CN112022238A - A surgical instrument for a minimally invasive surgical robot - Google Patents

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a surgical instrument for a minimally invasive surgical robot. It includes a distal actuator, a flexible segment, a rod body, a bracket, a distal actuator opening and closing driving mechanism, a flexible segment deflection driving mechanism, and a rotation driving mechanism arranged on the bracket in sequence. The distal actuator is connected to the distal actuator through the driving tendon assembly The end effector opening and closing drive mechanism is connected, and the distal end effector opening and closing drive mechanism is used to drive the distal end effector to perform opening and closing actions; the flexible segment is connected with the flexible segment deflection drive mechanism through the drive tendon assembly, and the flexible segment deflection drive mechanism is generally used for The flexible segment is driven to perform a bending action; the rotary drive mechanism is used to drive the distal actuator to rotate. The invention has the advantages of quick disassembly and assembly during operation, flexible drive with multiple degrees of freedom, reasonable mechanism layout, and the like.

Description

A surgical instrument for a minimally invasive surgical robot

technical field

The invention belongs to the technical field of medical instruments, and particularly relates to a surgical instrument for a minimally invasive surgical robot.

Background technique

Minimally invasive surgery refers to minimally invasive surgery, which refers to the use of laparoscopes, thoracoscopes and other modern medical instruments and related equipment. In the application process of modern medical surgical treatment, minimally invasive surgery occupies an increasingly important position because it can achieve the requirements of less surgical trauma, less pain, and faster recovery. Robot-assisted minimally invasive surgery has gradually become a significant development trend since the 1990s. With the emergence of minimally invasive surgical robots, doctors can achieve minimally invasive, precise and efficient stereotaxic surgery with the help of robots. Its system integrates many emerging disciplines to realize minimally invasive, intelligent and digital surgical operations. For the minimally invasive surgical robot system, the doctor controls the front-end surgical instruments through the console to imitate the flexible movements of the doctor's arm and wrist, so there are higher design requirements for the surgical instruments for the minimally invasive surgical robot. Compared with traditional surgical instruments, the surgical instruments used in minimally invasive surgery should meet the requirements of miniaturization, light weight, multiple degrees of freedom, flexible operation, and easy installation.

SUMMARY OF THE INVENTION

In view of the above problems, the purpose of the present invention is to provide a surgical instrument for a minimally invasive surgical robot, which can realize rapid disassembly and assembly during the operation, can realize multi-degree-of-freedom and wide-ranging motion, flexible operation and highly integrated minimally invasive operation. Surgical instruments used to assist doctors in minimally invasive surgical operations.

In order to achieve the above object, the present invention adopts the following technical solutions:

A surgical instrument for a minimally invasive surgical robot, comprising a distal actuator, a flexible segment, a rod body, a distal actuator opening and closing drive mechanism, a flexible segment deflection drive mechanism, a rotation drive mechanism, a bracket and a drive tendon assembly, wherein the distal end actuator The mechanism, the flexible segment, the rod body and the bracket are connected in sequence, and the distal actuator opening and closing driving mechanism, the flexible segment deflection driving mechanism and the rotation driving mechanism are all arranged on the bracket;

One end of the drive tendon assembly is connected with the distal actuator and the flexible segment, and the other end is connected with the distal end effector opening and closing drive mechanism and the flexible segment deflection drive mechanism; the distal end effector opening and closing drive mechanism drives the distal end actuator through the drive tendon assembly The mechanism performs the opening and closing action; the deflection drive mechanism of the flexible segment drives the flexible segment to perform the bending action through the driving tendon assembly;

The rotary drive mechanism is used to drive the distal actuator to rotate.

The drive tendon assembly includes a distal end effector opening and closing drive tendon and a plurality of flexible segment deflection drive tendons;

One end of the distal end effector opening and closing driving tendon is connected to the distal end effector, and the other end is connected to the distal end effector opening and closing drive mechanism after passing through the flexible segment and the rod body in sequence;

One end of the plurality of flexible segment deflection drive tendons is respectively connected with the starting joint of each deformed segment in the flexible segment, and the other end is connected to the flexible segment deflection drive mechanism after passing through the flexible segment and the rod body in sequence.

