CN116584987B

CN116584987B - Surgical execution mechanism, surgical instrument and surgical robot

Info

Publication number: CN116584987B
Application number: CN202310810538.8A
Authority: CN
Inventors: 李建民; 杨英侃; 王炳强; 王树新
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2025-09-19
Anticipated expiration: 2043-07-04
Also published as: WO2025007701A1; CN116584987A

Abstract

The present invention relates to the technical field of surgical robots, and discloses a surgical actuator, a surgical instrument, and a surgical robot. The surgical actuator includes an actuator, a wrist assembly, an actuator drive wire, and a pitch drive wire. The wrist assembly includes a first connecting seat and a second connecting seat, the first connecting seat is provided with a first rotating shaft and a second rotating shaft, the actuator is rotatably connected to the first rotating shaft, the first connecting seat is provided with a first tooth structure coaxial with the second rotating shaft, the second connecting seat is provided with a third rotating shaft and a second tooth structure, the first tooth structure is meshed with the second tooth structure, the third rotating shaft sleeve is provided with a lower guide wheel, and the second rotating shaft sleeve is provided with an upper guide wheel; the actuator drive wire includes two actuator segments, the actuator segments are wound around the lower guide wheel and the upper guide wheel, and the two actuator segments are respectively connected to the two sides of the actuator along the radial direction of the first rotating shaft; the pitch drive wire is used to control the rotation of the first connecting seat. The actuator drive wire of the present invention will not be pulled, thereby extending its service life and improving the safety of the operation.

Description

Surgical execution mechanism, surgical instrument and surgical robot

Technical Field

The invention relates to the technical field of surgical robots, in particular to a surgical executing mechanism, a surgical instrument and a surgical robot.

Background

Surgical robots are widely used in the medical field. The surgical robot comprises a patient surgical end, and a plurality of surgical instruments are arranged on a trolley of the patient surgical end. Surgical instruments are used to perform surgical procedures on patients.

According to a surgical instrument, a slave operating device and a surgical robot disclosed in chinese patent CN 212788689U. The surgical instrument includes an end effector at a distal end of the surgical instrument, the end effector including a first bracket and a second bracket. The first support is provided with a first pin and a second pin which are parallel to each other, the first pin is provided with a first pulley block, the second pin is provided with a second pulley block, and the second support is rotationally connected with the first support through the second pin. The clamping portion of the end effector is rotatably disposed on the second bracket by a third pin. The drive cables of the end effector comprise a first drive cable, a second pair of cables and a third pair of cables, and the distal end of the first drive cable is connected to the second bracket and can operate the second bracket to rotate so as to realize the pitching motion of the end effector. The second pair of cables effects steering the first clamp about the third pin and the third pair of cables effects steering the second clamp about the third pin. The second pair of cables and the third pair of cables enable opening and closing and yaw movement of the end effector. The cables in the third pair of cables and the second pair of cables are wound on the second pulley block and the first pulley block which are opposite to each other in an S-shaped manner, when the first driving cable operates the second bracket to rotate, the length of the part, wound on the second pulley block and the first pulley block, of the cables in the third pair of cables (or the second pair of cables) is changed, so that the cables are pulled, the abrasion of the cables and other structures is increased, the possibility of deformation or fracture of the cables is increased, the smooth implementation of an operation is influenced, the service life of the operation instrument is shortened, the reliability of the operation instrument in the operation is reduced, the safety of the operation is also required to be simultaneously compensated when the pitching movement is realized, and the control difficulty of the operation instrument is increased.

Based on this, there is a need for a surgical actuator, surgical instrument and surgical robot that solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a surgical executing mechanism, a surgical instrument and a surgical robot, wherein when the pitching degree of freedom of the surgical executing mechanism is realized, an executing driving wire cannot be pulled, so that the maintenance cost is reduced, the service life of the surgical instrument is prolonged, the smooth implementation of the surgery is ensured, the safety of the surgery is improved, and the control difficulty is reduced.

To achieve the purpose, the invention adopts the following technical scheme:

A surgical actuator comprising:

an actuator;

The wrist assembly comprises a first connecting seat and a second connecting seat, wherein a first rotating shaft and a second rotating shaft which are perpendicular to each other are arranged on the first connecting seat, the executing piece is rotationally connected to the first rotating shaft, an upper guide wheel is coaxially sleeved on the second rotating shaft, a first arc-shaped surface which is coaxially arranged with the second rotating shaft is arranged on the first connecting seat, a first tooth structure is arranged on the first arc-shaped surface, a third rotating shaft which is parallel to the second rotating shaft and a second arc-shaped surface which is coaxially arranged with the third rotating shaft are arranged on the second connecting seat, a lower guide wheel is coaxially sleeved on the third rotating shaft, a second tooth structure is arranged on the second arc-shaped surface, the first tooth structure is meshed with the second tooth structure, and the ratio of the indexing radius of the first tooth structure to the second tooth structure is the same as the ratio of the radius of the upper guide wheel to the lower guide wheel;

The execution driving wire comprises two execution sections, the execution sections are wound on the upper guide wheel and the lower guide wheel which are arranged oppositely in an S-shaped manner, the parts of the two execution sections between the upper guide wheel and the lower guide wheel are parallel to each other, one ends of the two execution sections are respectively connected with two sides of the execution piece along the radial direction of the first rotating shaft, and the other ends of the two execution sections are respectively arranged on the second connecting seat in a penetrating manner;

The pitching driving wire is connected to the first connecting seat and used for controlling the first connecting seat to rotate around the second rotating shaft.

As an optional technical scheme of the operation executing mechanism, a fourth rotating shaft is arranged on the second connecting seat, the fourth rotating shaft is arranged in parallel with the third rotating shaft and is positioned at one side of the third rotating shaft away from the first connecting seat, and at least two wire penetrating holes are formed in the second connecting seat in a penetrating manner;

The pitching driving wire comprises two pitching sections, each pitching section is wound on the third rotating shaft and the fourth rotating shaft in an S-shaped mode, the two pitching sections are arranged between the third rotating shaft and the fourth rotating shaft in a staggered and crossed mode, one ends of the two pitching sections are connected with the first connecting seat and located on two radial sides of the second rotating shaft respectively, and the other ends of the two pitching sections are correspondingly arranged on the two wire penetrating holes in a penetrating mode on the second connecting seat respectively.

As an alternative technical scheme of the operation executing mechanism, two upper auxiliary guide wheels are movably sleeved on the third rotating shaft, two lower auxiliary guide wheels are movably sleeved on the fourth rotating shaft, the two upper auxiliary guide wheels and the two lower auxiliary guide wheels are arranged in a one-to-one opposite mode, and the pitching section is wound on the upper auxiliary guide wheels and the lower auxiliary guide wheels which are arranged in an opposite mode in an S-shaped mode.

As an optional technical scheme of the operation executing mechanism, the second connecting seat is provided with a containing groove towards one end of the first connecting seat, at least part of the lower auxiliary guide wheel is arranged in the containing groove, and the bottom wall of the containing groove is provided with the threading hole.

As an optional technical scheme of the operation executing mechanism, the operation executing mechanism further comprises a connecting piece, wherein the connecting piece is positioned between the first connecting seat and the second connecting seat, one end of the connecting piece is connected with the second rotating shaft, and the other end of the connecting piece is connected with the third rotating shaft.

