CN112274251A

CN112274251A - Surgical instrument, slave operation device, and surgical robot

Info

Publication number: CN112274251A
Application number: CN202011063630.5A
Authority: CN
Inventors: 吴仲兵; 上官希坤; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-29

Abstract

The invention provides a surgical instrument, a slave operation device applying the surgical instrument and a surgical robot with the slave operation device, wherein the surgical instrument comprises an end effector and a driving device, the driving device comprises a first driving unit and a second driving unit, the first driving unit and the second driving unit respectively operate a first pair of cables and a second pair of cables to control the opening and closing and yawing movement of the end effector, the driving device further comprises a third driving unit and a pitching mechanism, and the third driving unit drives the pitching mechanism to move along a straight line so as to cause the lengths of the first pair of cables and the second pair of cables in the driving device to simultaneously change to realize the pitching movement of the end effector.

Description

Surgical instrument, slave operation device, and surgical robot

Technical Field

The present invention relates to the field of medical instruments, and in particular, to a surgical instrument, a slave operation device using the surgical instrument, and a surgical robot having the slave operation device.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally comprises a master operation console and a slave operation device, wherein the master operation console is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the master operation console and carrying out corresponding surgical operation.

A surgical instrument is detachably connected to the slave operating device, the surgical instrument includes a driving device and an end effector for performing a surgical operation, the driving device is used for connecting the surgical instrument to the slave operating device and receiving a driving force from the slave operating device to drive the end effector to move, the driving device is connected with the end effector through a driving cable, and the driving device is used for controlling the movement of the end effector through the driving cable. End effectors typically include three degrees of freedom of movement, i.e., opening and closing, pitch and yaw, and some end effectors also have rotational movement, with the yaw and opening movement of the end effector being controlled by one set of drive cables and the pitch movement of the end effector being controlled by another set of drive cables.

However, the yaw, opening, closing and pitching motions of the end effector are controlled by two different sets of driving cables, which increases the structural complexity of the end effector, thus being unfavorable for the volume of the end effector to be smaller, and the smaller the volume of the end effector, the end effector can be adapted to more application scenarios, for example, the end effector can enter a smaller body cavity or the surgical incision is smaller. However, the existing end effector driving devices cannot operate the same set of driving cables to control the opening, closing, yawing and opening and closing movements of the end effector.

Disclosure of Invention

Based on this, in order to solve the above problems, the present invention provides a surgical instrument that can manipulate the opening, closing, yawing, and pitching motions of an end effector by the same set of drive cables, and also includes a slave operation device to which the surgical instrument is applied, and a surgical robot having the slave operation device. The surgical instrument includes:

end effector and drive arrangement, drive arrangement are used for driving end effector motion, and its characterized in that, drive arrangement includes:

a first pair of cables and a second pair of cables, one end of the first pair of cables and the second pair of cables connected to the end effector, the other end of the first pair of cables and the second pair of cables connected to the drive device, the first pair of cables and the second pair of cables cooperating to drive yaw and pitch movement of the end effector;

the driving unit is used for driving the pitching mechanism to move so as to increase the length of one pair of the first pair of the cables and the second pair of the cables in the driving device and reduce the length of the other pair of the cables in the driving device, so that the driving unit drives the end effector to execute pitching movement.

Preferably, the drive unit is adapted to drive the pitch mechanism in a linear motion to vary the length of the first and second pairs of cables within the drive device.

Preferably, the pitching mechanism comprises a sliding frame, the guide parts comprise a first guide part and a second guide part which are respectively arranged at two ends of the sliding frame, the first pair of cables and the second pair of cables respectively extend to the end effector after being guided by the first guide part and the second guide part, and the driving unit drives the sliding frame to move so as to change the lengths of the first pair of cables and the second pair of cables in the driving device.

Preferably, the driving device further comprises a first guide wheel, the first pair of cables are guided by the first guide wheel and then guided by the first guide portion and then extend to the end effector, and the portion of the first pair of cables between the first guide wheel and the first guide portion is parallel to the moving direction of the pitching mechanism.