The surgical instrument for the minimally invasive surgical robot further comprises a wire-splitting mechanism arranged on the support;

The wire dividing mechanism includes a wire limiting block, a sleeve and a cover plate, wherein the wire limiting block is arranged on the support, the wire limiting block is provided with a plurality of curved grooves, and each curved groove is provided with a casing, a plurality of curved grooves. The deflection driving tendons of the flexible segments pass through the sleeves respectively; the cover plate is arranged on the outer side of the sleeves and is connected with the wire limiting block.

The bracket includes a main body bracket, a rotation drive bracket and an intermediate bracket, wherein the flexible segment deflection drive mechanism is installed on the main bracket; the intermediate bracket is arranged at the front end of the main bracket for installing the wire splitting mechanism; the rotation drive bracket is arranged in the The side part of the main body bracket is used for installing the rotary drive mechanism.

The opening and closing driving mechanism of the distal end effector includes a docking plate, a screw nut, a screw nut pressing block and a lead screw, wherein the lead screw is arranged on the bracket along the front-rear direction and can be rotated; the screw nut is threadedly connected with the lead screw, A screw thread pair is formed; the screw nut pressing block is connected with the screw nut, and the screw nut pressing block is connected with the opening and closing driving tendon of the distal end effector; the docking plate is arranged on the end of the lead screw for connecting with an external rotary drive mechanism.

The flexible segment deflection driving mechanism includes a press cover and a plurality of preloading mechanisms, wherein the plurality of preloading mechanisms are slidably arranged on the bracket along the front-rear direction, and the plurality of preloading mechanisms are respectively deflected with each of the flexible segments The driving tendon is connected; the gland is arranged on the outside of the plurality of pre-tightening mechanisms and is connected with the bracket.

The preloading mechanism includes a sliding block and two hollow top wires;

The bracket is provided with a plurality of sliding grooves along the front and rear directions; the sliding block is accommodated in the sliding groove and can slide in the sliding groove;

Two hollow top wires are arranged on both sides of the slider, the deflection driving tendon of the flexible segment passes through a hollow top wire, and the end is connected with a collet, which is clamped by the two hollow top wires.

The pressing cover is provided with a plurality of pressing cover grooves corresponding to each of the sliding grooves respectively; the sliding blocks respectively protrude from each of the pressing cover grooves.

The rotating drive mechanism includes a rotating shaft a, a rotating wheel a, a transmission rope, a rotating wheel b and a rotating shaft b, wherein the rotating shaft a and the rotating shaft b are arranged in parallel on the bracket and can be rotated; The rotating wheel b is respectively arranged on the rotating shaft a and the rotating shaft b, and the rotating wheel a and the rotating wheel b are connected by a transmission rope;

The rotating shaft b is inserted into the rod body and the flexible section, and the end of the rotating shaft b is connected with the distal actuator.

The front end of the bracket is provided with a driving tendon integrated block, and the driving tendon integrated block is provided with a central hole and a plurality of outer ring holes distributed around the central hole;

The rotating shaft b passes through the central hole; the plurality of flexible segment deflection driving tendons pass through the outer ring holes respectively;

The rotating wheel b and the rotating shaft b are both hollow structures, and the opening and closing driving tendon of the distal end effector passes through the rotating wheel b and the rotating shaft b in sequence.

Compared with the prior art, the advantages and beneficial effects of the present invention are:

The driving mechanism of the minimally invasive surgical instrument of the present invention is symmetrically arranged on both sides along the axis of the rod body, the driving form of the driving tendon adopts the direct push-pull of the slider and the rotation of the docking plate, and the integration of the driving part of the instrument is high; the proximal driving mechanism adopts wire The driving tendon is driven in the form of a bar and nut, and the use of the wire-splitting mechanism avoids the instability of the driving tendon and ensures the smooth running of the driving tendon under large load conditions.