As an alternative technical scheme of the operation executing mechanism, two first connecting lugs are convexly arranged at one end of the first connecting seat, which faces the second connecting seat, two ends of the second rotating shaft are respectively connected with the two first connecting lugs, the end face of the first connecting lug, which faces the second connecting seat, is the first arc-shaped surface, and/or,

The second connecting seat is provided with two second connecting lugs towards the protrusion of one end of first connecting seat, the both ends of third pivot are connected respectively in two second connecting lugs, the second connecting lug is towards the terminal surface of first connecting seat is the second arcwall face.

As an optional technical scheme of the operation executing mechanism, the operation executing mechanism further comprises a first protection shell and a second protection shell, wherein the first protection shell is sleeved outside the first connecting seat, and the second protection shell is sleeved outside the second connecting seat;

The end face of the first protective shell, which faces one end of the second protective shell, comprises two first contact cambered surfaces and two first limiting surfaces which are connected end to end, the first contact cambered surfaces and the first limiting surfaces are alternately arranged, the first contact cambered surfaces and the second rotating shaft are coaxially arranged, the radius of the first contact cambered surfaces is the same as the radius of the indexing circle of the first tooth structure, and the first limiting surfaces are tangent to the first contact cambered surfaces;

the end face of the second protective shell, which faces one end of the first protective shell, comprises two second contact cambered surfaces and two second limiting surfaces which are connected end to end, the second contact cambered surfaces and the second limiting surfaces are alternately arranged, the second contact cambered surfaces and the third rotating shaft are coaxially arranged, the radius of the second contact cambered surfaces is the same as the radius of the indexing circle of the second tooth structure, and the second limiting surfaces are tangent to the second contact cambered surfaces;

the first contact cambered surface is in opposite contact with the second contact cambered surface.

As an alternative technical scheme of the operation executing mechanism, the upper guide wheel is movably sleeved on the second rotating shaft, and/or the lower guide wheel is movably sleeved on the third rotating shaft.

The surgical instrument comprises an instrument box, a connecting rod and the surgical actuating mechanism, wherein the instrument box is connected to one end of the connecting rod, the second connecting seat is connected to the other end of the connecting rod, the actuating drive wire penetrates through the second connecting seat and is connected with the actuating drive wire shaft in the instrument box, and the pitching drive wire penetrates through the second connecting seat and is connected with the pitching drive wire shaft in the instrument box.

A surgical robot comprising a surgical instrument as described above.

The invention has the beneficial effects that:

The invention provides a surgical execution mechanism which comprises an execution piece, a wrist assembly, an execution driving wire and a pitching driving wire. The operation executing mechanism provided by the embodiment is simple in structure and convenient to produce and process, when the pitching driving wire operates the first connecting seat to rotate, the length of the part of the execution driving wire wound on the upper guide wheel and the lower guide wheel is unchanged when the pitching freedom degree of the operation executing mechanism is realized, the execution driving wire cannot be pulled, the possibility of deformation or fracture of the execution driving wire is reduced, the service life of the operation executing mechanism is prolonged, the maintenance cost is reduced, the smooth implementation of an operation is ensured, the reliability degree of a surgical instrument in operation is improved, the transmission precision of the operation executing mechanism is ensured, the accuracy of the operation executing mechanism in operation execution is ensured, and the operation safety is improved.

The surgical instrument provided by the invention comprises the surgical executing mechanism. When the pitching degree of freedom of the operation executing mechanism is realized, the executing driving wire cannot be pulled, the possibility of deformation or fracture of the executing driving wire is reduced, the service life of the operation instrument is prolonged, the maintenance cost is reduced, the smooth implementation of the operation is ensured, the reliability of the operation instrument in the operation is improved, the safety of the operation is improved, the accuracy of the operation instrument in the operation is ensured, and the control difficulty of the operation instrument is also reduced.

The surgical robot provided by the invention comprises the surgical instrument, prolongs the service life of the surgical instrument, reduces the maintenance cost, ensures the smooth implementation of the operation, improves the reliability of the surgical robot during the operation, improves the safety of the operation, ensures the accuracy of the surgical instrument during the operation, and reduces the control difficulty of the surgical instrument.

Drawings

FIG. 1 is a schematic view of a surgical instrument according to a first embodiment of the present invention;

FIG. 2 is a schematic view of a surgical actuator according to a first embodiment of the present invention;

FIG. 3 is a first directional cross-sectional view of a surgical actuator provided in accordance with a first embodiment of the present invention;

FIG. 4 is a second directional cross-sectional view of a surgical actuator provided in accordance with a first embodiment of the present invention;

FIG. 5 is an exploded view of a surgical actuator provided in accordance with a first embodiment of the present invention;

FIG. 6 is a schematic view of a portion of a surgical actuator according to a first embodiment of the present invention;

FIG. 7 is an exploded view of FIG. 6;

fig. 8 is a schematic view of a wrist assembly according to a first embodiment of the present invention in an initial position;

figure 9 is a schematic view of a wrist assembly according to a first embodiment of the present invention in a first position;

Figure 10 is a schematic view of a wrist assembly according to a first embodiment of the present invention in a second position;

FIG. 11 is a schematic diagram of a wrist assembly according to a first embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a first connection seat and a first protection shell according to a first embodiment of the present invention;

Fig. 13 is a schematic structural diagram of a second connecting base and a second protecting shell according to an embodiment of the invention;

Fig. 14 is a schematic structural view of a surgical actuator according to a second embodiment of the present invention

Fig. 15 is a schematic view of a part of a surgical actuator according to a second embodiment of the present invention

Fig. 16 is a schematic view of a portion of a wrist assembly according to a second embodiment of the present invention

Fig. 17 is a schematic view of a part of a surgical actuator according to a third embodiment of the present invention

Fig. 18 is a schematic view of the structure of fig. 17 with the first connecting base hidden.

In the figure:

10. A surgical actuator; 20 parts of connecting rod, 30 parts of instrument box;

1. An actuator;

2. Wrist component, 21, first connecting seat, 211, first rotating shaft, 212, second rotating shaft, 213, first tooth structure, 214, upper guide wheel, 215, first connecting ear, 216, threading opening, 22, second connecting seat, 221, third rotating shaft, 222, fourth rotating shaft, 223, second tooth structure, 224, lower guide wheel, 225, second connecting ear, 226, holding groove, 227, threading hole, 23, upper auxiliary guide wheel, 24, lower auxiliary guide wheel;

3. Executing driving wires, 31, executing sections, 311, first connecting sections, 312, second connecting sections, 313 and third connecting sections;

4. Pitch driving wire 41, pitch section 5, connecting piece;

6. a first protective case; 61, a first contact cambered surface 62, a first limiting surface;

7. the second protective shell, 71, the second contact cambered surface, 72, the second limit surface;

8. and 9, conducting wires and conducting wire contact wheels.

Detailed Description

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

Example 1

The present embodiment provides a surgical robot. In particular, surgical robots include surgical instruments for performing surgical procedures on patients.

Further, the surgical robot further comprises a doctor control end and a patient operation end, wherein the patient operation end comprises surgical instruments, and an operator can control the surgical instruments to perform operation on a patient through the doctor control end.

The specific structure of the doctor control end, other structures of the patient operation end, and the control principle and control manner between the doctor control end and the patient operation end can refer to the prior art, which is not the protection focus of the embodiment, and will not be described herein.