Preferably, the driving device further comprises a second guide wheel, the second pair of cables is guided by the second guide wheel and then by the second guide portion and then extends to the end effector, and the portion of the second pair of cables between the second guide wheel and the second guide portion is parallel to the moving direction of the pitching mechanism.

Preferably, the driving device further includes a third guide wheel and a fourth guide wheel, the first pair of cables is guided by the first guide portion and then guided by the third guide wheel to extend to the end effector, and the third driving cable and the fourth driving cable are guided by the second guide portion and then guided by the fourth guide wheel to extend to the end effector.

Preferably, the direction of movement of the pitch mechanism is parallel to the portion of the first pair of cables between the first guide and the third guide wheel.

Preferably, the direction of movement of the pitch mechanism is parallel to the portion of the second pair of cables between the second guide and the fourth guide wheel.

Preferably, the rotation axis of the third guide wheel is parallel to the rotation axis of the fourth guide wheel, and the rotation axis of the third guide wheel is perpendicular to the rotation axis of the first guide wheel or the second guide wheel.

Preferably, the portion of the first and second drive cables between the first guide and the third guide wheel is symmetrical about a first plane passing through the centre of the third guide wheel and perpendicular to the axis of rotation of the third guide wheel.

Preferably, the driving unit is connected to the pitching mechanism through a first pitching driving cable and a second pitching driving cable, one end of the first pitching driving cable and one end of the second pitching driving cable are wound around the third driving unit in opposite winding manners, the other end of the first pitching driving cable and the other end of the second pitching driving cable are respectively fixed at two ends of the pitching mechanism, and the driving unit is configured to drive the pitching mechanism to move through the first pitching driving cable and the second pitching driving cable.

Preferably, the drive unit rotates in a first direction to release the first pitch drive cable and retract the second pitch drive cable to move the pitch drive mechanism to decrease the length of the first pair of cables within the drive device and increase the length of the second pair of cables within the drive device.

Preferably, the drive unit is rotatable in a second direction opposite the first direction to retract the first pitch drive cable and release the second pitch drive cable to move the pitch drive mechanism to increase the length of the first pair of cables within the drive unit and decrease the length of the second pair of cables within the drive unit.

Preferably, the driving unit and the pitching mechanism are connected in a gear engagement manner.

Preferably, the driving unit has a cam structure, and the pitching mechanism is configured to rotate to drive the cam structure to abut against the carriage to drive the carriage to move.

Preferably, the driving device further includes a mounting base and a body, the mounting base is fixedly mounted on the body, and the pitching mechanism is slidably disposed on the mounting base.

Preferably, the mounting seat is provided with a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel, the carriage body is formed with a first slide rail and a second slide rail on two sides thereof, the first guide wheel and the second guide wheel are aligned and the first slide rail is slidably mounted on the first guide wheel and the second guide wheel, and the third guide wheel and the fourth guide wheel are aligned and the second slide rail is slidably mounted on the third guide wheel and the fourth guide wheel.

Preferably, the carriage has a first fixing hole and a first guide groove at one end thereof, the first guide groove being for guiding the first pitch drive cable to be fixed in the first fixing hole;

the other end of the carriage has a second fixing hole and a second guide groove for guiding the second pitch drive cable to be fixed into the second fixing hole.

Preferably, the first fixing hole and the second fixing hole are offset from each other in the axial direction of the first guide wheel, and the first guide groove and the second guide groove are offset from each other in the axial direction of the first guide wheel.

Preferably, the mounting seat further comprises a first boss and a second boss arranged on the first boss, the first boss is used for connecting the body, the second boss is provided with a first mounting hole and a second mounting hole, and wheel shafts of the first guide wheel and the second guide wheel are respectively mounted in the first mounting hole and the second mounting hole.

Preferably, the mounting seat further comprises a third boss, the third boss is arranged on the first boss, the third boss is provided with a third mounting hole and a fourth mounting hole, and wheel shafts of the first guide wheel and the second guide wheel are respectively mounted in the third mounting hole and the fourth mounting hole.

