the inner deflection wire wheel 307i is located to the plane where the pitching wire wheel 307f is located, so that wire penetrating holes arranged on the connecting seat 307a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, thereby achieving the effect of reducing the coupling degree of each motion. Generally, driving wires of the surgical tool are circumferentially distributed in the outer tube 22, as shown in fig. 108, when the front end effector performs the rotation motion R1, the driving wires circumferentially distributed may be intertwined, and the driving wires after being intertwined may not only couple each motion on the front end effector, but also generate friction force between the driving wires far greater than that of the driving wires on the guide wheel and the wire wheel, so that the motion precision and the load capacity of the front end effector are seriously reduced. And the use of the linearly distributed driving wires prevents the driving wires in the outer tube 22 from being entangled and coupled with each other during the rotation movement.

In order to make the deflection movement R2 of the jaw 307c coincide with the rotation axis of the opening and closing movement K, the two jaw 307c are arranged on the same axis of the cross shaft and distributed on both sides of the shaft, and the driving wire realizes the cross shaft crossing. At the same time, in order to make the front end effector more compact, and the two clamp pages 307c are distributed on both sides of the cross shaft 307b and still can be correctly engaged, the clamp pages 307c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the movement of the pincer pages do not exist in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 degrees.

Fig. 128 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 129 is an exploded view of the structure of a front-end effector according to still another embodiment of the present disclosure. As shown in fig. 128 and 129, the front end effector 308 includes a connection base 308a, a cross 308b, a clamp 308c, and the like. The connection seat 308a is used for connecting the outer tube 22 with the front end execution device 308, the connection seat 308a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 308a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 308 to realize the rotation motion R1.

Fig. 130 is a schematic structural diagram of a front end effector structure clamp according to another embodiment of the present disclosure. Referring to fig. 129 and 130, the pitch axis 308d of the spider 308b is mounted on the shaft seat 308e of the connection seat 308a, and the spider 308b is rotatable about the axis R3. Two pitching wire wheels 308f are fixedly arranged on the pitching shaft 308d, the axis of the pitching wire wheels 308f coincides with the axis of the pitching shaft 308d, and the rotation of the pitching wire wheels 308f can drive the cross shaft 308b to rotate around the shaft R3.

Two double row guide wheels 308g are also mounted on the pitch axis 308d for driving wire guides. Two guide wheels 308n are obliquely and symmetrically arranged on the side wall above the cross shaft 308b, and the guide wheels 308n are used for guiding driving wires of the control clamp pages 308 c. The guide wheel is arranged above the cross shaft 308b, so that the occupation of the space below the cross shaft 308b can be reduced, the mutual interference between parts below the rotating shaft and the driving wire is avoided, and the rotating angle of the deflection motion R3 is increased. The jaw 308c is mounted on a deflection shaft 308h of a cross-shaft 308b, and the jaw 308c is rotatable about an axis R2. The jaw 308c is provided with an inner deflection pulley 308i and an outer deflection pulley 308k, which are coaxial. The rotation of the inner deflection wire wheel 308i and the outer deflection wire wheel 308K on the deflection shaft 308h can drive the jaw 308c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. Pitch axis 308d intersects yaw axis 308h at a point perpendicular to and about the axis of motion of spider 308b and jaw 308c, resulting in a triaxial cross-over-center characteristic.

The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased. Taking the front end effector 308 as an example, the triaxial cross-over-center characteristic structure can reduce the axial dimension by 8mm, the distance between the jaw loading point and the rotating shaft by 12mm, the deflection motion load capacity can be improved by about 60%, the deflection motion load capacity of a general rigid member surgical tool is 20N, and the deflection motion load capacity of the front end effector 308 can reach 30N. On the other hand, in the implementation process of robot-assisted minimally invasive surgery, the image of the surgical operation part is enlarged by tens of times, the outer diameter of a surgical tool is usually 8-10mm, a part with the length of 8mm below the outer diameter occupies a large part of image area, the axial size of a front-end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a triaxial cross-heart structure.

Fig. 131 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 132 is a schematic view illustrating an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure on a pitch wire wheel. For the pitching motion R3, referring to fig. 131 and 132, one end of a driving wire 308l is fixed on a pitching wire wheel 308f, the other end bypasses the pitching wire wheel 308f, passes through a wire penetrating hole formed in a connecting seat 308a along a small wheel groove of a shaft seat guide wheel 308m arranged below the pitching wire wheel 308f, and is fixedly mounted on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another drive wire 308l is mounted on the pitch wire wheel 308f on the other side of the cross 308b in the same manner, and the winding directions of the two drive wires 308l on the pitch wire wheel 308f are opposite. Pulling on the two drive wires 308l effects rotation of the cross 308b about the axis R3, i.e., pitching motion R3 of the front end effector 308, as shown in fig. 133.

FIG. 134 is a schematic view of a drive wire arrangement on a cross-shaft for yaw movement and opening and closing movement of a front end effector according to yet another embodiment of the present disclosure. Fig. 135 is a schematic view showing an arrangement of driving wires on a cross shaft for performing a yaw motion and an opening and closing motion of a front end effector according to another embodiment of the present disclosure. Fig. 136 is a schematic view showing an arrangement of driving wires for performing a deflecting motion and an opening and closing motion of a front end effector on a jaw under another view according to still another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 134, 135 and 136, one end of a driving wire 308l 'is fixed on an inner deflection wire wheel 308i, the other end passes through a wire threading hole formed on a connecting seat 308a along a wheel groove of a double-row guide wheel 308g after bypassing the inner deflection wire wheel 307i, is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other driving wire 308l' is mounted and fixed on an outer deflection wire wheel 308K, and the other end passes through a wire threading hole formed on the connecting seat 308a along a large wheel groove of a shaft seat guide wheel 308m after bypassing a deflection guide wheel 308n arranged above a cross shaft 308b, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 308l' are wound in opposite directions on the inner deflection wire wheel 308i and the outer deflection wire wheel 308 k. Pulling on the two drive wires 308l' effects rotation of the jaw 308c about the axis R2, i.e., a deflection movement R2 and an opening and closing movement K of the front end effector 308, as shown in fig. 137.

After the driving wire 308l 'bypasses the guide wheel 308n, the driving wire 308l' can be turned from the plane where the inner deflection wire wheel 308i is located to the plane where the pitching wire wheel 308f is located, so that wire penetrating holes arranged on the connecting seat 308a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, thereby achieving the effect of reducing the coupling degree of each motion.

Generally, driving wires of the surgical tool are circumferentially distributed in the outer tube 22, as shown in fig. 108, when the front end effector performs the rotation motion R1, the driving wires circumferentially distributed may be intertwined, and the driving wires after being intertwined may not only couple each motion on the front end effector, but also generate friction force between the driving wires far greater than that of the driving wires on the guide wheel and the wire wheel, so that the motion precision and the load capacity of the front end effector are seriously reduced. And the use of the linearly distributed driving wires prevents the driving wires in the outer tube 22 from being entangled and coupled with each other during the rotation movement.

In order to make the deflection movement R2 of the jaw 308c coincide with the rotation axis of the opening and closing movement K, two jaws 308c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 308c are distributed on both sides of the cross shaft 308b and still engage correctly, the clamp pages 308c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the pincer pages in movement are not arranged in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 DEG

Fig. 138 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 139 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure. As shown in fig. 138 and 139, the front end effector 306 is provided with a cross structure having a circular arc-shaped wire guide groove (U-shaped frame), and a driving wire is installed in the wire guide groove for driving the cross structure to move. The arc-shaped guide wire groove is arranged below the cross shaft, so that the driving wire is pulled along the direction of the guide wire groove, and the purpose of the arc-shaped guide wire groove is to increase the turning radius of an action point of the driving wire on the cross shaft relative to the rotating shaft, so that the rotation moment of the cross shaft is increased under the condition that the tension of the driving wire is unchanged. The front end effector 306 includes a connection block 306a, a cross 306b, a jaw 306c, a guide wheel 306d, and the like. The connection seat 306a is used for connecting the outer tube 22 with the front end executing device 306, the connection seat 306a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 306a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 306 to realize the rotation motion R1.