Specifically, as shown in fig. 1, the surgical instrument includes an instrument box 30, a connecting rod 20, and a surgical actuator 10. The instrument pod 30 is attached to the structure of the surgical end of the patient. The connecting rod 20 is connected between the surgical actuator 10 and the instrument box 30.

In particular, as shown in fig. 1-13, surgical implement 10 includes an implement 1, a wrist assembly 2, an implement drive wire 3, and a pitch drive wire 4. The wrist assembly 2 comprises a first connection socket 21 and a second connection socket 22. The first connecting seat 21 is provided with a first rotating shaft 211 and a second rotating shaft 212 which are perpendicular to each other, the executing piece 1 is rotatably connected to the first rotating shaft 211, and the first connecting seat 21 can rotate relative to the second rotating shaft 212. The second rotating shaft 212 is coaxially sleeved with an upper guide wheel 214. The first connecting seat 21 is provided with a first arc surface coaxially arranged with the second rotating shaft 212, and the first arc surface is provided with a first tooth structure 213. The second connecting seat 22 is provided with a third rotating shaft 221 parallel to the second rotating shaft 212, the second connecting seat 22 is provided with a second arc-shaped surface coaxially arranged with the third rotating shaft 221, and the second arc-shaped surface is provided with a second tooth structure 223. The center of the reference circle of the first tooth structure 213 is located on the axis of the second rotating shaft 212, the center of the reference circle of the second tooth structure 223 is located on the axis of the third rotating shaft 221, and the first tooth structure 213 is meshed with the second tooth structure 223. The third rotating shaft 221 is coaxially sleeved with a lower guide wheel 224. The ratio of the pitch radii of the first tooth structure 213 and the second tooth structure 223 is the same as the ratio of the radii of the upper guide wheel 214 and the lower guide wheel 224. The execution driving wire 3 comprises two execution sections 31, and the execution sections 31 are wound on the upper guide wheel 214 and the lower guide wheel 224 which are arranged in a positive manner in an S shape. The portions of the two actuating segments 31 located between the upper guide wheel 214 and the lower guide wheel 224 are parallel to each other. One end of each of the two actuating sections 31 is respectively connected with two radial sides of the actuating member 1 along the first rotating shaft 211, the other ends of the two actuating sections 31 are respectively penetrated through the second connecting seat 22 and are connected with the actuating drive screw shaft, and the pitching drive screw 4 is connected with the first connecting seat 21 and is used for controlling the first connecting seat 21 to rotate around the second rotating shaft 212.

Specifically, the pitch circle radius of the first tooth structure 213 is set to R1, the pitch circle radius of the second tooth structure 223 is set to R1, the radius of the upper guide wheel 214 is set to R2, and the radius of the lower guide wheel 224 is set to R2. The previously described "ratio of the radius of the reference circle of the first tooth structure 213 to the second tooth structure 223 is the same as the ratio of the radius of the upper guide wheel 214 to the lower guide wheel 224", in particular R1/r1=i=r2/R2.

In the present embodiment, i=1. In other embodiments, the value of i may be adaptively adjusted, which is not limited herein.

In this embodiment, the instrument box 30 is connected to one end of the connecting rod 20, and the second connecting seat 22 is connected to the other end of the connecting rod 20.

Specifically, the instrument box 30 is provided therein with an execution drive shaft and a pitch drive shaft. The two ends of the execution driving wire 3 respectively pass through the second connecting seat 22 and are correspondingly connected with two execution driving wire shafts in the instrument box 30. The operation end of the patient is provided with an execution driving motor, the execution driving motor is arranged outside the instrument box 30, each execution driving wire shaft is correspondingly provided with an execution driving motor, and an output shaft of the execution driving motor can be connected with the execution driving wire shaft through an execution transmission assembly, so that the corresponding execution driving wire shaft is driven to rotate by the execution driving motor to roll or release the execution driving wire 3. The structure of the execution transmission assembly and the connection relationship between the execution transmission assembly and the instrument box 30 can refer to the prior art, which is not the protection focus of the embodiment, but the execution driving shaft corresponding to the execution driving motor is driven to rotate, and will not be described herein.

The two ends of the pitching driving wire 4 respectively pass through the second connecting seat 22 and are correspondingly connected with two pitching driving wire shafts in the instrument box 30. The operation end of the patient is provided with two pitching driving motors, the pitching driving motors are arranged outside the instrument box 30, and output shafts of the two pitching driving motors are connected with two pitching driving screw shafts through pitching transmission assemblies respectively, so that the two pitching driving motors drive the two pitching driving screw shafts to rotate in a one-to-one correspondence manner, and the pitching driving screw 4 is rolled or released. The structure of the pitch transmission assembly and the connection relationship between the pitch transmission assembly and the instrument box 30 may refer to the prior art, which is not the protection focus of this embodiment, and it is only necessary to realize that the pitch driving motor drives the corresponding pitch driving wire shaft to rotate, which is not described herein again.

Other structures may be further disposed in the instrument box 30 and connected to the pitch driving wire 4 and the execution driving wire 3, and the structure in the instrument box 30 may refer to the prior art, which is not the protection focus of the embodiment and will not be described herein.

The present embodiment provides a surgical actuator 10 that includes an effector 1, a wrist assembly 2, an effector drive wire 3, and a pitch drive wire 4. The operation executing mechanism 10 provided by the embodiment is simple in structure and convenient to produce and process, when the pitching driving wire 4 operates the first connecting seat 21 to rotate, and the pitching degree of freedom of the operation executing mechanism 10 is realized, the length of the part, wound on the upper guide wheel 214 and the lower guide wheel 224, of the execution driving wire 3 is unchanged, the execution driving wire 3 cannot be pulled, the possibility that the execution driving wire 3 is deformed or broken is reduced, the service life of the operation executing mechanism 10 is prolonged, the maintenance cost is reduced, the smooth implementation of an operation is ensured, the reliability degree of an operation instrument during the operation is improved, the transmission precision of the operation executing mechanism 10 is ensured, the accuracy of the operation executing mechanism 10 during the operation is ensured, and the operation safety is improved.

The surgical instrument provided in this embodiment includes the surgical actuator 10 described above. When the pitching degree of freedom of the operation executing mechanism 10 is realized, the execution driving wire 3 is not pulled, the possibility of deformation or fracture of the execution driving wire 3 is reduced, the service life of the operation instrument is prolonged, the maintenance cost is reduced, the smooth implementation of the operation is ensured, the reliability of the operation instrument in the operation is improved, the operation safety is improved, the accuracy of the operation instrument in the operation is ensured, and the control difficulty of the operation instrument is also reduced.

The surgical robot provided by the embodiment comprises the surgical instrument, prolongs the service life of the surgical instrument, reduces the maintenance cost, ensures the smooth implementation of the operation, improves the reliability of the surgical robot during the operation, improves the safety of the operation, ensures the accuracy of the surgical instrument during the operation, and reduces the control difficulty of the surgical instrument.

In the present embodiment, the first shaft 211 and the second shaft 212 are respectively disposed at two ends of the first connecting seat 21, and the first shaft 211 is disposed at one end of the first connecting seat 21 away from the second connecting seat 22.