The minimally invasive surgical instrument of the invention has multi-degree-of-freedom deformation segments, which increases the flexibility of the surgical action. The surgical instrument directly drives the driving tendon by using the sliding block and the docking plate, which ensures the driving tendon to run stably and is convenient and quick to replace. Miniaturization and lightening of surgical instruments.

The minimally invasive surgical instrument of the invention has the advantages of quick disassembly and assembly during the operation, flexible driving with multiple degrees of freedom, reasonable mechanism layout, etc.

Description of drawings

1 is a schematic structural diagram of a surgical instrument for a minimally invasive surgical robot of the present invention;

2 is a schematic structural diagram of the surgical instrument for the minimally invasive surgical robot of the present invention removing the outer casing;

Fig. 3 is the exploded view of the wire dividing mechanism in the present invention;

Fig. 4 is the structural representation of the stent in the present invention;

FIG. 5 is a schematic structural diagram of the deflection drive mechanism of the deformation section in the present invention;

Fig. 6 is the structural representation of driving tendon integrated block in the present invention;

7 is a schematic structural diagram of a rotary drive mechanism in the present invention;

Fig. 8 is the installation schematic diagram of the remote actuator in the present invention;

FIG. 9 is a schematic structural diagram of the rod body in a curved shape in the present invention.

In the figure: 1 is the distal actuator, 2 is the flexible section, 3 is the rod body, 4 is the wire dividing mechanism, 401 is the wire limiting block, 402 is the curved groove, 403 is the sleeve, 404 is the cover plate, and 5 is the distal end Actuator opening and closing drive mechanism, 501 is the docking plate, 502 is the nut, 503 is the nut pressing block, 504 is the lead screw, 6 is the deflection drive mechanism of the flexible segment, 601 is the gland, 602 is the gland groove, 603 is Slider, 604 is a hollow top wire, 7 is a rotary drive mechanism, 701 is a rotating shaft a, 702 is a rotating wheel a, 703 is a transmission rope, 704 is a rotating wheel b, 705 is a rotating shaft b, 7051 is a steel pipe, 7052 is a Torque sheath, 8 is the bracket, 801 is the main body bracket, 802 is the chute, 803 is the rotary drive bracket, 804 is the middle bracket, 9 is the flexible segment deflection drive tendon, 10 is the drive tendon integrated block, 101 is the central hole, 102 is the outer ring hole, 11 is the limit ring, 12 is the rotating ring, and 13 is the actuator fixing seat.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1 , a surgical instrument for a minimally invasive surgical robot provided by the present invention includes a distal actuator 1 , a flexible segment 2 , a rod body 3 , a distal actuator opening and closing drive mechanism 5 , and a flexible segment deflection drive mechanism 6 , Rotary drive mechanism 7, bracket 8 and drive tendon assembly, wherein the distal actuator 1, flexible segment 2, rod body 3 and bracket 8 are connected in sequence, the distal actuator opening and closing drive mechanism 5, the flexible segment deflection drive mechanism 6 and the rotation The drive mechanism 7 is all arranged on the bracket 8; one end of the drive tendon assembly is connected with the distal actuator 1 and the flexible segment 2, and the other end is connected with the distal actuator opening and closing drive mechanism 5 and the flexible segment deflection drive mechanism 6; The actuator opening and closing drive mechanism 5 drives the distal actuator 1 to perform the opening and closing action through the driving tendon assembly; the flexible segment deflection drive mechanism 6 drives the flexible segment 2 to perform the bending action through the driving tendon assembly; the rotation drive mechanism 7 is used to drive the distal actuator Mechanism 1 turns.

In the embodiment of the present invention, as shown in FIG. 2 , the drive tendon assembly includes a distal end effector opening and closing drive tendon and a plurality of flexible segment deflection drive tendons 9; one end of the distal end effector opening and closing drive tendon and a distal actuator 1 is connected, and the other end passes through the flexible segment 2 and the rod body 3 in turn and is connected to the distal end effector opening and closing drive mechanism 5; The other end is connected with the flexible segment deflection drive mechanism 6 after passing through the flexible segment 2 and the rod body 3 in turn.