Fig. 140 is a schematic structural view of a cross-shaft of a front end effector according to yet another embodiment of the present disclosure. Referring to fig. 139 and 140, the pitch axis 306e of the cross 306b is mounted on the shaft seat 306f of the connecting seat 306a, and the cross 306b can rotate around the axis R3. The jaw 306c is mounted on a deflection shaft 306h of the cross 306b, the jaw 306c being rotatable about the axis R2. The jaw 306c is provided with an inner deflection pulley 306i and an outer deflection pulley 306k, which are coaxial. The rotation of the inner deflection wire wheel 306i and the outer deflection wire wheel 306K on the deflection shaft 306h can drive the jaw 306c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. Pitch axis 306e is perpendicular to yaw axis 306h and intersects at a point, and the pivotal movement of spider 306b and jaw 306c achieves a triaxial intersection-centered characteristic.

The lower part of the cross shaft 306b is in contact with the connecting seat 306a, and is also provided with a U-shaped guide wire groove 306m, and the guide wire groove 306m and the deflection shaft 306h are arranged on the same plane. Two pitching guide wheels 306n are installed at the end face of the connecting seat 306a, the two pitching guide wheels 306n are also arranged in the same plane with the wire guide groove 306m, and when the cross shaft 306b rotates around the shaft R3, the pitching guide wheels 306n can enable the driving wire 306l to be always kept in the wire guide groove 306 m.

Fig. 141 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 142 is a schematic view illustrating an arrangement of driving wires of a front end effector on a cross-shaft according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 141 and 142, one end of a driving wire 306l is fixed in a wire guide groove 306m provided on a cross shaft 306b, and the other end of the driving wire is passed through a wire threading hole provided on a connection seat 305a after bypassing a pitching guide wheel 306n and is fixedly mounted on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22. The other side of the pitch cross 306b is provided with another driving wire 306l in the same manner, and the two driving wires 306l are pulled to realize the rotation of the cross 306b around the axis R3, namely the pitch motion R3 of the front end effector 306, as shown in fig. 143.

Fig. 144 is a schematic diagram illustrating an arrangement of driving wires for performing a deflecting motion and an opening and closing motion of a front end effector on a guide wheel according to another embodiment of the present disclosure. Fig. 145 is a schematic view showing an arrangement of driving wires for performing a deflecting motion and an opening and closing motion of a front end effector on a jaw under another view according to still another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 144 and 145, one end of a driving wire 306l is fixed on an inner deflection wire wheel 306i, and the other end passes through a wire threading hole arranged on a connecting seat 306a along a small wheel groove on a guide wheel 306d after bypassing the inner deflection wire wheel 306i, passes through a wire threading hole arranged on an outer tube 22 and is fixedly arranged on a driving wire wheel 21a in a rear end driving device 21, and the other driving wire 306l is fixed on an outer deflection wire wheel 306K at one end and passes through a wire threading hole arranged on the connecting seat 306a along a large wheel groove on the guide wheel 306d after bypassing the outer deflection wire wheel 306K and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 306l' are wound in opposite directions on the inner deflection wire wheel 306i and the outer deflection wire wheel 306 k. Pulling on the two drive wires 306l' effects rotation of the jaw 306c about the axis R2, i.e., the yaw movement R2 and the opening and closing movement K of the front end effector 306, as shown in fig. 146.

An arc-shaped wire guide groove 306m is arranged below the cross shaft 306b, and a driving wire 306l for driving the cross shaft 306b to do pitching motion R3 is arranged in the wire guide groove 306m, wherein the pulling direction of the driving wire 306l can be always the same as the tangential direction of the rotation direction of the cross shaft 306 b. The load capacity of the front end effector 306 can be increased with the above arrangement. Taking the front end executing device 306 as an example, the radius of an outer deflection wire wheel 306K for driving the jaw 306c to do deflection motion R2 and opening and closing motion K is 2.5mm, the radius of gyration of the circular arc-shaped wire guide groove 306m is 5mm, the influence of friction force on the transmission path of the driving wire 306l is ignored, and when the pulling force of the driving wires 306l and 306l' is the same, the torque of the pitching motion R3 is 2 times of the torque of the deflection motion R2. Taking the front end effector 306 as an example, the average load capacity of the yaw motion R2 in a wire wheel transmission manner is 18N, and the average load capacity of the pitch motion R3 in a circular arc wire guide groove transmission manner is 36N.

In order to make the deflection movement R2 of the jaw 306c coincide with the rotation axis of the opening and closing movement K, two jaw 306c are arranged on the same axis of the cross 306b and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 306c are distributed on both sides of the cross shaft 306b and still engage correctly, the clamp pages 306c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the movement of the pincer pages do not exist in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-110 degrees.

Fig. 147 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 148 is an exploded view of the front end effector structure of yet another embodiment of the present disclosure. As shown in fig. 147 and 148, the front end effector 309 is provided with a cross-shaft structure with a circular arc-shaped wire guide groove, and a driving wire is installed in the wire guide groove and used for driving the cross-shaft structure to move. The arc-shaped guide wire groove is arranged below the cross shaft, so that the driving wire is pulled along the direction of the guide wire groove, and the purpose of the arc-shaped guide wire groove is to increase the turning radius of an action point of the driving wire on the cross shaft relative to the rotating shaft, so that the rotation moment of the cross shaft is increased under the condition that the tension of the driving wire is unchanged. The front end effector 309 includes a connection base 309a, a cross 309b, a clamp 309c, and the like. The connection seat 309a is used for connecting the outer tube 22 with the front end executing device 309, the connection seat 309a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 309a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 309 to realize the rotation motion R1.

FIG. 149 is a schematic view of a cross-shaft of a front end effector according to another embodiment of the present disclosure. Fig. 150 is a schematic view illustrating a structure of a front end effector clamp according to another embodiment of the present disclosure. Referring to fig. 148, 149 and 150, the pitch axis 309d of the spider 309b is mounted on the shaft seat 309e of the connecting seat 309a, and the spider 309b is rotatable about the axis R3. The jaw 309c is mounted on a yaw axis 309f of the cross 309b, and the jaw 309c is rotatable about an axis R2. The jaw 309c is provided with an inner deflection pulley 309g and an outer deflection pulley 309h, which are coaxial. The rotation of the inner deflection wire wheel 309g and the outer deflection wire wheel 309h on the deflection axis 309f may drive the jaw 309c to rotate about the axis R2, realizing the deflection motion R2 and the opening and closing motion K. The pitch axis 309d intersects the yaw axis 309f at a point, and the movement of the spider 309b and the jaw 309c about the axis achieves a triaxial intersection-centered characteristic. The inner side of the shaft seat 309e of the connecting seat 309a is provided with a double-row guide wheel 309m and a guide wheel 309o, and a driving wire 309i for driving the jaw 309c to rotate can extend into a wire through hole arranged on the end surface of the connecting seat 309a after passing through the double-row guide wheel 309m and the guide wheel 309 o. Two deflection guide wheels 309n are arranged above the cross shaft 309c, and are used for reversing a driving wire 309i driving the clamp page 309c to rotate from a plane where the inner deflection wire wheel and the outer deflection wire wheel are positioned to a plane where the double-row guide wheels 309m and 309o are positioned. Two pitching guide wheels 309l are installed at the end face of the connecting seat 309a, the two pitching guide wheels 309l and the wire guide groove 309k are arranged in the same plane, and when the cross shaft 309b rotates around the axis R3, the pitching guide wheels 309l can enable the driving wire 309i to be always kept in the wire guide groove 309 k.

Fig. 151 is a schematic view of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. FIG. 152 is a schematic view of an arrangement of drive wires on a cross-shaft of a front end effector according to yet another embodiment of the present disclosure. Fig. 151 is a schematic diagram showing a driving wire arrangement of the front end effector 309. For the pitching motion R3, referring to fig. 152, one end of a driving wire 309i' is fixed in a wire guide groove 309k provided on a cross shaft 309b, and the other end passes through a wire threading hole provided on a connection seat 309a after bypassing a pitching guide wheel 309l along the wire guide groove 309k, passes through an outer tube 22, and is fixedly mounted on a driving wire wheel 21a in the rear end driving device 21. The other side of the cross 309b is provided with another driving wire 309i 'in the same manner, and the two driving wires 309i' are pulled to rotate the cross 309b around the axis R3, that is, the pitching motion R3 of the front end effector 309, as shown in fig. 153.