As shown in fig. 8, the wrist assembly 2 is in an initial position. The execution segment 31 includes a first connection segment 311, a second connection segment 312, and a third connection segment 313. One end of the first connecting section 311 is connected to the executing piece 1, the other end is connected to the first end of the second connecting section 312, the second end of the second connecting section 312 is connected to the first end of the third connecting section 313, and the second end of the third connecting section 313 passes through the second connecting seat 22 and is connected with the executing driving wire shaft in the instrument box 30. Wherein the first end of the second connecting section 312 and the first connecting section 311 are tangential to the upper guide wheel 214 at a point L, and the first connecting section 311 is in contact with the upper guide wheel 214 only at the point L, the second end of the second connecting section 312 and the third connecting section 313 are tangential to the lower guide wheel 224 at a point Q, and the third connecting section 313 is in contact with the lower guide wheel 224 only at the point Q.

It will be appreciated that the "portion of the actuating drive wire 3 wound around the upper guide wheel 214 and the lower guide wheel 224" described above is the LQ segment (the second connecting segment 312) on the actuating segment 31, that is, the length of the LQ segment (the second connecting segment 312) on the actuating segment 31 is unchanged when the pitching drive wire 4 operates the first connecting seat 21 to rotate, thereby realizing the pitching degree of freedom of the surgical actuator 10.

The second connecting section 312 includes a first cladding section, an inter-wheel connecting section, and a second cladding section, the first cladding section is clad on the upper guide wheel 214, the second cladding section is clad on the lower guide wheel 224, the first end of the inter-wheel connecting section is connected to the first cladding section, and the second end of the inter-wheel connecting section is connected to the second cladding section. The first end of the inter-wheel connection section is tangent to the upper guide wheel 214 at point M, the second end of the inter-wheel connection section is tangent to the lower guide wheel 224 at point P, i.e., the first cladding section is an LM section on the second connection section 312, the inter-wheel connection section is an MP section on the second connection section 312, and the second cladding section is a PQ section on the second connection section 312. It will be appreciated that the inter-wheel connection is in contact with the upper guide wheel 214 only at point M and the inter-wheel connection is in contact with the lower guide wheel 224 only at point P. At this time, the central angle corresponding to the LM segment is γ, and the central angle corresponding to the PQ segment is θ.

It will be appreciated that the "portion of the two actuating segments 31 located between the upper guide wheel 214 and the lower guide wheel 224" described in the foregoing is the MP segment (inter-wheel connecting segment) on the second connecting segment 312, that is, the MP segments located on the two actuating segments 31 of the same actuating drive wire 3 are disposed parallel to each other.

As shown in fig. 8, the point a is located on the axis of the third rotation shaft 221, and the point B is located on the axis of the second rotation shaft 212. The imaginary line AB perpendicularly intersects the axis of the second rotation shaft 212, and the imaginary line AB perpendicularly intersects the axis of the third rotation shaft 221. The imaginary line BC perpendicularly intersects the axis of the second rotation shaft 212, and the imaginary line BC perpendicularly intersects the axis of the first rotation shaft 211. The first connecting seat 21 and the second connecting seat 22 are both substantially cylindrical, and when the wrist assembly 2 is at the initial position, the first connecting seat 21 and the second connecting seat 22 are coaxially disposed, and the dashed lines BC and AB extend along the axial direction of the first connecting seat 21. The imaginary line h extends in the axial direction of the first connecting seat 21, and coincides with the imaginary lines BC and AB.

After the first connecting seat 21 rotates by an angle epsilon along the first direction (x direction) relative to the second rotating shaft 212, the wrist assembly 2 is at the first position, as shown in fig. 9, i.e., the included angle alpha' =epsilon between the dashed line BC and the dashed line AB. During the rotation of the first connecting seat 21, the upper guide wheel 214 releases a part of the LM segment, so that the LM segment is shortened to L 'M' segment, the central angle corresponding to the L 'M' segment is γ ', γ - γ' =ε, and the length of the LM segment-L 'M' segment=εr2.

It can be appreciated that, due to the arrangement of the first tooth structure 213 and the second tooth structure 223, the first connecting seat 21 rotates around the second rotation axis 212, and the first connecting seat 21 rotates around the axis of the third rotation axis 221 relative to the second connecting seat 22 by a certain angle, and the ratio of the radius of the reference circle of the first tooth structure 213 to the radius of the reference circle of the second tooth structure 223 is r1/r1=i, i.e. the included angle β' =i epsilon between the dashed line AB and the dashed line h.

In the process of rotating the first connecting seat 21, the lower guide wheel 224 wraps a part of the PQ segment, so that the PQ segment is lengthened to P ' Q ' segment, the central angle corresponding to the P ' Q ' segment is θ ', θ ' - θ=iε, and the length of the P ' Q ' segment-the length of the PQ ' segment=iεr2.

Also, since the axial distance between the upper guide wheel 214 and the lower guide wheel 224 is not changed, the length of the inter-wheel coupling section (MP section) is not changed, i.e., the length of the MP section-M 'P' section=0.

Since R2/r2=i, the length of the P 'Q' segment-the length of the PQ segment=iεr2=εr2=the length of the LM segment-the length of the L 'M' segment, i.e., the first wrapping segment shortens εr2, the second wrapping segment lengthens εr2, and the length of the inter-wheel connection segment is unchanged, when the pitch driving wire 4 operates the first connection seat 21 to rotate in the first direction, the length of the LQ segment (the second connection segment 312) on the execution segment 31 is unchanged when the pitch degree of freedom of the operation actuator 10 is realized.

Similarly, when the first connecting seat 21 rotates by an angle ε along the second direction (y-direction) relative to the second rotating shaft 212, the wrist assembly 2 is at the second position, as shown in FIG. 10, i.e. the included angle α "=ε between the dashed lines BC and AB. In the process of rotating the first connecting seat 21, the upper guide wheel 214 wraps a part of the LM segment, so that the LM segment is lengthened into an L "M" segment, the central angle corresponding to the L "M" segment is γ ", γ″—γ=ε, and the length of the L" M "segment—the length of the LM segment=εr2.

It can be appreciated that, due to the arrangement of the first tooth structure 213 and the second tooth structure 223, the first connecting seat 21 rotates around the second rotation axis 212, and the first connecting seat 21 also rotates around the axis of the third rotation axis 221 relative to the second connecting seat 22 by a certain angle, and the ratio of the radius of the reference circle of the first tooth structure 213 to the radius of the reference circle of the second tooth structure 223 is R1/r1=i, i.e. the included angle β "=i epsilon between the dashed line AB and the dashed line h.

During the rotation of the first coupling seat 21, the lower guide wheel 224 releases a portion of the PQ segment, so that the PQ segment is shortened to a P "Q" segment, the central angle corresponding to the P "Q" segment is θ ", and θ—θ" =iε, and the length of the PQ segment-P "Q" segment=iεr2.

Also, since R2/r2=i, the length of the PQ segment-P "Q segment=iεr2=εr2=l" M "segment-LM segment, and since the distance between the axes of the upper guide wheel 214 and the lower guide wheel 224 is unchanged, the length of the inter-wheel connection segment (MP segment) is unchanged, i.e., the length of the MP segment-M" P "segment=0.

That is, the first coating section is lengthened by er 2, the second coating section is shortened by er 2, and the length of the connecting section between the wheels is unchanged, so when the pitching driving wire 4 operates the first connecting seat 21 to rotate along the second direction, the length of the LQ section (the second connecting section 312) on the actuating section 31 is unchanged when the pitching degree of freedom of the operation actuating mechanism 10 is realized.