Specifically, the flexible segment 2 contains four degrees of freedom and is composed of multiple deformation segments. In this embodiment, the flexible segment 2 includes two deformation segments, and the distal end of each deformation segment has a joint fixedly connected with the deflection driving tendon 9 of the flexible segment. Specifically, each joint is connected with four flexible segment deflection driving tendons 9, and the four flexible segment deflection driving tendons 9 are driven to perform four-way bending. The opening and closing drive tendon of the distal end effector and the deflection drive tendon 9 of multiple flexible segments are driven by tendons such as ropes and wires. The degrees of freedom that can be achieved include: the rotation of the distal actuator 1, the multi-segment four-directional bending of the flexible segment 2, and the distal The opening and closing of the end actuator 1.

On the basis of the above-mentioned embodiment, the surgical instrument for the minimally invasive surgical robot further includes a wire dividing mechanism 4 disposed on both sides of the bracket 8 , and the wire dividing mechanism 4 is used to fix the deflection driving tendons 9 of the plurality of flexible segments.

As shown in FIG. 3 , the wire dividing mechanism 4 includes a wire limiting block 401 , a sleeve 403 and a cover plate 404 , wherein the wire limiting block 401 is arranged on the bracket 8 , and the wire limiting block 401 is provided with a plurality of curved grooves 402 . Sleeves 403 are provided in the grooves 402 , and the deflection driving tendons of a plurality of flexible segments pass through the sleeves 403 respectively;

In the embodiment of the present invention, as shown in FIG. 4 , the bracket 8 includes a main bracket 801 , a rotary drive bracket 803 and an intermediate bracket 804 , wherein the flexible segment deflection drive mechanism 6 is installed on the main bracket 801 ; the intermediate bracket 804 is arranged on the main bracket 801 The front end is used to install the wire-splitting mechanism 4 ;

In the embodiment of the present invention, as shown in FIG. 2 , the distal end effector opening and closing driving mechanism 5 includes a docking plate 501 , a screw nut 502 , a screw nut pressing block 503 and a lead screw 504 , wherein the lead screw 504 is disposed along the front and rear directions at The rotary drive bracket 803 of the bracket 8 is rotatable; the screw nut 502 is threadedly connected with the screw 504 to form a screw pair; the screw nut pressing block 503 is connected with the screw nut 502, and the screw nut pressing block 503 opens and closes with the distal actuator The driving tendon is connected; the docking disc 501 is arranged at the end of the lead screw 504 for connecting with the docking disc of the power device. The rotation of the docking plate 501 driven by the motor drives the lead screw 504 to rotate, drives the lead nut 502 to slide back and forth, and cooperates with the clamping mechanism to realize the opening and closing drive of the distal actuator 1 .

The nut pressing block 503 is provided with a groove, and the chuck of the distal end effector for opening and closing the driving tendon falls into the groove, and the groove is matched to realize the pushing and pulling of the distal end effector opening and closing the driving tendon.

When the minimally invasive surgical instrument is docked with the power device, the limit pin should be inserted into the mechanism to adjust the position of the slider, so as to fix the slider position on the same line, adjust the tension of the drive tendon by adjusting the pre-tightening mechanism, and control the docking plate at the same time. In the vertical state of the docking slot, the docking of the instrument and the power device is completed.

In the embodiment of the present invention, as shown in FIG. 5 , the flexible segment deflection drive mechanism 6 includes a pressing cover 601 and a plurality of preloading mechanisms, wherein the plurality of preloading mechanisms are slidably disposed on the main body bracket 801 of the bracket 8 along the front-rear direction. and a plurality of pretensioning mechanisms are respectively connected with the deflection drive tendons 9 of each flexible segment; the pressing cover 601 is arranged outside the plurality of pretensioning mechanisms and is connected with the main body bracket 801 .