FIG. 154 is a schematic illustration of a drive wire arrangement for a deflection motion and an opening and closing motion of a front end effector according to yet another embodiment of the present disclosure. Fig. 155 is a schematic diagram of a driving wire arrangement of a front end effector for yaw movement and opening and closing movement under another view of a further embodiment of the present disclosure. Fig. 156 is a schematic view of the arrangement of drive wires on a jaw for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 154, 155 and 156, one end of a driving wire 309i is fixed on an inner deflection wire wheel 309g, the other end of the driving wire 309i bypasses the inner deflection wire wheel 309g and then bypasses the inner side wheel groove of the double-row guide wheel 309m, so as to realize the reversing of the driving wire 309i, then passes through a wire penetrating hole arranged on the connecting seat 309a, and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other driving wire 309i is fixedly arranged on the outer deflection wire wheel 309h, and the other end bypasses the deflection guide wheel 309n arranged above the cross shaft 309b and then reverses only the plane of the double-row guide wheel 309m, passes through the wire penetrating hole arranged on the connecting seat 308a and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 309i are wound in opposite directions on the inner deflection wire wheel 309g and the outer deflection wire wheel 309 h. Pulling the two drive wires 309i effects rotation of the jaw 309c about the axis R2, i.e., a deflection movement R2 and an opening and closing movement K of the front end effector 309, as shown in fig. 157.

An arc-shaped wire guide groove 309k is arranged below the cross shaft 309b, and a driving wire 309i 'for driving the cross shaft 309b to perform pitching motion R3 is arranged in the wire guide groove 309k, and the pulling direction of the driving wire 309i' may be always the same as the tangential direction of the rotation direction of the cross shaft 309 b. The load capacity of the front end effector 309 can be increased with the above arrangement. Taking the front end executing device 309 as an example, the radius of the outer deflection wire wheel 309h for driving the jaw 309c to perform the deflection motion R2 and the opening and closing motion K is 2mm, the radius of gyration of the circular arc wire guide groove 309K is 5mm, the influence of the friction force on the transmission path of the driving wire 309i 'is ignored, and when the pulling forces of the driving wires 309i and 309i' are the same, the torque of the pitching motion R3 is 2.5 times the torque of the deflection motion R2. Taking the front end effector 306 as an example, the average load capacity of the yaw motion R2 in a wire wheel transmission manner is 18N, and the average load capacity of the pitch motion R3 in a circular arc wire guide groove transmission manner is up to 38N.

In order to make the deflection movement R2 of the jaw 309c coincide with the rotation axis of the opening and closing movement K, two jaw 309c are arranged on the same axis of the cross 309b and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 309c are distributed on both sides of the cross shaft 309b and still engage correctly, the clamp pages 309c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the movement of the pincer pages do not exist in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 degrees.

Fig. 158 is a schematic structural diagram of a front end execution device according to another embodiment of the present disclosure. Fig. 159 is an exploded view of the front end effector structure of yet another embodiment of the present disclosure. The front end effector 311 includes a connection base 311a, a cross shaft 311b, a clamp blade 311c, and the like. The cross shaft 311b is disposed on the connection base 311a, and the clamp pages 311c are disposed at both ends of one of the cross shafts 311 b. The connecting seat 311a is used for connecting the outer tube 22 with the front end executing device 311, the connecting seat 311a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connecting seat 311a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 311 to realize the rotation motion R1.

Referring to fig. 158 and 159, the pitch shaft 311d of the cross shaft 311b is mounted on the shaft seat 311e of the connection seat 311a, and the cross shaft 311b is rotatable about the axis R3. Two pitching wire wheels 311f are fixedly arranged on the pitching shaft 311d, the axis of the pitching wire wheels 311f is coincident with the axis of the pitching shaft 311d, and the rotation of the pitching wire wheels 311f can drive the cross shaft 311b to rotate around the shaft R3.

The jaw 311c is mounted on a pivot shaft 311h of the cross shaft 311b, and the jaw 311c is rotatable about the axis R2. Fig. 160 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure. As shown in fig. 160, a deflection bevel gear 311i is provided on the jaw 311 c. Rotation of the deflection bevel gear 311i on the deflection shaft 311h can drive the jaw 311c to rotate around the shaft R2, so as to realize deflection motion R2 and opening and closing motion K. The pitch axis 311d is perpendicular to the yaw axis 311h and intersects at a point, and the movement of the cross 311b and the jaw 311c about the axis achieves a triaxial intersection-centered characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 161 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure. Fig. 162 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 162, one end of the driving wire 311l is fixedly mounted on the pitching wire wheel 311f, and the other end bypasses the pitching wire wheel 311f, passes through the wire through hole provided in the connection seat 311a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 311l is mounted on the pitch wire wheel 311f on the other side of the cross shaft 311b in the same manner, and winding directions of the two driving wires 311l on the pitch wire wheel 311f are opposite. Pulling the two driving wires 311l can realize the rotation of the cross shaft 311b around the axis R3, namely, the pitching motion R3 of the front end executing device 311.

FIG. 163 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 163, a driving wire 311l' is fixed on a deflection wheel 311g, one end bypasses the deflection wheel 311g and then passes through a wire penetrating hole formed in a connecting seat 311a, the driving wire passes through an outer tube 22 and then is fixedly installed on a driving wire wheel 21a in a rear end driving device 21, the other end reversely bypasses the deflection wheel 311g and then bypasses a pitching shaft 311d, the driving wire passes through a wire penetrating hole formed in the connecting seat 311a along the deflection wheel 311j, and is fixedly installed on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22, one side of the deflection wheel 311g is a bevel gear with the same modulus as a deflection bevel gear 311i, the bevel gear on the deflection wheel is meshed with the deflection bevel gear 311i, and the rotation of the deflection wheel 311g can drive a jaw 311c to rotate around a shaft R2. The rotation of the jaw 311c around the axis R2, namely the deflection movement R2 and the opening and closing movement K of the front end effector 311, can be achieved by pulling the two driving wires 311 l'. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the deflection motion R2 of the clamp pages 311c coincide with the rotation axis of the opening and closing motion K, the two clamp pages 311c are arranged on the same shaft of the cross shaft and distributed on two sides of the shaft, and the driving wires realize the cross shaft crossing. Meanwhile, in order to make the front end executing device more compact in structure and ensure that two clamp pages 311c are distributed on two sides of the cross shaft 311b and still can be meshed correctly, the clamp pages 311c are arranged into a Z-shaped structure. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the movement of the pincer pages do not exist in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 degrees.

Fig. 164 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 165 is an exploded view of the structure of a front-end effector according to yet another embodiment of the present disclosure. The front end effector 312 includes a connection block 312a, a cross 312b, a clamp 312c, and the like. Wherein, the cross shaft 312b is disposed on the connecting base 312a, and the clamp pages 312c are disposed at two ends of one of the cross shafts 312 b. The connection seat 312a is used for connecting the outer tube 22 with the front end executing device 312, the connection seat 312a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 312a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 312 to realize the rotation motion R1.

Fig. 166 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure. Referring to fig. 165 and 166, the pitch axis 312d of the cross 312b is mounted on the shaft seat 312e of the connecting seat 312a, and the cross 312b is rotatable about the axis R3. Two pitching wire wheels 312f are fixedly arranged on the pitching shaft 312d, the axis of each pitching wire wheel 312f coincides with the axis of the pitching shaft 312d, and the rotation of the pitching wire wheels 312f can drive the cross shaft 312b to rotate around the shaft R3. Two double-row guide wheels 312g are also mounted on the pitch axis 312d for driving wire guides.

Two deflection wheels 312n are obliquely and symmetrically arranged on the side wall above the cross shaft 312b, the deflection wheels 312n are used for controlling the rotation of the clamp pages 312c, and one side of each deflection wheel 312n is in a bevel gear structure. The deflecting wheel 312n is arranged above the cross shaft 312b, so that the occupation of the space below the cross shaft 312b can be reduced, the interference between the parts below the rotating shaft and the driving wire can be avoided, and the rotating angle of the deflecting motion R3 can be increased.

The jaw 312c is mounted on a deflection shaft 312h of the cross shaft 312b, and the jaw 312c is rotatable about the axis R2. The nipper 312c is provided with a bevel gear 312i, and the bevel gear 312i is engaged with the bevel gear on the deflection wheel 312n side. Rotation of bevel gear 312i on yaw axis 312h drives jaw 312c to rotate about axis R2, effecting yaw motion R2 and opening and closing motion K. Pitch axis 312d intersects yaw axis 312h at a point perpendicular to and about the axes of spider 312b and jaw 312c, resulting in a triaxial cross-over-one-heart characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 167 is a schematic diagram of a drive wire arrangement of a front end effector according to yet another embodiment of the present disclosure. Fig. 168 is a schematic diagram of a drive wire arrangement for pitching motion of a front end effector in accordance with yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 168, one end of the driving wire 312l is fixedly mounted on the pitching wire wheel 312f, and the other end bypasses the pitching wire wheel 312f, passes through the wire through hole provided in the connection seat 312a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 312l is mounted on the pitch wire wheel 312f on the other side of the cross shaft 312b in the same manner, and winding directions of the two driving wires 312l on the pitch wire wheel 312f are opposite. Pulling on the two drive wires 312l effects rotation of the cross 312b about the axis R3, i.e., pitching motion R3 of the front end effector 312.