Preferably, the driving device further includes a fifth guide wheel, the first pitch driving cable is guided by the fifth guide wheel to extend and fixed into the first fixing hole, and the second pitch driving cable is guided by the fifth guide wheel to extend and fixed into the second fixing hole.

Preferably, the third guide wheel and the fifth guide wheel are coaxially disposed.

Preferably, the mounting seat further comprises a fourth boss, the fourth boss is arranged on the first boss, the fourth boss is provided with a fifth mounting hole, and the axle of the fifth guide wheel is mounted in the fifth mounting hole.

Preferably, the mounting seat includes a fifth boss for mounting the fourth guide wheel, and the fifth boss is disposed on the first boss.

Preferably, the mounting seat further has a sixth boss opposite to the third boss, and a mounting groove for mounting the third guide wheel and the fourth guide wheel is formed between the sixth boss and the third boss.

Preferably, the carriage has an opening for receiving the third boss and the sixth boss, and an edge of the opening is used for interfering with the third boss or the sixth boss when the carriage slides to the first position to prevent the carriage from sliding.

The slave operation equipment comprises a mechanical arm and the surgical instrument, wherein the surgical instrument is mounted on the mechanical arm, and the mechanical arm is used for manipulating the movement of the surgical instrument.

A surgical robot comprises a main operation console and the slave operation equipment, wherein the slave operation equipment executes corresponding operation according to the instruction of the main operation console.

Compared with the existing driving device, the driving device of the surgical instrument only adds the pitching mechanism, namely three driving units are used for operating a group of driving cables to control the opening, closing, yawing and pitching motions of the end effector, the driving unit is not added, the pitching mechanism of the surgical instrument always moves along a straight line in the process of operating the pitching motion of the end effector, the length change of the driving cables in the driving device is linear, and the pitching motion of the end effector can be simply and accurately controlled.

Drawings

Fig. 1 is a schematic structural view of a slave manipulator of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a main console of a surgical robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a robotic arm of the slave manipulator apparatus according to one embodiment of the present invention;

FIG. 4 is a schematic structural view of a surgical instrument according to an embodiment of the present invention;

FIGS. 5A-5G are schematic structural views of an end effector according to an embodiment of the present invention;

FIG. 6A is a perspective view of a first bracket of an end effector of one embodiment of the present invention;

FIG. 6B is a top view of the first support of the end effector of one embodiment of the present invention;

FIG. 7 is a top view of a first support of an end effector of another embodiment of the present invention;

FIGS. 8A-8C are elevation views of a drive unit in accordance with an embodiment of the present invention;

FIG. 9A is an enlarged schematic view of a portion of the first guide portion and the first guide wheel of the embodiment shown in FIG. 8A;

FIG. 9B is an enlarged schematic view of the first guide and third guide wheel portions of the embodiment shown in FIG. 8A;

FIG. 10 is a schematic view of a driving device according to an embodiment of the present invention;

FIG. 11 is a schematic view of a driving device according to an embodiment of the present invention;

FIG. 12A is a schematic structural diagram of a driving device according to an embodiment of the present invention;

FIG. 12B is a top view of the embodiment shown in FIG. 12A;

FIG. 12C is an exploded view of the pitch mechanism and installation of the embodiment shown in FIG. 12A;

FIG. 12D is a perspective view of the carriage of the pitch mechanism of the embodiment shown in FIG. 12A;

fig. 12E is a state diagram of the drive device of the embodiment shown in fig. 12A manipulating the end effector for pitch motion.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The minimally invasive surgical robot generally comprises a slave operation device and a master operation console, wherein fig. 1 shows the slave operation device 100 according to an embodiment of the invention, fig. 2 shows the master operation console 200 according to an embodiment of the invention, a surgeon performs related control operations on the slave operation device 100 on the master operation console 200, and the slave operation device 100 performs a surgical operation on a human body according to an input instruction of the master operation console 200. The master operation console 200 and the slave operation device 100 may be disposed in one operation room or in different rooms, and even the master operation console 200 and the slave operation device 100 may be far apart, for example, the master operation console 200 and the slave operation device 100 are respectively located in different cities, the master operation console 200 and the slave operation device 100 may transmit data by wire, or may transmit data by wireless, for example, the master operation console 200 and the slave operation device 100 are located in one operation room and transmit data by wire, or the master operation console 200 and the slave operation device 100 are respectively located in different cities and transmit data by 5G wireless signals.