Specifically, the preloading mechanism includes a sliding block 603 and two hollow top wires 604; the main body bracket 801 is provided with a plurality of sliding grooves 802 along the front-rear direction; the sliding block 603 is accommodated in the sliding groove 802, and can be inserted into the sliding groove 802 Internal sliding; two hollow top wires 604 are arranged on both sides of the slider 603, the flexible segment deflection drive tendon 9 passes through a hollow top wire 604, and the end is connected with a collet, which passes through the two hollow top wires 604 clamped. The gland 601 is provided with a plurality of gland grooves 602 corresponding to the respective sliding grooves 802 ; the sliders 603 respectively protrude from the glands 602 , and the sliders 603 are connected with an external driving mechanism.

The flexible segment deflection drive mechanism 6 uses the slider 603 to directly drive the flexible segment deflection drive tendon 9, and each slider 603 independently drives a flexible segment deflection drive tendon 9; The block 603 has its independent docking drive block, which drives each slider 603 to complete the forward and backward movements, thereby realizing the push and pull of the flexible segment deflection drive tendon 9; the slider 603 can be distributed according to the actual number of degrees of freedom and integration requirements. In the embodiment, eight sliding blocks 603 are used to drive the corresponding flexible segments to deflect the driving tendons 9 .

Specifically, the slider 603 is provided with a threaded hole, a chuck is fixed on the deflection driving tendon 9 of the flexible section, and the hollow top wire 604 is screwed inward from both ends of the threaded hole, and the middle hole of the hollow top wire 604 is driven by the deflection of the flexible section Tendon 9, the two hollow top wires 604 deflect the clamping head fixed on the tendon 9 relative to the clamping flexible segment. The material of the slider 603 and the hollow top wire 604 may be metal materials such as stainless steel, aluminum alloy, or other wear-resistant polymer materials, which are not specifically restricted here.

In the embodiment of the present invention, as shown in FIG. 7 , the rotary drive mechanism 7 includes a rotary shaft a701, a rotary wheel a702, a transmission rope 703, a rotary wheel b704 and a rotary shaft b705, wherein the rotary shaft a701 and the rotary shaft b705 are arranged parallel to the bracket 8, and can be rotated; the rotating wheel a702 and the rotating wheel b704 are respectively arranged on the rotating shaft a701 and the rotating shaft b705, and the rotating wheel a702 and the rotating wheel b704 are connected by the transmission rope 703; the rotating shaft b705 is inserted in the rod body 3 and Inside the flexible segment 2, and the distal end of the rotating shaft b705 is connected with the distal actuator 1. Specifically, the outer surface of the rotating wheel b704 is provided with a spiral groove for winding the transmission rope 703 .

During operation, the rotating shaft a701 is connected with the external rotating drive mechanism, the external rotating drive mechanism drives the rotating shaft a701 to rotate, and the rotating shaft a701 drives the rotating wheel b704 and the rotating shaft b705 to rotate through the transmission rope 703, thereby transmitting the torque from the rotating drive mechanism to the remote. End actuator 1.

In the embodiment of the present invention, as shown in FIG. 2 , the front end of the bracket 8 is provided with a driving tendon integrated block 10 , and the driving tendon integrated block 10 is provided with a central hole 101 and a plurality of outer ring holes 102 distributed around the central hole 101 ; The rotating shaft b705 passes through the central hole 101; the deflection drive tendons 9 of a plurality of flexible segments pass through the outer ring holes 102 respectively; The rotating wheel b704 and the rotating shaft b705 are then connected to the distal actuator 1 .

In this embodiment, the rotating shaft b705 is formed by connecting a plurality of steel pipes 7051 and a plurality of torque sheath tubes 7052 , wherein the torque sheath tubes 7052 are provided with the flexible section 2 and have a curved part. As shown in FIG. 8 , the torque sheath 7052 located in the flexible segment 2 is connected to the actuator holder 13 , and the actuator holder 13 is rotatably connected to the starting joint of the flexible segment 2 through the rotating ring 12 , and the distal actuator 1 It is arranged on the actuator holder 13 . Specifically, the torque sheath 7052 adopts a torque coil that can transmit torque in both directions, such as a torque coil made of densely wound multi-layer steel wires.