Fig. 169 is a schematic view showing a driving wire arrangement mode of the deflection and opening-closing movement of the front-end effector according to still another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 169, a driving wire 312l' is fixed on a deflection wheel 312n, one end bypasses the deflection wheel 312n, passes through a wire penetrating hole formed in a connecting seat 312a along one wheel of a double-row guide wheel 312g, is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other end reversely bypasses the deflection wheel 312n, passes through a wire penetrating hole formed in the connecting seat 312a along the other wheel of the double-row guide wheel 312g, is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, one side of the deflection wheel 312n is a bevel gear with the same modulus as the bevel gear 312i, the bevel gear on the deflection wheel is meshed with the bevel gear 312i of a clamp page, and the rotation of the deflection wheel 312n can drive the clamp page 312c to rotate around the shaft R2. Pulling the two drive wires 312l' can achieve rotation of the jaw 312c about the axis R2, i.e., a yaw motion R2 and an opening and closing motion K of the front end effector 312. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the deflection movement R2 of the jaw 312c coincide with the rotation axis of the opening and closing movement K, two jaws 312c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 312c are distributed on both sides of the cross shaft 312b and still engage correctly, the clamp pages 312c are configured in a "Z" shape. The pincer pages adopt Z-shaped structures, so that parts which can interfere with the pincer pages in movement are not arranged in the rotation direction of the pincer pages, and the deflection angle of the deflection movement R2 can reach +/-125 DEG

Fig. 170 is a schematic structural diagram of a front-end execution device according to another embodiment of the disclosure. Fig. 171 is an exploded view of the structure of a front end effector according to still another embodiment of the present disclosure. The front end effector 313 includes a connection base 313a, a cross 313b, a clamp 313c, and the like. The connection base 313a is used for connecting the outer tube 22 with the front end executing device 313, the connection base 313a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection base 313a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 313 to realize the rotation motion R1.

Fig. 172 is a schematic view of a jaw structure of a front-end execution device according to another embodiment of the disclosure. Referring to fig. 171 and 172, the pitch axis 313d of the cross 313b is mounted on the shaft seat 313e of the connection seat 313a, and the cross 313b can rotate around the axis R3. Two pitching wire wheels 313f are fixedly arranged on the pitching shaft 313d, the axis of each pitching wire wheel 313f coincides with the axis of the pitching shaft 313d, and the rotation of the pitching wire wheel 313f can drive the cross shaft 313b to rotate around the shaft R3. Two deflection driving wheels 313g are also mounted on the pitch shaft 313d for driving the caliper pages 313c. One end of the deflection driving wheel 313g is in a bevel gear structure. The jaw 313c is mounted on a pivot 313h of the cross 313b, and the jaw 313c is rotatable about an axis R2. A deflection driven wheel 313n is arranged between the deflection shaft 313h and the pitching shaft 313d, the deflection driven wheel 313n is a bevel gear, and the gear module is the same as the bevel gear module on the deflection driving wheel 313g and is meshed with each other. The nipper 313c is provided with a bevel gear 313i, and the bevel gear 313i is engaged with the bevel gear of the deflection driven wheel 313 n. The rotation of the deflection driving wheel 313g on the deflection shaft 313h can drive the clamp page 313c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. The pitch axis 313d is perpendicular to the yaw axis 313h and intersects at a point, and the movement of the cross 313b and the jaw 313c about the axis achieves the three-axis intersection-centering characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 173 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 174 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 174, one end of the driving wire 313l is fixedly mounted on the pitching wire wheel 313f, and the other end bypasses the pitching wire wheel 313f, passes through the wire through hole provided in the connection base 313a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 313l is mounted on the pitch wire wheel 313f on the other side of the cross shaft 313b in the same manner, and winding directions of the two driving wires 313l on the pitch wire wheel 313f are opposite. Pulling the two drive wires 313l can achieve rotation of the cross 313b about the axis R3, i.e. pitching movement R3 of the front end effector 313.

Fig. 175 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 175, the driving wire 313l is fixed on the deflection driving wheel 313g, one end passes through the wire threading hole provided on the connection base 313a after bypassing the deflection driving wheel 313g, is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other end passes through the wire threading hole provided on the connection base 313a after bypassing the deflection driving wheel 313g in a reverse direction, is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the deflection driving wheel 313g, the deflection driven wheel 313n and the bevel gear 313i on the clamp page 313c are sequentially meshed, and the rotation of the deflection driving wheel 313g can drive the clamp page 313c to rotate around the shaft R2. The rotation of the jaw 313c about the axis R2, namely the deflection movement R2 and the opening and closing movement K of the front end effector 313, is achieved by pulling the two drive wires 313 l'. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the deflection movement R2 of the jaw 313c coincide with the rotation axis of the opening and closing movement K, two jaw 313c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end actuating device more compact, and the two clamp pages 313c are distributed on two sides of the cross shaft 313b and still can be correctly meshed, the clamp pages 313c do not need to be arranged in a Z-shaped structure. The clamp page adopts a Z-shaped structure, and no part which can interfere with the movement of the clamp page exists in the rotating direction of the clamp page.

Fig. 176 is a schematic structural view of a front end executing device according to still another embodiment of the present disclosure. Fig. 177 is an exploded view of a front end effector structure according to still another embodiment of the present disclosure. The front end effector 314 includes a connector 314a, a cross 314b, a clamp 314c, and the like. The connection seat 314a is used for connecting the outer tube 22 with the front end executing device 314, the connection seat 314a is fixedly arranged at the front end of the outer tube 22, the rotation axis of the connection seat 314a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 314 to realize the rotation motion R1.

Fig. 178 is a schematic view of a jaw structure of a front-end execution device according to another embodiment of the disclosure. Referring to fig. 177 and 178, the pitch axis 314d of the cross 314b is mounted on the shaft seat 314e of the connecting seat 314a, and the cross 314b is rotatable about the axis R3. Two pitching wire wheels 314f are fixedly arranged on the pitching shaft 314d, the axis of each pitching wire wheel 314f coincides with the axis of the pitching shaft 314d, and the rotation of the pitching wire wheel 314f can drive the cross shaft 314b to rotate around the shaft R3. Two yaw drive wheels 314g are also mounted on the pitch shaft 314d for driving the jaw 314c.

The jaw 314c is mounted on a deflection shaft 314h of the cross shaft 314b, and the jaw 314c is rotatable about the axis R2. As shown in fig. 178, the jaw 314c is provided with an arc groove 314i, and the center of the arc groove 314i is not overlapped with the axis of the rotating shaft of the jaw 314 c.

Fig. 179 is a schematic view of a deflection driving wheel structure of a front end actuator according to another embodiment of the present disclosure. As shown in fig. 179, a shaft 314K is disposed on the deflecting driving wheel 314g, the shaft 314K can slide in the circular arc groove 314i, and rotation of the deflecting driving wheel 314g can drive the shaft 314K to slide in the circular arc groove 314i, so as to drive the jaw 314c to rotate around the shaft R2, thereby realizing the deflecting motion R2 and the opening and closing motion K. Pitch axis 314d intersects yaw axis 314h at a point perpendicular to the pivot motion of spider 314b and jaw 314c, resulting in a triaxial cross-over-center characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 180 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 181 is a schematic diagram of a driving wire arrangement of a pitching motion of a front end effector according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 181, one end of the driving wire 314l is fixedly mounted on the pitching wire wheel 314f, and the other end bypasses the pitching wire wheel 314f, passes through the wire through hole provided in the connection base 314a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another drive wire 314l is mounted on the pitch wire wheel 314f on the other side of the cross 314b in the same manner, and the winding directions of the two drive wires 314l on the pitch wire wheel 314f are opposite. Pulling on the two drive wires 314l effects rotation of the cross 314b about the axis R3, i.e., pitching motion R3 of the front end effector 314.