As shown in fig. 1, the slave manipulator 100 includes a plurality of mechanical arms 110, each of the mechanical arms 110 includes a plurality of joints and a mechanical holding arm 130, the plurality of joints are linked to realize the movement of the mechanical holding arm 130 with a plurality of degrees of freedom, a surgical instrument 120 for performing a surgical operation is mounted on the mechanical holding arm 130, the surgical instrument 120 is inserted into a human body through a trocar 140 fixed to a distal end of the mechanical holding arm 130, and the mechanical arms 110 are used to manipulate the movement of the surgical instrument 120 to perform the surgical operation. Surgical instrument 120 is removably mounted on a manipulator arm 130 so that different types of surgical instruments 120 may be readily replaced or surgical instruments 120 may be removed to wash or sterilize surgical instrument 120. As shown in fig. 3, the arm 130 includes an arm body 131 and an instrument mounting bracket 132, the instrument mounting bracket 132 is used for mounting the surgical instrument 120, and the instrument mounting bracket 132 can slide on the arm body 131 to advance or withdraw the surgical instrument 120 along the arm body 131.

As shown in fig. 4, surgical instrument 120 includes a drive mechanism 170 and a distal end effector 150 disposed at a proximal end and a distal end, respectively, of surgical instrument 120, and a long shaft 160 disposed between drive mechanism 170 and end effector 150, drive mechanism 170 being configured to be coupled to instrument mount 132 of instrument arm 130, and instrument mount 132 having a plurality of actuators (not shown) disposed therein, the plurality of actuators being coupled to drive mechanism 170 to transmit a driving force of the actuators to drive mechanism 170. Long shaft 160 is used to connect drive device 170 and end effector 150, long shaft 160 being hollow for the passage of a drive cable therethrough, and drive device 170 being used to cause end effector 150 to perform an associated surgical procedure by movement of end effector 150 via the drive cable.

Fig. 5A-5D are schematic structural views of an end effector 150 according to an embodiment of the present invention, and as shown in fig. 5A and 5B, the end effector 150 includes a first bracket 210 and a second bracket 310, a distal end of the first bracket 210 has a first support post 211 and a second support post 212, a proximal end of the first bracket 210 has a first base frame 213, one end of the base frame 213 is connected to the long shaft 160, another end of the first base frame 213 extends toward a distal end of the end effector 150 to form the first support post 211 and the second support post 212, and the first support post 211, the second support post 212, and the first base frame 213 form a substantially U-shaped clamp structure.

A first pin 214 and a second pin 215 are provided between the first support column 211 and the second support column 212, the first pin 214 is fixedly connected at one end to the first support column 211 and at the other end to the second support column 212, similarly, the second pin 215 is fixedly connected at one end to the first support column 314 and at the other end to the second support column 212, and the first pin 214 and the second pin 215 are provided side by side on the first support column 211 and the second support column 212, wherein the first pin 214 is closer to the base frame 213 of the first support 210 than the second pin 215.

The first pin 214 is provided with a first set of pulley blocks, the first set of pulley blocks comprises a first pulley 221, a second pulley 222, a third pulley 223 and a fourth pulley 224 which are arranged on the first pin 214 in sequence, the second pin 215 is provided with a second set of pulley blocks, the second set of pulley blocks comprises a fifth pulley 225, a sixth pulley 226, a seventh pulley 227 and an eighth pulley 228 which are arranged on the second pin 215 in sequence, the first pulley 211 to the eighth pulley 218 are all used for guiding the driving cable, and since the pulleys for guiding the driving cable are all arranged on the first bracket 210 and no pulley is arranged on the second bracket 310, the volume of the second bracket 310 can be made smaller, so that the volume of the end effector 150 is smaller and the risk of pulley falling off does not exist.