In the embodiment of the present invention, the wire limiting block 401 is a hollow special-shaped structure, and the inner space can be used for the driving tendon to freely form a smooth bending curve, which reduces friction, and at the same time separates a plurality of nickel-titanium wires concentrated in a thin tube to correspond to each other. For different drives, the outer sleeve of the driving tendon is fixed after the driving tendon freely forms a smooth curve; a groove is engraved on the wire limiting block 401 to install the outer sleeve of the driving tendon, and the driving tendon runs along the fixing groove. It can be used to limit the movement of the driving tendon and its casing, and avoid errors caused by the shaking of the driving tendon during the working process; the material of the wire limiting block 401 can be aluminum alloy, ABS or other polymer materials, etc., and the processing form can be 3D Printed or machined form is not restricted here.

In the embodiment of the present invention, the rod body 3 can be a straight rod or a curved shape. As shown in FIG. 9 , the curved rod body 3 can be rigid and has a fixed curved shape; or the rod body 3 can also be flexible and can be bent at will.

The driving mechanism of the surgical instrument of the present invention is arranged bilaterally symmetrically along the axis direction of the rod body, the surgical instrument has six degrees of freedom, and the driving form of the driving tendon adopts the direct push-pull of the slider and the rotation of the docking plate, so that the integration of the surgical instrument is more integrated. high. The opening and closing driving mechanism 5 of the distal end effector of the present invention drives the driving tendon in the form of a screw nut. The use of the wire-splitting mechanism 4 avoids the instability of the driving tendon and ensures the smooth running of the driving tendon under heavy load conditions. The minimally invasive surgical instrument of the invention has multi-degree-of-freedom deformation segments, which increases the flexibility of the surgical action. The surgical instrument directly drives the driving tendon by using the sliding block and the docking plate, which ensures the driving tendon to run stably and is convenient and quick to replace. Miniaturization and lightening of surgical instruments.