FIG. 182 is a schematic illustration of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 182, a driving wire 314l' is fixed on a deflection driving wheel 314g, one end passes through a wire penetrating hole formed in a connecting seat 314a after bypassing the deflection driving wheel 314g, and is fixedly installed on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22, the other end passes through a wire penetrating hole formed in the connecting seat 312a after bypassing the deflection driving wheel 314g in a reverse direction, and the rotation of the deflection driving wheel 314g can drive a shaft 314K to slide in an arc groove 314i, so as to drive a clamp page 314c to rotate, and the rotation of the clamp page 314c around the shaft R2, namely, the deflection movement R2 and the opening and closing movement K of a front end executing device 314 can be realized.

In order to make the deflection movement R2 of the jaw 314c coincide with the rotation axis of the opening and closing movement K, two jaw 314c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact and the two clamp pages 314c are distributed on both sides of the cross shaft 314b and still can be correctly engaged, the clamp pages 314c are configured in a Z-shaped structure. The clamp page adopts a Z-shaped structure, and no part which can interfere with the movement of the clamp page exists in the rotating direction of the clamp page.

Fig. 183 is a schematic structural diagram of a front-end execution device according to still another embodiment of the present disclosure. Fig. 184 is an exploded view of a front end effector structure according to yet another embodiment of the present disclosure. The front end effector 315 includes a connection block 315a, a cross 315b, a clamp 315c, and the like. The connection seat 315a is used for connecting the outer tube 22 with the front end execution device 315, the connection seat 315a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 315a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end execution device 315 to realize rotation motion R1.

Fig. 185 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure. Referring to fig. 184 and 185, the pitch axis 315d of the cross 315b is mounted on the shaft seat 315e of the connecting seat 315a, and the cross 315b can rotate around the axis R3. Two pitching silk wheels 315f are fixedly arranged on the pitching shaft 315d, the axis of the pitching silk wheels 315f coincides with the axis of the pitching shaft 315d, and the rotation of the pitching silk wheels 315f can drive the cross shaft 315b to rotate around the shaft R3. The pitch shaft 315d is further provided with two deflection driving wheels 315g for driving the jaw 315c, and one end face of each deflection driving wheel 315g is of a gear structure. The jaw 315c is mounted on a deflection shaft 315h of a cross shaft 315b, and the jaw 315c is rotatable about an axis R2. As shown in fig. 185, the jaw 315c is provided with an arc slot 315i, and the center of the arc slot 315i is not coincident with the axis of the rotation shaft of the jaw 314 c.

Fig. 186 is a schematic view of a deflection driving rack of a front end effector according to still another embodiment of the present disclosure. As shown in fig. 186, a shaft 315k is provided on the yaw drive rack 315g, and the shaft 315k is slidable in the circular arc groove 315 i. The deflection driving rack 315g is meshed with a face gear of the deflection driving wheel 315g, and rotation of the deflection driving wheel 315g can drive the deflection driving rack to slide on the cross shaft 315b, so that the jaw 315c is driven to rotate. The rotation of the deflection driving wheel 315g can drive the shaft 315K to slide in the arc groove 315i, and further drive the clamp page 315c to rotate around the shaft R2, so as to realize deflection movement R2 and opening and closing movement K. The pitch axis 315d is perpendicular to the yaw axis 315h and intersects at a point, and the movement of the cross 315b and the jaw 315c about the axis achieves the three-axis intersection-centering characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 187 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure. Fig. 188 is a schematic view of a drive wire arrangement for pitching motion of a front end effector in accordance with yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 188, one end of the driving wire 315l is fixedly mounted on the pitching wire wheel 315f, and the other end bypasses the pitching wire wheel 315f, passes through the wire through hole provided in the connection seat 315a, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 315l is mounted on the pitch wire wheel 315f on the other side of the cross 315b in the same manner, and winding directions of the two driving wires 315l on the pitch wire wheel 315f are opposite. Pulling the two drive wires 315l effects rotation of the cross 315b about the axis R3, i.e., pitching motion R3 of the front end effector 315.

FIG. 189 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 189, a driving wire 315l' is fixed on a deflection driving wheel 315g, one end passes through a wire penetrating hole formed in a connecting seat 315a after bypassing the deflection driving wheel 315g, and is fixedly installed on a driving wire wheel 21a in a rear end driving device 21 after passing through an outer tube 22, the other end passes through a wire penetrating hole formed in a connecting seat 312a after bypassing the deflection driving wheel 315g in a reverse direction, and the rotation of the deflection driving wheel 315g can drive a shaft 315K to slide in an arc groove 315i, so as to drive a clamp blade 315c to rotate, and the rotation of the clamp blade 315c around the shaft R2, namely, the deflection movement R2 and the opening and closing movement K of a front end executing device 315 can be realized.

In order to make the deflection movement R2 of the jaw 315c coincide with the rotation axis of the opening and closing movement K, two jaw 315c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact, and the two clamp pages 315c are distributed on both sides of the cross shaft 314b and still can be correctly engaged, the clamp pages 315c are configured in a "Z" shape. The clamp page adopts a Z-shaped structure, and no part which can interfere with the movement of the clamp page exists in the rotating direction of the clamp page.

Fig. 190 is a schematic structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig. 191 is an exploded view of a front-end actuator structure according to yet another embodiment of the present disclosure. The front end effector 316 includes a connection block 316a, a cross 316b, a jaw 316c, and the like. The connection seat 316a is used for connecting the outer tube 22 with the front end executing device 316, the connection seat 316a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connection seat 316a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 316 to realize the rotation motion R1.

Fig. 192 is a schematic cross-shaft structure of a front end effector according to another embodiment of the present disclosure. Referring to fig. 190, 191 and 192, the pitch axis 316d of the cross shaft 316b is mounted on the shaft seat 316e of the connecting seat 316a, and the cross shaft 316b can rotate around the axis R3. Two pitching wire wheels 316f are fixedly arranged on the pitching shaft 316d, the axes of the pitching wire wheels 316f are coincident with the axis of the pitching shaft 316d, and the rotation of the pitching wire wheels 316f can drive the cross shaft 316b to rotate around the shaft R3. Two yaw drive wheels 316g are also mounted on the pitch shaft 316d for driving the jaw 316c. One end of the deflection driving wheel 316g is in a bevel gear structure. The jaw 316c is mounted on a deflection shaft 316h of the cross shaft 316b, and the jaw 316c is rotatable about the axis R2.

Fig. 193 is a schematic view of a jaw structure of a front-end execution device according to still another embodiment of the present disclosure. As shown in fig. 193, bevel gears 316i are provided on the jaw 316c, and the bevel gears 316i are meshed with each other in the same modulus as the bevel gears of the deflection driving wheels 316 g. Rotation of the deflection driving wheel 316g on the deflection shaft 316h can drive the jaw 316c to rotate around the shaft R2, so as to realize deflection movement R2 and opening and closing movement K. Pitch axis 316d intersects yaw axis 316h at a point, the included angle between the two axes is α, and the motion of cross 316b and jaw 316c about the axes achieves the tri-axial intersection-centering characteristic. The superposition of the jaw rotating shaft and the deflection shaft is one of the steps for realizing the triaxial cross-centering characteristic, and the jaw is directly arranged on the cross shaft, so that the axial size of the front end executing device can be reduced, and the deflection motion load capacity can be further increased.

Fig. 194 is a schematic diagram of a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 195 is a schematic view of a drive wire arrangement for pitching motion of a front end effector according to yet another embodiment of the present disclosure. For pitching motion R3, referring to fig. 195, one end of driving wire 316l is fixedly mounted on pitching wire wheel 316f, and the other end bypasses pitching wire wheel 316f, passes through a wire through hole provided in connection seat 316a, and is fixedly mounted on driving wire wheel 21a in rear end driving device 21 after passing through outer tube 22. Another driving wire 316l is mounted on the pitch wire wheel 316f on the other side of the cross shaft 316b in the same manner, and winding directions of the two driving wires 316l on the pitch wire wheel 316f are opposite. Pulling the two drive wires 316l effects rotation of the cross 316b about the axis R3, i.e., pitching motion R3 of the front end effector 316.