In this embodiment, the x-direction is counterclockwise and the y-direction is clockwise. In other embodiments, the x direction may be clockwise, and the y direction may be counterclockwise, which is not limited herein.

The side walls of the upper guide wheel 214 and the lower guide wheel 224 are provided with annular grooves along the circumferential direction, the cross section of each annular groove is arc-shaped, the radius of each arc-shaped cross section is larger than the radius of the corresponding execution section 31, the depth of each annular groove is equal to the radius of the corresponding execution section 31, when the corresponding execution section 31 is arranged in each annular groove, the axis of the corresponding execution section 31 is arranged on the side walls of the upper guide wheel 214 and the corresponding lower guide wheel 224, so that the distance between the axis of the corresponding execution section 31 and the axis of the corresponding upper guide wheel 214 is equal to the radius of the corresponding upper guide wheel 214, the distance between the axis of the corresponding execution section 31 and the axis of the corresponding lower guide wheel 224 is equal to the radius of the corresponding lower guide wheel 224, or the corresponding upper guide wheel 214 and the corresponding lower guide wheel 224 are cylindrical, and the radius of the corresponding execution section 31 is smaller and negligible.

Preferably, the second rotating shaft 212 is movably sleeved with a plurality of upper guide wheels 214, the third rotating shaft 221 is movably sleeved with a plurality of lower guide wheels 224, the upper guide wheels 214 and the lower guide wheels 224 are arranged in a one-to-one opposite mode, and the executing section 31 is wound on the upper guide wheels 214 and the lower guide wheels 224 which are arranged in an opposite mode. Through setting up above-mentioned structure, when realizing that executive component 1 rotates through dragging executive section 31, executive section 31 can drive upper guide wheel 214 and lower guide wheel 224 and rotate, has reduced the frictional force between executive section 31 and upper guide wheel 214 and lower guide wheel 224, has reduced the risk that executive drive wire 3 frayed and broken, has guaranteed the smooth implementation of operation, has also reduced maintenance cost, has improved the reliability of surgical instrument in the operation in-process.

In this embodiment, the actuating drive wire 3 is a steel wire rope, so that the structural strength is high, and the durability is ensured. The two execution sections 31 can also be arranged in a split way, the end parts of the two execution sections 31 are respectively connected with the execution piece 1, or one end of one execution section 31 connected with the execution piece 1 can also be connected with one end of the other execution section 31 connected with the execution piece 1 through a rope knot, a steel wire rope or other connecting structures, namely, the execution driving wire 3 is wound on the execution piece 1, and the execution piece 1 is driven to rotate through the friction force between the execution driving wire 3 and the execution piece 1.

Further, the two actuators 1 are provided, so that the operation actuator 10 has an opening and closing action, thereby realizing the grabbing or clamping function. In particular, the surgical instrument is a passive instrument, such as a fenestration clamp, grasper, surgical scissors, needle holder or knot tying clamp, or the like. In this embodiment, the surgical instrument is a non-invasive forceps and the effector 1 is a non-invasive forceps flap. The specific structure of the actuator 1 may refer to the prior art, which is not the protection focus of the present embodiment, and will not be described herein.

It will be appreciated that two actuator wires 3 are provided, and that the two actuator wires 3 are connected to the two actuators 1, respectively. Specifically, the number of the execution segments 31 is four, so that the number of the upper guide wheels 214 and the lower guide wheels 224 is four, and the four upper guide wheels 214 and the four lower guide wheels 224 are arranged in a one-to-one opposite manner, so that the execution segments 31 can be guided.

Specifically, the two actuators 1 are disposed on two sides of the second shaft 212 in the radial direction, respectively, so that the two actuator segments 31 from different actuator wires 3 are disposed in a staggered and crossed manner in a portion between the second shaft 212 and the third shaft 221.

In this embodiment, the first connecting seat 21 is provided with a threading opening 216 therethrough, and the threading opening 216 is provided for the execution section 31 to pass through. Two threading openings 216 are arranged on the first connecting seat 21, and two executing sections 31 are respectively arranged in each threading opening 216 in a penetrating manner. Preferably, the opening area of the threading opening 216 is larger, the two executing segments 31 are respectively located at two ends of the threading opening 216, and the two executing segments 31 are arranged at intervals, so that friction between the two executing segments 31 is reduced, the possibility of abrasion of the executing segments 31 is reduced, the number of openings in the first connecting seat 21 is reduced, and the production and processing are facilitated.

In the present embodiment, the four lower guide wheels 224 are divided into two groups, and each group of lower guide wheels 224 includes two lower guide wheels 224, and two execution segments 31 located on the same side of the first rotation shaft 211 in the radial direction and from different execution driving wires 3 are wound around the two lower guide wheels 224 in the same group. The two threading openings 216 are disposed directly opposite the two sets of lower guide wheels 224, respectively.

The pitching driving wire 4 comprises two pitching sections 41, one ends of the two pitching sections 41 are respectively connected with the two sides of the first connecting seat 21 along the radial direction of the second rotating shaft 212, the other ends of the two pitching sections 41 are respectively penetrated through the second connecting seat 22 and are connected with the pitching driving wire shaft, and the first connecting seat 21 is controlled to rotate by respectively pulling the two pitching sections 41.

Preferably, the second connecting seat 22 is provided with a plurality of threading holes 227, and the threading holes 227 are used for threading the pitching driving wire 4 or the executing driving wire 3. In this embodiment, six threading holes 227 are formed, two of which are respectively threaded by two pitching sections 41, and the other four threading holes 227 are respectively threaded by four executing sections 31 in a one-to-one correspondence.

Due to the structural arrangement of the wrist assembly 2, when the first connecting seat 21 rotates, the end part of the pitching driving wire 4 connected to the first connecting seat 21 can swing synchronously along with the first connecting seat 21, so that the possibility of friction between the pitching driving wire 4 and the hole wall or edge of the wire penetrating hole 227 is increased, and the possibility of damage to the pitching driving wire 4 is increased. Preferably, the second connecting seat 22 is provided with a fourth rotating shaft 222, and the fourth rotating shaft 222 is parallel to the third rotating shaft 221 and is located at a side of the third rotating shaft 221 away from the first connecting seat 21. Each pitching section 41 is respectively wound on the third rotating shaft 221 and the fourth rotating shaft 222 in an S shape, and the parts of the two pitching sections 41 between the third rotating shaft 221 and the fourth rotating shaft 222 are staggered and crossed. One end of each of the two pitching sections 41 is connected with two radial sides of the first connecting seat 21 along the second rotating shaft 212, and the other ends of the two pitching sections 41 bypass the fourth rotating shaft 222 and then respectively pass through two wire penetrating holes 227 on the second connecting seat 22. Above-mentioned setting, when first connecting seat 21 rotates, can guarantee that every single move section 41 is around establishing on third pivot 221 and fourth pivot 222 all the time, and third pivot 221 can not follow first connecting seat 21 synchronous swing with fourth pivot 222, reduced every single move section 41 and the possibility of wire hole 227's pore wall or edge friction, other structures of second connecting seat 22 have also been avoided every single move section 41 mistake simultaneously, the durability of operation actuating mechanism 10 has been guaranteed, the life of operation actuating mechanism 10 has been prolonged, maintenance cost has been reduced, the smooth implementation of operation has been guaranteed, the reliability degree of surgical instrument when the operation has been improved.