The above descriptions are merely embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A surgical instrument for a minimally invasive surgical robot, characterized in that it comprises a distal actuator (1), a flexible segment (2), a rod body (3), a distal actuator opening and closing drive mechanism (5), a flexible segment A deflection drive mechanism (6), a rotation drive mechanism (7), a bracket (8) and a drive tendon assembly, wherein the distal actuator (1), the flexible segment (2), the rod body (3) and the bracket (8) are connected in sequence, The distal end effector opening and closing drive mechanism (5), the flexible segment deflection drive mechanism (6) and the rotation drive mechanism (7) are all arranged on the bracket (8); One end of the drive tendon assembly is connected with the distal end effector (1) and the flexible segment (2), and the other end is connected with the distal end effector opening and closing drive mechanism (5) and the flexible segment deflection drive mechanism (6); the distal end effector The opening and closing drive mechanism (5) drives the distal end actuator (1) to perform opening and closing actions through the drive tendon assembly; the flexible segment deflection drive mechanism (6) drives the flexible segment (2) to perform the bending action through the drive tendon assembly; The rotation driving mechanism (7) is used for driving the distal actuator (1) to rotate. 2. The surgical instrument for a minimally invasive surgical robot according to claim 1, wherein the drive tendon assembly comprises a distal end effector opening and closing drive tendon and a plurality of flexible segment deflection drive tendons (9); One end of the opening and closing drive tendon of the distal end effector is connected to the distal end effector (1), and the other end passes through the flexible segment (2) and the rod body (3) in sequence and then opens to the distal end effector. The drive mechanism (5) is connected; One end of the plurality of flexible segment deflection driving tendons (9) is respectively connected with the starting joint of each deformed segment in the flexible segment (2), and the other end passes through the flexible segment (2) and the rod body (3) in turn. ) and then connected with the flexible segment deflection drive mechanism (6). 3. The surgical instrument for a minimally invasive surgical robot according to claim 2, further comprising a wire-splitting mechanism (4) arranged on the support (8); The wire dividing mechanism (4) comprises a wire limiting block (401), a sleeve (403) and a cover plate (404), wherein the wire limiting block (401) is arranged on the support (8), and the wire limiting block (401) ) is provided with a plurality of curved grooves (402), each curved groove (402) is provided with a sleeve (403), and a plurality of the flexible segment deflection drive tendons respectively pass through each sleeve (403); 404) is arranged on the outer side of the sleeve (403), and is connected with the wire limiting block (401). 4. The surgical instrument for a minimally invasive surgical robot according to claim 3, wherein the bracket (8) comprises a main body bracket (801), a rotary drive bracket (803) and an intermediate bracket (804), wherein the main body bracket (804) The flexible segment deflection drive mechanism (6) is installed on the (801); the intermediate bracket (804) is arranged at the front end of the main body bracket (801) for installing the wire-splitting mechanism (4); the rotation drive bracket (803) is arranged On the side of the main body bracket (801), the rotary drive mechanism (7) is installed. 5. The surgical instrument for a minimally invasive surgical robot according to claim 2, wherein the distal end effector opening and closing drive mechanism (5) comprises a docking plate (501), a wire nut (502), a wire nut pressure A block (503) and a lead screw (504), wherein the lead screw (504) is arranged on the bracket (8) along the front-rear direction and can be rotated; the screw nut (502) is threadedly connected with the lead screw (504) to form a thread pair; the screw nut pressing block (503) is connected with the screw nut (502), and the screw nut pressing block (503) is connected with the opening and closing driving tendon of the distal end effector; the docking plate (501) is arranged on the screw (504) end for connection to an external rotary drive mechanism. 6 . The surgical instrument for a minimally invasive surgical robot according to claim 2 , wherein the flexible segment deflection drive mechanism ( 6 ) comprises a pressure cover ( 601 ) and a plurality of pre-tensioning mechanisms, wherein the plurality of pre-tensioning mechanisms It is slidably arranged on the bracket (8) along the front-rear direction, and a plurality of pre-tightening mechanisms are respectively connected with the deflection driving tendons (9) of the flexible segments; the pressing cover (601) is arranged on the outside of the plurality of pre-tightening mechanisms , and is connected with the bracket (8). 7. The surgical instrument for a minimally invasive surgical robot according to claim 6, wherein the preloading mechanism comprises a slider (603) and two hollow top wires (604); The bracket (8) is provided with a plurality of sliding grooves (802) along the front and rear directions; the sliding block (603) is accommodated in the sliding groove (802) and can slide in the sliding groove (802); Two hollow top wires (604) are arranged on both sides of the slider (603), the flexible segment deflection drive tendon (9) passes through a hollow top wire (604), and the end is connected with a collet, the collet Clamped by two hollow top wires (604). 8 . The surgical instrument for a minimally invasive surgical robot according to claim 7 , wherein the gland ( 601 ) is provided with a plurality of gland grooves ( 602); the sliding blocks (603) respectively protrude from each gland groove (602). 9 . The surgical instrument for a minimally invasive surgical robot according to claim 2 , wherein the rotary drive mechanism ( 7 ) comprises a rotary shaft a ( 701 ), a rotary wheel a ( 702 ), a transmission rope ( 703 ), A rotating wheel b (704) and a rotating shaft b (705), wherein the rotating shaft a (701) and the rotating shaft b (705) are arranged in parallel on the bracket (8), and both can be rotated; the rotating wheel a (702) and the rotating wheel b (704) are respectively arranged on the rotating shaft a (701) and the rotating shaft b (705), and the rotating wheel a (702) and the rotating wheel b (704) are connected by transmission through the transmission rope (703); The rotating shaft b (705) is inserted into the rod body (3) and the flexible section (2), and the end of the rotating shaft b (705) is connected with the distal actuator (1). 10. The surgical instrument for a minimally invasive surgical robot according to claim 9, wherein the front end of the bracket (8) is provided with a drive tendon assembly (10), and a drive tendon assembly (10) is provided on the having a central hole (101) and a plurality of outer ring holes (102) distributed around the central hole (101); The rotating shaft b (705) passes through the central hole (101); the plurality of flexible segment deflection driving tendons (9) pass through the outer ring holes (102) respectively; The rotating wheel b (704) and the rotating shaft b (705) are both hollow structures, and the distal end effector opening and closing drive tendon sequentially passes through the rotating wheel b (704) and the rotating shaft b ( 705).

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