Fig. 196 is a schematic view of a drive wire arrangement for deflection and opening movement of a front end effector according to yet another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, referring to fig. 196, a driving wire 316l' is fixed on a deflection driving wheel 316g, one end passes through a wire penetrating hole formed in a connection seat 316a after bypassing the deflection driving wheel 316g, passes through an outer tube 22 and is fixedly installed on a driving wire wheel 21a in a rear end driving device 21, the other end passes through a wire penetrating hole formed in the connection seat 316a after bypassing the deflection driving wheel 316g in a reverse direction, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21, a bevel gear on the deflection driving wheel 316g is meshed with a bevel gear 316i on a clamp page 316c, and the rotation of the deflection driving wheel 316g can drive the clamp page 316c to rotate around a shaft R2. Pulling the two drive wires 316l' can achieve rotation of the jaw 316c about the axis R2, namely a deflection movement R2 and an opening and closing movement K of the front end effector 316. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the deflection movement R2 of the jaw 316c coincide with the rotation axis of the opening and closing movement K, two jaw 316c are arranged on the same axis of the cross and distributed on both sides of the axis. At the same time, in order to make the front end effector more compact, and the two clamp pages 316c are distributed on both sides of the cross shaft 316b and still can be correctly engaged, the clamp pages 316c do not need to be configured in a "Z" shape. The clamp page adopts a Z-shaped structure, and no part which can interfere with the movement of the clamp page exists in the rotating direction of the clamp page.

The front end actuators 23 and the movement modes of the embodiments have a common feature that the device comprises a rigid part capable of rotating around a shaft, and the rotary movement coupling of a plurality of rigid parts realizes operation actions.

Fig. 197 is a schematic structural view of a flexible front end effector according to an embodiment of the present disclosure. The flexible front end effector 234 is structurally characterized by comprising a plurality of deflectable joints in series, each joint being deflectable at an angle relative to an adjacent joint, the deflection of all joints in a direction being superimposed to effect bending of the front end effector.

The front end effector 234 may perform three degrees of freedom motions, namely, a pitch motion R1, a yaw motion R2, and a rotation motion R3, driven by the rear end drive 21, and includes a connection base 234a, a joint 234b, a swivel base 234c, a support base 234d, and the like. The connecting seat 234a is used for connecting the outer tube 22 with the front end executing device 234, and the connecting seat 234a is fixedly installed at the front end of the outer tube 22. The other end of the connection block 234a is provided with a "V" shaped slot structure for mounting the knuckle 234b. One end of the joint 234b is provided with a V-shaped bulge, and the edge part of the V-shaped bulge presses against the bottom edge part of the V-shaped groove. The other end of the knuckle 234b is provided with a V-shaped groove identical to the connection seat 234a for mounting the adjacent knuckle 234b, the bottom edges of the V-shaped groove being vertically staggered with the V-shaped raised edges. The sharp angle of the V-shaped protrusion is smaller than the sharp angle of the V-shaped groove bottom so that the knuckle 234b can deflect in the V-shaped groove as shown in fig. 198. The swivel base 234c is used to connect the joint 234b and the support base 234d, and the swivel base 234c is provided with a V-shaped protrusion identical to the joint 234b and capable of performing a deflection movement in a V-shaped groove of the joint 234b adjacent thereto.

The connecting seat 234a, the joint 234b and the rotary seat 234c are respectively provided with uniformly distributed threading holes, one end of the driving wire 234e is fixedly connected with the rotary seat 234c, and the other end passes through each joint 234c and the connecting seat 234a and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. After the driving wire 234e is tensioned, the connecting seat 234a, the joint 234b and the rotary seat 234c are mutually pressed, and the pitching motion R1 and the deflecting motion R2 of the front end driving device 234 can be realized by pulling the driving wire 234 e.

The supporting seat 234d is mounted on the rotary seat 234c, an elastic flexible shaft 234f is fixedly mounted at the rotary shaft of the supporting seat 234d, and the flexible shaft 234f sequentially passes through the central holes of the connecting seat 234a, the joint 234b and the rotary seat 234c and then is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The rotation of the flexible shaft 234f drives the support base 234d to realize the rotation motion R3. In addition, the elastic flexible shaft 234f can also provide resilience force for each joint 234b on the front end executing device 234, which is beneficial to the rapid return after the joint 234b deflects. The front end effector 234 having flexible characteristics is more suitable for surgical tools that require quick response and no large load requirements than front end effectors having rigid swivel parts.

Fig. 199 is a schematic view of a flexible front end effector according to yet another embodiment of the present disclosure. The front end effector 240 may perform three degrees of freedom motions, i.e., a pitch motion R1, a yaw motion R2, and a spin motion R3, under the driving of the rear end drive 21. As shown in fig. 199, the flexible front end effector of the disclosed embodiments may perform three degrees of freedom motions, including a joint plate 240a, a joint ball 240b, a support seat 240c, and the like. The joint plates 240a are combined with the joint balls 240b in series, and one joint ball is arranged between two adjacent joint plates 240 a. Fig. 200 is a schematic diagram of a joint structure of a flexible front end effector according to yet another embodiment of the present disclosure. Referring to fig. 200, threading holes 240f are uniformly distributed on the joint plate 240b, one end of the driving wire 240d is fixedly provided with a screw thread 240e, and the other end of the driving wire 240d passes through each threading hole 240f and then passes through the outer tube 22 to be fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. After the drive wire 240d is tensioned, each articular segment 240a is compressed against the articular segment 240 b.

Fig. 201 is a cross-sectional view of a joint structure of a flexible front end effector of yet another embodiment of the present disclosure. Referring to fig. 201, a through hole is provided at the rotation axis of the joint plate 240a and the joint ball 240b for installing a flexible shaft 240e, one end of the flexible shaft 240e is fixed to the supporting seat 240c, the other end of the flexible shaft 240e is installed in the rear end driving device 21, the rotation of the flexible shaft 240e can drive the supporting seat 240c to realize the rotation R3, and meanwhile, the flexible shaft 240e can also provide a bending restoring force for the front end executing device 240.

The two ends of the through hole on the joint plate 240a are provided with arc surfaces, the radius of the arc surfaces is equal to that of the joint ball 240b, and the joint plate 240a can rotate around the center of the ball on the joint ball b. By pulling the driving wire 240d, the joint blade 240a rotates on the joint ball 240b under the action of the pulling force of the driving wire 240d, and the front end effector 240 deflects against the bending restoring force of the rotating shaft 240e, so as to realize the pitching motion R1 and the deflecting motion R2.

Fig. 202 is a schematic structural view of a flexible front end actuator according to yet another embodiment of the present disclosure. The flexible front end actuator 235 has similar structure and motion characteristics to the front end actuator 234, and is composed of a plurality of deflectable joints connected in series, each joint can deflect a certain angle relative to the adjacent joint, and the deflection superposition of all joints in a certain direction realizes the bending action of the front end actuator, so that the three-degree-of-freedom motion, namely the pitching motion R1, the deflecting motion R2 and the autorotation motion R3, can be completed under the driving of the rear end driving device 21. The difference is that each joint of the front end executing device 234 is in a discrete structure, each discrete joint is connected in series into a flexible bendable structure through the limiting action of the driving wire, the flexible bendable structure of the front end executing device 235 is a continuous body 235a, and each deflection joint is connected by a flexible hinge 235 b.

The discrete flexible front end actuator 234 is an underactuated structure, the degree of motion of the structure is greater than the degree of freedom, which causes different deflection angles of each joint when the front end actuator 234 bends in a certain direction, and the friction factor of the driving wires in the conventional wire sheath system causes the bending angle of the front end actuator 234 near the outer tube 22 to be larger, and the bending angle of the outer tube 22 to be smaller. The flexible structure of the front end effector 235 is a continuous body 235a, and the continuous body 235a can be regarded as an elastic body, and the shape of the continuous body is closer to an arc when the continuous body is bent, as shown in fig. 203.

FIG. 204 is a schematic diagram of a flexible front end effector having variable stiffness properties according to an embodiment of the present disclosure. The flexible front end effector 236 with stiffness variable performance has a main structure of a continuum with flexible hinges, and gaps of the continuum are filled with a material capable of rapidly undergoing phase transition, and the stiffness of the front end effector 236 is changed by the phase transition of the material. Because flexible front end effectors are often oversized in the axial direction, they have a lower load capacity than rigid articulating front end effectors and are more suitable for low load surgical procedures requiring a quick response. In order to expand the application range of the flexible front end execution device, the flexible front end execution device can be set to be of a structure with variable rigidity, the quick response requirement is met in a flexible state, and the high load capacity requirement is met in a rigid state.