Further, the third rotating shaft 221 is movably sleeved with two upper auxiliary guide wheels 23, the fourth rotating shaft 222 is movably sleeved with two lower auxiliary guide wheels 24, the two upper auxiliary guide wheels 23 and the two lower auxiliary guide wheels 24 are arranged in a one-to-one opposite mode, and the pitching section 41 is wound on the upper auxiliary guide wheels 23 and the lower auxiliary guide wheels 24 which are arranged in an opposite mode in an S-shaped mode. Through setting up above-mentioned structure, when realizing through pulling every single move section 41 that first connecting seat 21 rotates, every single move section 41 can drive supplementary leading wheel 23 and supplementary leading wheel 24 rotation down, has reduced the frictional force between every single move section 41 and supplementary leading wheel 23 and the supplementary leading wheel 24 down, has reduced the cracked risk of every single move driving wire 4 wearing and tearing, has guaranteed the smooth implementation of operation, has prolonged operation actuating mechanism 10's life, has also reduced maintenance cost, has improved the reliability of surgical instruments in the operation in-process.

In the present embodiment, two upper auxiliary guide wheels 23 are provided between two sets of lower guide wheels 224.

Preferably, the second connecting seat 22 has a receiving slot 226 at one end facing the first connecting seat 21, at least part of the lower auxiliary guiding wheel 24 is disposed in the receiving slot 226, two wire holes 227 are disposed on the bottom wall of the receiving slot 226, and the pitch section 41 extends into the receiving slot 226 and passes out of the second connecting seat 22 through the wire holes 227. By the arrangement, the height of the lower auxiliary guide wheel 24 protruding out of the second connecting seat 22 can be reduced, the structural compactness of the wrist assembly 2 is improved, the size of the operation executing mechanism 10 is reduced, the flexibility of the operation executing mechanism 10 is improved, the possibility that the operation executing mechanism 10 interferes with other instruments in the operation process is reduced, and the smooth implementation of the operation is facilitated.

It can be appreciated that two threading holes 227 are formed on the bottom surface of the accommodating groove 226 for threading the two pitching sections 41. The axes of the two wire holes 227 are tangent to two sides of the lower auxiliary guide wheel 24 along the radial direction respectively, namely, the distance between the axes of the two wire holes 227 is the same as the diameter of the lower auxiliary guide wheel 24, and the extending direction of the pitching section 41 after bypassing the lower auxiliary guide wheel 24 is collinear with the axis of the corresponding wire hole 227, so that the possibility of friction between the pitching section 41 and the hole wall or edge of the wire hole 227 is further reduced.

In the embodiment, the pitching driving wire 4 is a steel wire rope, so that the structural strength is high, and the durability is ensured. The two pitching sections 41 may be separately arranged, and the ends of the two pitching sections 41 are respectively connected with the first connecting seat 21, or one end of one pitching section 41 connected with the first connecting seat 21 may be connected with one end of the other pitching section 41 connected with the first connecting seat 21 through a rope knot, a steel wire rope or other connecting structures, that is, the pitching driving wire 4 is wound on the first connecting seat 21, and the first connecting seat 21 is driven to rotate by friction between the pitching driving wire 4 and the first connecting seat 21.

The surgical actuator 10 provided in this embodiment can realize three degrees of freedom, i.e., opening, closing, tilting, and pitching. When two actuating segments 31 of different actuating drive wires 3 are simultaneously pulled on both sides of the first rotation shaft 211 in the radial direction, the two actuating members 1 can be moved closer to or further away from each other, thereby realizing the opening and closing degrees of freedom. When two actuating segments 31 of the drive wire 3 are simultaneously pulled on the same side of the first shaft 211 in the radial direction and from different actuators, the two actuators 1 can rotate about the first shaft 211 in the same direction, thereby realizing the deflection degree of freedom. When one of the pitch sections 41 is pulled, the first connection seat 21 rotates, achieving a pitch degree of freedom. It will be appreciated that the axis of the third shaft 221 is the rotational axis of the surgical actuator 10 that effects a pitch degree of freedom.

Preferably, the surgical operation mechanism further includes a connecting member 5, wherein the connecting member 5 is located between the first connecting seat 21 and the second connecting seat 22, one end of the connecting member 5 is connected to the second rotating shaft 212, and the other end is connected to the third rotating shaft 221. Through setting up connecting piece 5, can guarantee the reliable connection between first connecting seat 21 and the second connecting seat 22, reduce the possibility of first connecting seat 21 and the separation of second connecting seat 22, guarantee the structural stability and the reliable degree of structure of operation actuating mechanism 10 when the operation.

In this embodiment, the connection member 5 has a rod shape. The connecting piece 5 is provided with two through holes, the second rotating shaft 212 and the third rotating shaft 221 are respectively and movably arranged in the two through holes in a penetrating mode, the connecting piece 5 can also move relative to the second rotating shaft 212 and the third rotating shaft 221, the obstruction to the rotation of the first connecting seat 21 caused by the clamping stagnation of the connecting piece 5 is avoided, the smooth pitching degree of freedom of the operation executing mechanism 10 is guaranteed, the maintenance cost is reduced, the smooth operation of an operation is guaranteed, the reliability of the operation instrument during the operation is improved, the transmission precision of the operation executing mechanism 10 is guaranteed, the accuracy of the operation executing mechanism 10 during the operation is guaranteed, and the operation safety is improved.

In other embodiments, the connecting piece 5 may be fixedly connected to the second rotating shaft 212 and the third rotating shaft 221, or detachably connected by a fastening structure, which is not limited herein. The connecting member 5 may also be a flexible structure, such as a wire or a belt, and the connecting member 5 is in a closed loop structure and is disposed in tension on the second rotating shaft 212 and the third rotating shaft 221, which is not limited herein.

In the present embodiment, two connecting pieces 5 are provided, and the two connecting pieces 5 are respectively located at both sides of the two upper auxiliary guide wheels 23 facing away from each other. The connecting piece 5 is preferably positioned between the upper auxiliary guide wheel 23 and the corresponding group of lower guide wheels 224, so that the actuating section 31 and the pitching section 41 can be separated, the possibility of mutual friction between the pitching section 41 and the actuating section 31 is reduced, and the durability of the operation actuating mechanism 10 is further ensured. In other embodiments, the positions of the connecting member 5, the upper auxiliary guide wheel 23 and the lower guide wheel 224 are adaptively adjustable, which is not limited herein.

As a preferred solution, two first connecting lugs 215 are protruding towards one end of the second connecting seat 22 of the first connecting seat 21, two ends of the second rotating shaft 212 are respectively connected to the two first connecting lugs 215, and an end surface of the first connecting lug 215 towards the second connecting seat 22 is a first arc surface. Above-mentioned setting is convenient for confirm the setting position of first tooth structure 213, and the processing of being convenient for, and the setting of two first connecting lugs 215 has also increased the hookup location between first connecting seat 21 and the second connecting seat 22, and second pivot 212 can be supported by two first connecting lugs 215 simultaneously, has improved the stability of operation actuating mechanism 10 structure.