The second bracket 310 is provided with a third support 311, a fourth support 312, and a second chassis 314, the third support 311 and the fourth support 312 are formed by extending from the second chassis 314 along the distal end of the end effector 150, the third support 311, the fourth support 312, and the second chassis 314 form a substantially U-shaped frame, the second chassis 314 of the second bracket 310 is mounted on the first bracket 210 by a second pin 312, and the second bracket 310 can rotate around AA' passing through the axis of the second pin 215 to implement the pitch motion of the end effector 150.

A third pin 313 is arranged between the third support column 311 and the fourth support column 312 of the second bracket 310, and one end of the third pin 313 is fixedly connected to the other end of the third support column 311 and fixedly connected to the fourth support column 312. The grip portion 410 of the end effector 150 includes a first grip portion 411 and a second grip portion 412, the first grip portion 411 and the second grip portion 412 are rotatably provided on the second bracket 310 by a third pin 313, the first grip portion 411 and the second grip portion 412 can be rotated about an axis BB' passing through the third pin 313 to achieve opening and closing and/or yaw movement of the end effector 150, and the first grip portion 411 and the second grip portion 412 can be jaws for gripping tissue, or staplers for suturing, or cauterizers for electrocautery, etc.

As shown in FIGS. 5A-5D, the directional indicators in FIG. 5A are for convenience in describing the manner in which the drive cables are routed around end effector 150, the distal and proximal indicators in the figures refer to the distal and proximal directions of end effector 150, and the front, rear, left and right indicators refer to the front, rear, left and right directions of end effector 150 in the perspective of FIG. 5A, while the other indicators, although not directional indicators, may be readily derived from FIG. 5A. the drive cables disposed at end effector 150 include first and second pairs of cables for manipulating the end effector 150 to pitch, open, and yaw, the first pair of cables including first and

second drive cables

151A and 151B, the second pair of cables including third and

fourth drive cables

152A and 152B, and the first and second pairs of cables cooperate to effect the pitch, yaw, and the second pairs of cables of end effector 150, Opening and closing and yawing.

On one side of end effector 150, first drive cable 151A is wound on the first and second sets of pulleys in the same manner as second drive cable 151B is wound on the first and second sets of pulleys, and third drive cable 152A is wound on the first and second sets of pulleys in the same manner as fourth drive cable 152B is wound on the first and second sets of pulleys. Specifically, as shown in fig. 5C, the proximal end of the first drive cable 151A is connected to the drive unit within the drive device 170, the distal end of the first drive cable 151A continues to extend through the forward guide of the first pulley 221 toward the distal end of the end effector 150, and continues along the distal end of the end instrument 150 through the rearward guide of the fifth pulley 225 and finally mounts to the first grip 411, and the second drive cable 151B continues to extend through the forward guide of the fourth pulley 224 toward the distal end of the end effector 150, and continues to extend through the rearward guide of the eighth pulley 228 toward the distal end of the end effector 150 and finally mounts to the first grip 411. The distal end of the third drive cable 152A continues through the rearward guide of the second pulley 222 toward the distal end of the end effector 150 and through the forward guide of the sixth pulley 226 toward the distal end of the end instrument 150 and finally mounts to the second clamp 412, and the distal end of the fourth drive cable 152B continues through the rearward guide of the third pulley 223 toward the distal end of the end effector 150 and through the forward guide of the seventh pulley 217 toward the distal end of the end instrument 150 and finally mounts to the second clamp 412.

The distal ends of the first pair of cables and the second pair of cables have a first mounting portion 151C and a second mounting portion 152C, respectively, the first clamping portion 411 and the second clamping portion 412 have a first mounting cavity 411A and a second mounting cavity 412A, respectively, and the first mounting cavity 411A and the second mounting cavity 412A are used for accommodating the first mounting portion 151C and the second mounting portion 152C to enable the first pair of cables and the second pair of cables to be mounted on the first clamping portion 411 and the second clamping portion 412, respectively.