Fig. 205 is a schematic diagram of the internal structure of a flexible front end effector with variable stiffness capability according to an embodiment of the present disclosure. The front end effector 236 includes a flexible continuous body 236a, a heating wire 236b, a lower retainer 236c, an upper retainer 236d, a support base 236e, and the like. Wire penetrating holes are radially and uniformly distributed in the continuous body 236a, heating cavities 236f are uniformly distributed in the continuous body, and heating wires 236b are arranged in the heating cavities 236 f. The two end surfaces of the flexible continuous body 236a are respectively provided with a lower check ring 236c and an upper check ring 236d, the upper check ring 236d is provided with a supporting seat 236e, the rotary shaft of the supporting seat 236e is fixedly provided with an elastic flexible shaft 236g, and the flexible shaft 236g sequentially passes through the central holes of the upper check ring 236d, the flexible continuous body 236a and the lower check ring 236c and then is fixedly arranged on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The rotation of the flexible shaft 236g drives the support base 236e to realize the rotary motion R3. In addition, the flexible shaft 236g may also provide a resilient force to the flexible continuum 236a to facilitate rapid return after deflection of the front end effector 236. The other end face of the lower retainer ring 236c is fixedly connected with the outer tube 22, one end of a driving wire 236h is fixed with the upper retainer ring 236d, and the other end of the driving wire 236h passes through a wire through hole arranged on the flexible continuous body 236a and the lower retainer ring 236c and is fixedly arranged on a driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The front end effector 234 may perform three degrees of freedom motions, i.e., a pitch motion R1, a yaw motion R2, and a spin motion R3, under the drive of the rear end drive 21.

The outer wall and the inner wall of the flexible continuous body 236a are respectively coated with an outer packing tube 236i and an inner packing tube 236k for sealing the continuous body 236a, and the inner packing tube 236i and the outer packing tube 236k are generally made of a material having high elasticity, and the bending property of the flexible continuous body 236a is not affected after the packing. The space inside the flexible continuous body 236a is filled with a low-temperature phase-change material, such as liquid metal, which is heated by the heating wire 236b to become liquid, so that the front-end execution device 236 is in a flexible state, and after heating is stopped, the low-temperature phase-change material is quickly solidified to be solid, so that the front-end execution device is in a rigid state. In addition to the low temperature phase change material, the gaps in the continuum 236a may be filled with a material such as magnetic fluid, and the stiffness may be changed by applying magnetic fields in different directions to the front end effector 236.

Fig. 206 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure. The main body structure is a flexible continuous body 237a made of metal, which has similar structure and motion characteristics to the front end effector 235 and is composed of a plurality of deflectable joints connected in series, and the deflectable joints are connected by flexible hinges 237 b. Each joint can deflect a certain angle relative to the adjacent joint, the deflection superposition of all joints in a certain direction realizes the bending action of the front end executing device, and the three-degree-of-freedom motion, namely pitching motion R1, deflecting motion R2 and autorotation motion R3, can be completed under the drive of the rear end driving device 21.

The flexible continuous body 237a is formed by processing a whole thin-wall metal pipe, and hollow parts of the pipe wall are removed by a laser cutting method. Fig. 207 is a schematic view of a flexible hinge connection structure of a flexible front end effector according to yet another embodiment of the present disclosure. Referring to fig. 207, the hollowed-out portions at both ends of the flexible hinge 237b may be rounded to prevent local stress concentration, and improve the fatigue strength of the flexible hinge. The continuous body 237a is mostly made of a metal tube with high elasticity, such as a stainless steel tube, a nickel-titanium alloy tube, etc.

Fig. 208 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure. The main structure of the flexible front end actuating device 238 is a metal discrete joint 238a, adjacent joints are connected through a hinge 238b, each joint can deflect a certain angle relative to the adjacent joint, and three degrees of freedom motions, namely pitching motion R1, deflecting motion R2 and autorotation motion R3, are completed under the drive of the rear end driving device 21.

All of the continuum on the front end effector 238 is machined from a single thin walled metal tube. Fig. 209 is a schematic view of an articulation structure of a flexible front end effector according to yet another embodiment of the present disclosure. As shown in fig. 209, the hollowed-out portion of the pipe wall is removed by a laser cutting method, and the hinge 238b is formed by cutting a laser beam once, and two adjacent discrete joints can rotate around the axis thereof.

Fig. 210 is a schematic view of a discrete joint working of a flexible front end effector according to yet another embodiment of the present disclosure. The metal tube is arranged on a chuck of the laser cutting machine, and rotates along with the chuck, and simultaneously, a laser beam irradiates the metal tube for cutting. The laser beam perpendicularly intersects the axis of revolution of the metal tube. FIG. 211 is a cross-sectional view of FIG. 208, wherein the laser beam intersects the axis of rotation of the metal tube perpendicularly, such that the direction of the elongation of the slit of the hinge 238b of two adjacent discrete joints is through the axis of rotation of the metal tube, the wall thickness of the tube is typically 0.1-0.3 mm, and the slit width a is about 0.02mm, such that the movement of two adjacent discrete joints in both the x and y directions is limited, and only the rotation about the axis of rotation of the hinge is possible, as shown in FIG. 211.

FIG. 212 is a thickened discrete joint schematic diagram of a flexible front end effector according to yet another embodiment of the present disclosure. Because the wall thickness of the metal tube is thinner, the discrete joint cannot bear larger bending moment or the torque in the axial direction, and the method shown in the figure 212 can be used for increasing the wall thickness of the metal tube to improve the load capacity of the discrete joint. Cutting metal tubes with different sizes respectively according to the same track, sleeving after cutting, and welding or bonding and fixing inner and outer discrete joints.

Fig. 213 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure. The front end effector 243 may perform three degrees of freedom motions, i.e., a pitch motion R1, a yaw motion R2, and a spin motion R3, under the drive of the rear end drive 21. The main structure of the front end effector 243 is composed of a plurality of driving units 243a capable of bending in two directions in series, and the bending directions of the two adjacent driving units 243a are orthogonal, as shown in fig. 214.

The driving unit 243a includes an outer tube 243b and an inner tube 243c, the inner diameter of the outer tube 243b is the same as the outer diameter of the inner tube 243c, the outer tube 243b is fixedly mounted on the outer wall of the inner tube 243c, the two elements are bent in the same direction, and the bending axes are overlapped, as shown in fig. 215.

The outer tube 243b and the inner tube 243c are machined from thin-walled metal tubes. Fig. 216 is a side view of a drive unit of a flexible front end effector of yet another embodiment of the present disclosure. As shown in fig. 216, the hollowed-out portion of the pipe wall is removed by a laser cutting method. Taking the outer tube 243b as an example, the structure is arranged in a central symmetry manner, the symmetry axis is the rotation axis of the outer tube 243b, and the outer tube 243b comprises a base 243d and elastic arms 243e at two ends, wherein the elastic arms 243e are used for keeping the shape of the outer tube 243b and providing bending resilience force for the outer tube 243 b. The base 243d is provided with a circular arc-shaped inclined surface 243f for guiding the elastic arm 243e, and the elastic arm 243e is bent along the inclined surface 243f when the outer tube 243b is bent toward one direction. Since the outer tube 243b is configured to be centrally symmetrical, the two elastic arms 243e always have opposite bending directions, so that the outer tube 243b is prevented from being compressed in the axial direction.

Also due to the central symmetrical structure of the outer tube 243b, when it is bent, a torque is generated as shown by the arrow direction in fig. 217. To counteract the effect of the torque on the bending effect, the inner tube 243c is configured in the same manner as the outer tube 243b, and the elastic arm 243e of the inner tube 243c is cut in the opposite direction to the elastic arm 243e of the outer tube 243b, as shown in fig. 218. When the driving unit 243a is bent, the torque generated by the outer tube 243b and the inner tube 243c are opposite in direction, and cancel each other.

Fig. 219 is a schematic structural diagram of a front-end execution device according to an embodiment of the present disclosure. The main structure of the front end effector 239 is composed of a plurality of revolute joints, the end face of each revolute joint is an inclined plane, a revolute shaft is arranged on the inclined plane, the adjacent revolute joint can rotate on the inclined plane, and the axis of the adjacent revolute joint deflects along with the rotation of the revolute joint. The rotational movement of the plurality of rotary joints on the inclined plane realizes the directional movement of the front end execution device 239, and the three-degree-of-freedom movement, namely the pitching movement R1, the deflecting movement R2 and the autorotation movement R3, is completed under the drive of the rear end driving device 21.