Further, two second connecting lugs 225 are protruding towards one end of the first connecting seat 21 of the second connecting seat 22, two ends of the third rotating shaft 221 are respectively connected to the two second connecting lugs 225, and an end face of the second connecting lug 225 towards the first connecting seat 21 is a second arc-shaped surface. The above arrangement is convenient for determining the setting position of the second tooth structure 223, is convenient for production and processing, and the setting of the two second connecting lugs 225 also increases the connection position between the first connecting seat 21 and the second connecting seat 22, and meanwhile, the third rotating shaft 221 can be supported by the two second connecting lugs 225, so that the stability of the structure of the operation executing mechanism 10 is improved.

In this embodiment, the connecting piece 5 and the upper guide wheel 214 on the second rotating shaft 212 are located between the two first connecting lugs 215, and the connecting piece 5, the upper auxiliary guide wheel 23 and the lower guide wheel 224 on the third rotating shaft 221 are located between the two second connecting lugs 225, so that the first connecting lugs 215 and the second connecting lugs 225 can separate human tissues from the upper guide wheel 214 and the lower guide wheel 224, damage to the human tissues caused by being involved between the upper guide wheel 214 and the lower guide wheel 224 is reduced, the possibility of secondary injury to a patient is reduced, and the safety of an operation is improved.

In other embodiments, the first connecting lug 215 may be located between the connecting member 5 and the upper guide wheel 214, and the second connecting lug 225 may be located between the connecting member 5 and the lower guide wheel 224, which is not limited herein.

As a preferred solution, the surgical execution mechanism further comprises a first protective shell 6 and a second protective shell 7, wherein the first protective shell 6 is sleeved outside the first connecting seat 21, and the second protective shell 7 is sleeved outside the second connecting seat 22. The end face of the first protective shell 6 facing the second protective shell 7 comprises two first contact cambered surfaces 61 and two first limiting surfaces 62 which are connected end to end, the first contact cambered surfaces 61 and the first limiting surfaces 62 are alternately arranged, the first contact cambered surfaces 61 and the second rotating shaft 212 are coaxially arranged, the radius of the first contact cambered surfaces 61 is the same as the radius of the reference circle of the first tooth structure 213, and the first limiting surfaces 62 are tangent to the first contact cambered surfaces 61. The end face of the second protective shell 7 facing the first protective shell 6 comprises two second contact cambered surfaces 71 and two second limiting surfaces 72 which are connected end to end, the second contact cambered surfaces 71 and the second limiting surfaces 72 are alternately arranged, the second contact cambered surfaces 71 and the third rotating shaft 221 are coaxially arranged, the radius of the second contact cambered surfaces 71 is the same as the radius of the reference circle of the second tooth structure 223, and the second limiting surfaces 72 are tangent to the second contact cambered surfaces 71. The first contact cambered surface 61 is in direct contact with the second contact cambered surface 71. The arrangement of the first protective shell 6 and the second protective shell 7 can protect the first connecting seat 21 and the second connecting seat 22, ensure the durability of the operation executing mechanism 10, simultaneously, the first contact cambered surface 61 can shield part of the first tooth structure 213, the second contact cambered surface 71 can shield part of the second tooth structure 223, damage of human tissues caused by engagement of the first tooth structure 213 and the second tooth structure 223 in the operation process can be avoided, the possibility of secondary injury to a patient is reduced, the operation safety is improved, in addition, the rotation range of the wrist assembly 2 can be limited through the first limiting surface 62 and the second limiting surface 72, interference of the wrist assembly 2 with other instruments caused by overlarge rotation angle is avoided, and smooth operation implementation is ensured.

In this embodiment, the first protective shell 6 is separately disposed from the first connection base 21 and is fixedly connected thereto by bonding, welding or other means, and the second protective shell 7 is separately disposed from the second connection base 22 and is fixedly connected thereto by bonding, welding or other means. In other embodiments, the first protective housing 6 may be integrally formed with the first connecting seat 21, and the second protective housing 7 may be integrally formed with the second connecting seat 22.

Example two

The present embodiment provides a surgical execution mechanism, a surgical instrument and a surgical robot, and the structure of the present embodiment is substantially the same as that of the first embodiment, and only part of the structures are different, so that the present embodiment does not describe the other structures the same as the first embodiment.

As shown in fig. 14 to 16, in the present embodiment, the actuators 1 are provided with two. In particular, the surgical instrument may be an active instrument capable of achieving an opening and closing function, such as a bipolar non-destructive forceps, achieving cutting, hemostasis and the like. The actuator 1 is a non-destructive forceps flap.

The operation executing mechanism 10 further comprises two wires 8, the two wires 8 are arranged, the two wires 8 penetrate through the connecting rod 20, one ends of the two wires 8 extend into the instrument box 30 and are respectively connected with two power supply structures, and the two power supply structures can respectively provide electric energy of the positive electrode and the negative electrode for the wires 8. In order to avoid the conductive contact of the two executing pieces 1, the first rotating shaft 211 is sleeved with an insulating tube, and the executing pieces 1 are sleeved on the insulating tube, so that the safety is improved.

Preferably, the wires 8 are S-shaped and wound on the second rotating shaft 212 and the third rotating shaft 221, and the parts of the two wires 8 between the second rotating shaft 212 and the third rotating shaft 221 are staggered and crossed, the second rotating shaft 212 is coaxially sleeved with the two wire contact wheels 9, the third rotating shaft 221 is coaxially sleeved with the two wire contact wheels 9, the two wire contact wheels 9 on the second rotating shaft 212 and the two wire contact wheels 9 on the third rotating shaft 221 are opposite to each other, and the wires 8 are S-shaped and wound on the two wire contact wheels 9 opposite to each other. The diameters of the two wire contact wheels 9 which are arranged oppositely are the same. When the pitching driving wire 4 operates the first connecting seat 21 to rotate, the pitching degree of freedom of the operation executing mechanism 10 is realized, the length of the wire 8 wound on the two wire contact wheels 9 which are just opposite to each other is unchanged, the wire 8 cannot be pulled, the possibility of deformation or fracture of the wire 8 is reduced, the service life of the operation executing mechanism 10 is prolonged, the maintenance cost is reduced, the smooth implementation of an operation is ensured, the reliability of the operation instrument in the operation is improved, the transmission precision of the operation executing mechanism 10 is ensured, the accuracy of the operation executing mechanism 10 in the operation is ensured, the risk of electric leakage is reduced, and the operation safety is improved.

In other embodiments, the same manner as the embodiments is adopted, so that the ratio of the radius of the wire contact wheel 9 disposed on the second rotating shaft 212/the radius of the wire contact wheel 9 disposed on the third rotating shaft 221=i' =the ratio of the radius of the reference circle of the first tooth structure 213 to the radius of the reference circle of the second tooth structure 223 may be sufficient, and the description thereof will not be repeated.

The specific principle of "when the pitching driving wire 4 operates the first connecting seat 21 to rotate to realize the pitching degree of freedom of the operation executing mechanism 10, the length of the wire 8 wound on the two wire contact wheels 9 which are just opposite to each other is the same as the principle of the second connecting section 312 that the length is unchanged", and will not be described herein.

Preferably, the wire contact wheel 9 on the second rotating shaft 212 is movably sleeved on the second rotating shaft 212, and the wire contact wheel 9 on the third rotating shaft 221 is movably sleeved on the third rotating shaft 221. Through setting up above-mentioned structure, when realizing that first connecting seat 21 rotates, reduced the frictional force between wire 8 and the wire contact wheel 9, reduced the risk of wire 8 wearing and tearing electric leakage, guaranteed the smooth implementation of operation, also reduced the maintenance cost, improved the security of operation.