Together, first drive cable 151A and second drive cable 151B cooperate to operate first grip 411 to rotate about axis BB 'of third pin 313, and together, third drive cable 152A and fourth drive cable 152B cooperate to operate second grip 412 to rotate about axis BB' of third pin 313, whereby together, first drive cable 151A, second drive cable 151B, third drive cable 152A, and fourth drive cable 152B cooperate to operate first grip 411 and second grip 412 to effect opening and closing and/or yaw movement of end effector 150.

In addition, first drive cable 151A, second drive cable 151B, third drive cable 152A, and fourth drive cable 152B cooperate to steer grip 410 and second support 310 in rotation about axis AA' of second pin 215 to effect a pitch motion of end effector 150.

Specifically, as shown in FIGS. 5C-5F, when drive mechanism 170 pulls third and

fourth drive cables

152A and 152B and simultaneously releases first and

second drive cables

151A and 151B, the ends of the first pair of cables impart a forward-directed moment to first clamp 411, such that drive clamp 410 and second bracket 310 rotate together counterclockwise about axis AA' of second pin 215 and end effector 150 performs the pitch motion shown in FIG. 5D; when the drive mechanism 170 pulls in the second and

fourth drive cables

151B, 152B and simultaneously releases the first and

third drive cables

151A, 152A, the clamp 410 rotates clockwise about the axis BB' of the third pin 313 and the end effector 150 performs a yaw motion in the direction shown in fig. 5E; when drive device 170 pulls in first drive cable 151A and fourth drive cable 152B and simultaneously releases second drive cable 151B and third drive cable 152A, first clamp 411 rotates counterclockwise about axis BB 'of third pin 313, second clamp 412 rotates clockwise about axis BB' of third pin 313, and end effector 150 performs the opening movement of clamp 410 shown in FIG. 5F. The above-described pitch, yaw, and opening and closing motions of the end effector 150 may also be performed simultaneously, as shown in fig. 5G for the first and second pairs of cables cooperating together to operate the end effector 150 to perform the pitch, yaw, and opening and closing motions simultaneously. It will be appreciated that when the direction of movement of the drive cables is opposite to that described above, the direction of pitch, yaw, and opening and closing of end effector 150 is opposite to that described above and will not be described in detail herein.

Compared with the prior art, the end effector 150 of the present invention does not have a special driving cable for operating the end effector 150 to pitch, but uses the first pair of cables and the second pair of cables for operating the end effector 150 to yaw and/or open/close, so as to implement the end effector 150 to pitch, and because there is no driving cable for operating the end effector 150 to pitch, the number of driving cables for the whole surgical instrument can be reduced, and the end effector 150 has smaller volume, simpler structure and more convenient assembly. Specifically, after the first and second pairs of cables are wound in the manner described above, as shown in fig. 5C-5G, regardless of the movement of the end effector 150, the portion of the first pair of cables between the second pulley set and the first grip 411 and the portion of the second pair of cables between the second pulley set and the second grip 412 are located on either side of the first plane M passing through the axis AA ' of the second pin 215 and perpendicular to the axis BB ' of the third pin 313, the portion of the first pair of cables between the second pulley set and the first grip 411 and the portion of the second pair of cables between the second pulley set and the second grip 412 do not include the portions of the first pair of cables and the second pair of cables wound on the second set of pulleys, as shown in fig. 5C, the portion of the first pair of cables between the second pulley set and the first grip 411 includes the portion 151A ' of the first drive cable 151A between the fifth pulley 225 and the first grip 411 and the second drive cable 151B between the eighth pulley 228 and the first grip 411A portion 151B ' between the jaws 411, the portion of the second pair of cables between the second set of pulley sets and the second jaw 412 comprises a part 152A ' of the third driving cable 152A between the sixth pulley 226 and the second jaw 412 and a part 152B ' of the fourth driving cable 152B between the seventh pulley 227 and the second jaw 412.