Fig. 220 is a schematic view illustrating an internal structure of a swing joint of the front end effector according to an embodiment of the present disclosure. The inner end surface of the rotary joint 239a is an inclined surface, a rotary shaft A is arranged on the inclined surface, the rotary shaft is perpendicular to the inclined surface, and the adjacent rotary joint 239a can rotate around the shaft A on the inclined surface. The included angle between the rotating shaft A and the axis B of the rotating joint 239a is theta, when the rotating joint 239a rotates around the shaft A, the axes B of the two adjacent rotating joints deflect, the deflection angle increases along with the rotation angle around the shaft A, and when the rotating joint 239a rotates around the shaft A for 180 degrees, the included angle between the axes B of the two adjacent rotating joints reaches the maximum value 2 theta. Rotation of each pivot joint 239a about axis a allows the front end effector 239 to effect yaw motions R1 and R2, as shown in fig. 221.

Fig. 222 is a schematic diagram of driving modes of each swing joint of the front end effector according to the embodiment of the present disclosure. Limited by the size of the surgical tool (typically having an outer diameter less than 10 mm), the front end effector 239 is driven by a flexible catheter, and a flexible catheter capable of transmitting torque is mounted inside the swing joint, and the rotation of the flexible catheter drives the movement of the swing joint. In fig. 222, the three rotation joints are a first rotation joint 239b, a second rotation joint 239c, and a third rotation joint 239d, a first flexible pipe 239e is installed in the second rotation joint 239c, the rotation axis of the first flexible pipe 239e coincides with the rotation axis of the second rotation joint 239c, and the rotation of the first flexible pipe 239e can drive the rotation of the second rotation joint 239c, and since the second rotation joint 239c is installed on the inclined end surface of the first rotation joint 239b, the rotation of the first flexible pipe 239e will drive the rotation of the second rotation joint 239c on the inclined surface around the axis a. The other end of the first flexible tube 239e is mounted to the rear end driving device 21 through the tube 22 after passing through the first pivot joint 239 b. The third rotary joint 239d is internally provided with a second flexible conduit 239f in the same manner as the second rotary joint 239c, the outer diameter of the second flexible conduit 239f is smaller than the inner diameter of the first flexible conduit 239e, the second flexible conduit can pass through the first flexible conduit 239e and is arranged on the rear end driving device 21, and the rotation of the first flexible conduit 239e and the second flexible conduit 239f are mutually independent.

Surgical tools used in robot-assisted minimally invasive surgery typically employ a wire-driven approach, which is limited by the tensile strength of the drive wire and the dimensional requirements of the surgical tool, and which cannot provide a large load capacity. The front end executing device 239 is driven by a flexible catheter, the flexible catheter can transmit larger torque, and the rotation of the flexible catheter replaces the stretching motion of the driving wire, so that the front end executing device has larger bending and torsion load capacity.

In one embodiment of the present disclosure, there is also provided a surgical instrument comprising the front end effector as described in the previous embodiments.

In yet another embodiment of the present disclosure, a manipulator apparatus is also provided that includes a joint assembly including a front end effector as described in the previous embodiments. The front end execution device may be provided in the joint assembly of the slave manipulator in the manipulator device, wherein the operation instruction of the slave manipulator is transmitted by the master manipulator.

Thus, embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It should be noted that, in the drawings or the text of the specification, implementations not shown or described are all forms known to those of ordinary skill in the art, and not described in detail. Furthermore, the above definitions of the elements and methods are not limited to the specific structures, shapes or modes mentioned in the embodiments, and may be simply modified or replaced by those of ordinary skill in the art.

It should be further noted that, the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., are only referring to the directions of the drawings, and are not intended to limit the scope of the present disclosure. Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in understanding the present disclosure.

And the shapes and dimensions of the various elements in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. In addition, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless otherwise known, numerical parameters in this specification and the appended claims are approximations that may vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". In general, the meaning of expression is meant to include a variation of + -10% in some embodiments, a variation of + -5% in some embodiments, a variation of + -1% in some embodiments, and a variation of + -0.5% in some embodiments by a particular amount.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the description and the claims to modify a corresponding element does not by itself connote any ordinal number of elements or the order of manufacturing or use of the ordinal numbers in a particular claim, merely for enabling an element having a particular name to be clearly distinguished from another element having the same name.

Furthermore, unless specifically described or steps must occur in sequence, the order of the above steps is not limited to the list above and may be changed or rearranged according to the desired design. In addition, the above embodiments may be mixed with each other or other embodiments based on design and reliability, i.e. the technical features of the different embodiments may be freely combined to form more embodiments.

The methods and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present disclosure is not directed to any particular programming language. It will be appreciated that the disclosure described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present disclosure.

The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a related device according to embodiments of the present disclosure may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present disclosure may also be embodied as a device or apparatus program (e.g., computer program and computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present disclosure may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also, in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.

Similarly, it should be appreciated that in the above description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and that any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A front-end execution device, comprising:

a first drive arm, the first drive arm being rotatable about a first axis; and

A second driving arm, the second driving arm is capable of rotating about a second axis and connected to the actuator;

Wherein, the first axis and the second axis are perpendicular to each other and intersect at one point, so as to realize the movement of the front-end actuator in two degrees of freedom directions;

The first driving arm comprises:

A first steering arm, wherein the first steering arm and the connecting seat are hinged to the first shaft and can rotate around the first shaft; and

a first connecting rod, the first connecting rod being hinged to a first end of the first steering arm, the first connecting rod being rotatable about a second axis hinged to the first steering arm; and

The second driving arm comprises:

A second steering arm, the second steering arm and the connecting seat are hinged to the second shaft and can rotate around the second shaft; and

A second connecting rod, the second connecting rod is hinged to the first connecting rod and connected to a support seat for connecting the actuator assembly, the second connecting rod is hinged to the first end of the second steering arm and can rotate around the first axis;

A drive assembly, the drive assembly comprising:

A first wire wheel, wherein the first wire wheel is arranged at the second end of the first steering arm, and the rotation of the first wire wheel can drive the first steering arm to rotate around the first axis;

A second silk wheel, wherein the second silk wheel is arranged at the second end of the second steering arm, and the rotation of the second silk wheel can drive the second steering arm to rotate around the second axis;

The drive assembly also includes:

a first driving wire, wound around a first wire wheel, the first driving wire being connected to a driving device, and a point of the first driving wire being fixedly connected to the first wire wheel; and

The second driving wire is wound around the second wire wheel. The second driving wire is connected to the driving device, and one point of the second driving wire is fixedly connected to the second wire wheel.

2. The front-end actuator according to claim 1 is characterized in that a Cartesian coordinate system is established on the front-end actuator, the origin of the Cartesian coordinate system is the intersection of the first connecting rod and the second connecting rod, the Z-axis direction of the Cartesian coordinate system is perpendicular to the plane formed by the first connecting rod and the second connecting rod, the motion spiral system of the first driving arm is: (1, 0, 0; -a, 0, 0), (0, 1, 0; 0, a, 0), the motion spiral system of the second driving arm (304c) is: (0, 1, 0; 0, -a, 0), (1, 0, 0; a, 0, 0), wherein a is the axial radius of the front-end actuator from the connection between the actuator assembly and the second driving arm to the origin of the Cartesian coordinate system.

3 . The front-end actuator according to claim 1 , wherein a load direction of the front-end actuator is different from an elastic deformation sensitive direction.

4. The front end actuator according to claim 1, characterized in that the first steering arm and the second steering arm are parts with a wall thickness within 1 mm, and/or,

The first steering arm is a 1/4 arc-shaped connecting rod, and the second steering arm is a 1/4 arc-shaped connecting rod.

5. A control method for a front-end execution device according to any one of claims 1 to 4, comprising:

The first driver of the control manipulator drives the driving wire wheel in the actuating mechanism to rotate, driving the first driving arm and/or the second driving arm to rotate around their rotation axis, so as to manipulate the front end actuator to move in one or two degrees of freedom.

6. A computer-readable storage medium having executable instructions stored thereon, wherein the instructions are used to implement the control method of the front-end execution device according to claim 5 when executed.

7. A surgical instrument, characterized in that the surgical instrument comprises a front end execution device according to any one of claims 1-4.

8. A manipulator device, characterized in that it comprises:

A joint assembly, comprising a front-end actuator as described in any one of claims 1-4.

9 . The robot device according to claim 8 , wherein the front-end execution device is arranged in the joint assembly of the slave robot in the robot device, wherein the operation instruction of the slave robot is sent by the master robot.