Preferably, the wire contact wheel 9 is made of an insulating material, so that the risk of electric leakage is further reduced, and the safety of an operation is improved.

Example III

As shown in fig. 17 and 18, the actuator 1 is provided with one. In particular, the surgical instrument may be an active instrument, such as a monopolar electric hook. The actuator 1 is a hook-shaped metal piece.

In this embodiment, two upper guide wheels 214 and two lower guide wheels 224 may be provided.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A surgical actuator, comprising:

an actuator (1);

The wrist assembly (2) comprises a first connecting seat (21) and a second connecting seat (22), wherein a first rotating shaft (211) and a second rotating shaft (212) which are perpendicular to each other are arranged on the first connecting seat (21), the executing piece (1) is rotationally connected to the first rotating shaft (211), an upper guide wheel (214) is coaxially sleeved on the second rotating shaft (212), a first arc-shaped surface which is coaxially arranged with the second rotating shaft (212) is arranged on the first connecting seat (21), a first tooth structure (213) is arranged on the first arc-shaped surface, a third rotating shaft (221) which is parallel to the second rotating shaft (212) and a second arc-shaped surface which is coaxially arranged with the third rotating shaft (221) are arranged on the second connecting seat (22), a lower guide wheel (224) is coaxially sleeved on the third rotating shaft (221), a second tooth structure (223) is arranged on the second arc-shaped surface, the first tooth structure (213) is meshed with the second tooth structure (223), and the first tooth structure (213) is coaxial with the second tooth structure (223), and the radius of the second tooth structure (223) is equal to the radius of the guide wheel (214) of the lower guide wheel (224);

The execution driving wire (3) comprises two execution sections (31), wherein the execution sections (31) are wound on the upper guide wheel (214) and the lower guide wheel (224) which are opposite to each other in an S-shaped manner, the parts of the two execution sections (31) between the upper guide wheel (214) and the lower guide wheel (224) are parallel to each other, one ends of the two execution sections (31) are respectively connected with the two radial sides of the execution piece (1) along the first rotating shaft (211), and the other ends of the two execution sections (31) are all arranged on the second connecting seat (22) in a penetrating manner;

The pitching driving wire (4) is connected to the first connecting seat (21) and is used for controlling the first connecting seat (21) to rotate around the second rotating shaft (212), the pitching driving wire (4) comprises two pitching sections (41), and one ends of the two pitching sections (41) are respectively connected with the first connecting seat (21) along the two radial sides of the second rotating shaft (212);

Two first connecting lugs (215) are arranged at one end of the first connecting seat (21) facing the second connecting seat (22) in a protruding mode, two ends of the second rotating shaft (212) are respectively connected with the two first connecting lugs (215), and the end face of the first connecting lug (215) facing the second connecting seat (22) is the first arc-shaped face;

Two second connecting lugs (225) are convexly arranged at one end of the second connecting seat (22) facing the first connecting seat (21), two ends of the third rotating shaft (221) are respectively connected with the two second connecting lugs (225), and the end face of the second connecting lug (225) facing the first connecting seat (21) is the second arc-shaped surface;

The two first connecting lugs (215) and the two second connecting lugs (225) are arranged in a one-to-one opposite mode, and the upper guide wheel (214), the lower guide wheel (224), the pitching driving wire (4) and the executing driving wire (3) are positioned between the two first connecting lugs (215) and the two second connecting lugs (225).

2. The surgical actuator according to claim 1, wherein a fourth rotating shaft (222) is disposed on the second connecting seat (22), the fourth rotating shaft (222) is disposed parallel to the third rotating shaft (221) and is located at one side of the third rotating shaft (221) away from the first connecting seat (21), and at least two threading holes (227) are formed in the second connecting seat (22) in a penetrating manner;

Each pitching section (41) is wound on the third rotating shaft (221) and the fourth rotating shaft (222) in an S shape, the parts of the two pitching sections (41) between the third rotating shaft (221) and the fourth rotating shaft (222) are staggered and crossed, the other ends of the two pitching sections (41) are respectively correspondingly penetrated through the two threading holes (227) on the second connecting seat (22).

3. The surgical operation mechanism according to claim 2, wherein two upper auxiliary guide wheels (23) are movably sleeved on the third rotating shaft (221), two lower auxiliary guide wheels (24) are movably sleeved on the fourth rotating shaft (222), the two upper auxiliary guide wheels (23) and the two lower auxiliary guide wheels (24) are arranged in a one-to-one opposite mode, and the pitching section (41) is wound on the upper auxiliary guide wheels (23) and the lower auxiliary guide wheels (24) which are arranged in an opposite mode in an S-shaped mode.

4. A surgical actuator according to claim 3, wherein the second connecting seat (22) has a receiving slot (226) formed at an end thereof facing the first connecting seat (21), at least a portion of the lower auxiliary guide wheel (24) being disposed in the receiving slot (226), and two threading holes (227) being formed in a bottom wall of the receiving slot (226).

5. The surgical actuator according to any one of claims 1-4, further comprising a connector (5), the connector (5) being located between the first (21) and second (22) connector, one end of the connector (5) being connected to the second shaft (212) and the other end being connected to the third shaft (221).

6. The surgical actuator according to claim 1, further comprising a first protective shell (6) and a second protective shell (7), the first protective shell (6) being sleeved outside the first connection seat (21), the second protective shell (7) being sleeved outside the second connection seat (22);

The end face, facing one end of the second protective shell (7), of the first protective shell (6) comprises two first contact cambered surfaces (61) and two first limiting surfaces (62) which are connected end to end, the first contact cambered surfaces (61) and the first limiting surfaces (62) are alternately arranged, the first contact cambered surfaces (61) and the second rotating shaft (212) are coaxially arranged, the radius of the first contact cambered surfaces (61) is the same as the indexing circle radius of the first tooth structure (213), and the first limiting surfaces (62) are tangent to the first contact cambered surfaces (61);

The end face of the second protective shell (7) facing one end of the first protective shell (6) comprises two second contact cambered surfaces (71) and two second limiting surfaces (72) which are connected end to end, the second contact cambered surfaces (71) and the second limiting surfaces (72) are alternately arranged, the second contact cambered surfaces (71) and the third rotating shaft (221) are coaxially arranged, the radius of the second contact cambered surfaces (71) is the same as the reference circle radius of the second tooth structure (223), and the second limiting surfaces (72) are tangent to the second contact cambered surfaces (71);

The first contact cambered surface (61) is in opposite contact with the second contact cambered surface (71).

7. The surgical actuator of any one of claims 1-4, wherein the upper guide wheel (214) is movably sleeved on the second rotating shaft (212) and/or the lower guide wheel (224) is movably sleeved on the third rotating shaft (221).

8. Surgical instrument, characterized by comprising an instrument box (30), a connecting rod (20) and a surgical actuator according to any one of claims 1-7, wherein the instrument box (30) is connected to one end of the connecting rod (20), the second connecting seat (22) is connected to the other end of the connecting rod (20), the actuating drive wire (3) passes through the second connecting seat (22) and is connected with an actuating drive wire shaft in the instrument box (30), and the pitching drive wire (4) passes through the second connecting seat (22) and is connected with a pitching drive wire shaft in the instrument box (30).

9. A surgical robot comprising the surgical instrument of claim 8.