Thus, when drive device 170 simultaneously retracts third drive cable 152A and fourth drive cable 152B of the second pair of cables and releases first drive cable 151A and second drive cable 151B of the first pair of cables, second clamp portion 412 is urged by the moment of the second pair of cables to rotate counterclockwise about axis AA' of second pin 215, and end effector 150 performs the pitch motion shown in FIG. 5D. Conversely, when drive device 170 pulls in the first pair of cables and releases the second pair of cables, first clamp 411 is urged by the moment of the first pair of cables to rotate clockwise about axis AA' of second pin 215, and the pitch motion of end effector 150 is reversed from that shown in fig. 5D. And regardless of how end effector 150 is pitched, the portion of the first pair of cables between the second set of pulleys and first grip 411 and the portion of the second pair of cables between the second set of pulleys and second grip 412 are always on opposite sides of first plane M, such that, regardless of the position of end effector 150, simultaneous retraction of first drive cable 151A and second drive cable 151B causes end effector 150 to be subjected to a moment that drives it clockwise about axis AA 'and clockwise about axis AA', and, similarly, regardless of the position of end effector 150, simultaneous retraction of third drive cable 152A and fourth drive cable 152B causes end effector 150 to be subjected to a moment that drives it counterclockwise about axis AA 'and counterclockwise about axis AA'.

At the proximal end of the end effector 150, the portion of the first pair of cables between the first pulley block and the first chassis 213 of the second bracket 210 and the portion of the second pair of cables between the first pulley block and the first chassis 213 are on opposite sides of a second plane P passing through both the axis of the first pin 214 and the axis AA 'of the second pin 215, respectively, the portion of the first pair of cables between the first pulley block and the first chassis 213 of the second bracket 210 and the portion of the second pair of cables between the first pulley block and the first chassis 213 do not include a portion that wraps around the first pulley block, and in other embodiments, if the first pin 214 and the second pin 215 are not parallel, the second plane P refers to an end surface passing through the axis AA' of the tilting motion of the end effector 150 and perpendicular to the distal end of the first chassis 213.

As shown in fig. 6A and 6B, the first chassis 213 is provided with through holes for passing the first pair of cables and the second pair of cables, and specifically, the first chassis 213 has a first through hole 213A for passing the first driving cable 151A, a second through hole 213B for passing the second driving cable 151B, a third through hole 213C for passing the third driving cable 152A, and a fourth through hole 213D for passing the fourth driving cable 152B, wherein the first through hole 213A and the second through hole 213B are located on the same side of the plane P, and the third through hole 213C and the fourth through hole 213D are located on the other side of the plane P, so that the portion of the first pair of cables between the first pulley block and the first chassis 213 and the portion of the second pair of cables between the first pulley block and the first chassis 213 are located on both sides of the passing plane P, respectively.

A straight line passing through the centers of the first through hole 213A and the second through hole 213B is parallel to a straight line passing through the centers of the third through hole 213C and the fourth through hole 213D, and as shown in fig. 6B, a connecting line of the centers of the first through hole 213A, the second through hole 213B, the third through hole 213C, and the fourth through hole 213D forms a trapezoid. In another embodiment, as shown in fig. 7, a line connecting centers of the first through hole 223A, the second through hole 223B, the third through hole 223C, and the fourth through hole 223D of the first space 220 forms a parallelogram. The proximal ends of the first and second pairs of cables extend through the openings in the

first brackets

210, 220 into the long shaft 160 and are ultimately secured to the drive unit 170. This allows the drive cable to extend straight through the first chassis 213 to the first pulley block, the transmission of the drive cable being most efficient,

since the proximal ends of the first and second pairs of

cables

151A and 151B and the third and fourth pairs of

cables

152A and 152B are wound around the drive unit within the drive device 170, the drive unit can only move in rotation to effect the retraction or release of the first, second, third and

fourth drive cables

151A, 151B, 152A and 152B. However, since the drive unit is unable to translate, it is unable to simultaneously retract first drive cable 151A and second drive cable 151B, or release first drive cable 151A and second drive cable 151B, and likewise, the drive unit is unable to simultaneously retract third drive cable 152A and fourth drive cable 152B, or release third drive cable 152A and fourth drive cable 152B. The pitching motion of the end effector 150 is achieved by simultaneously retracting the first driving cable 151A and the second driving cable 151B, or simultaneously retracting the third driving cable 152A and the fourth driving cable 152B, so that the conventional driving device is not suitable for driving the end effector 150 of the present invention, and the present invention further provides a driving device which can drive the end effector 150 of the present invention, and it is understood that the driving device of the present invention can be applied not only to the end effector 150 of the present invention, but also to other end effectors which have different structures from the end effector 150 of the present invention but have the same principle.

As shown in fig. 8A, the driving device 170 of an embodiment of the present invention includes a first driving unit 171, a second driving unit 172, a third driving unit 173 and a fourth driving unit 174, wherein the proximal ends of the first driving cable 151A and the second driving cable 151B of the first pair of cables are wound on the first driving unit 171 in an opposite manner, so that the rotation of the rotating shaft 171A of the first driving unit 171 drives the first driving unit 171 to reel/release the first driving cable 151A or the second driving cable 151B, thereby rotating the first clamping portion 411 about the axis BB' of the third pin 313. The proximal ends of the third and

fourth drive cables

152A, 152B of the second pair of cables are wound around the second drive unit 172 in an opposite manner, such that when the rotating shaft 172A of the second drive unit 172 rotates, the second drive unit 172 is driven to retract/release the third or

fourth drive cable

152A, 152B, thereby rotating the second clamping portion 412 about the axis BB' of the third pin 313, and the rotation of the first and

second drive units

171, 172 drives the first and second pairs of cables to cooperate to effect opening and closing and/or yaw movement of the end effector 150. Seventh and

eighth drive cables

154A and 154B of the fourth pair are wound around fourth drive unit 174 in an opposite manner at one end and around long shaft 160 at the other end, so that when rotating shaft 174A of fourth drive unit 174 rotates, fourth drive unit 174 is driven to retract/release seventh or

eighth drive cable

154A or 154B to thereby drive long shaft 160 to roll.

The drive apparatus further includes a pitch mechanism, a third drive unit, and a third pair of cables, one end of the first pitch drive cable 153A and the second pitch drive cable 153B of the third pair of cables being looped around the third drive unit 173 in an opposing manner, the other ends of the first pitch drive cable 153A and the second pitch drive cable 153B being coupled to the pitch mechanism 175, the third drive unit 173, the first pair of cables, the second pair of cables, the third pair of cables, and the pitch mechanism 175 cooperating together to effect the pitch motion of the end effector 150.

To describe in detail how end effector 150 can tilt by driving device 170, tilt mechanism 175 includes a carriage 1751, and a first guide 1752 and a second guide 1753 disposed at both ends of carriage 1751, and first guide wheel 176A, second guide wheel 176B, third guide wheel 176C, and fourth guide wheel 176D are further provided in driving device 170. First and

second drive cables

151A, 151B are guided by first guide wheel 176A, guided by first guide 1752, guided by third guide wheel 176C, and then advanced into elongate shaft 160, extended along the distal end of surgical instrument 120, and finally attached to end effector 150. Similarly, third drive cable 152A and fourth drive cable 152B are guided by second guide pulley 176B, then by second guide 1753, then finally by fourth guide pulley 176D into elongated shaft 160 and extend along the distal end of surgical instrument 120 and are finally mounted to second clamping portion 412 of end effector 150.

Pitch mechanism 175 is slidably movable relative to housing 177 of drive mechanism 170 as driven by third drive unit 173. specifically, rotation of third drive unit 173 pulls first pitch drive cable 153A and simultaneously releases second pitch drive cable 153B, or releases first pitch drive cable 153A and simultaneously pulls second pitch drive cable 153B, thereby pulling pitch mechanism 175 to move within drive mechanism 170, and as the first pair of cables is wrapped around a portion of first guide 1752 and the second pair of cables is wrapped around a portion of second guide 1753, the first and second pairs of cables are caused to change in length within drive mechanism 170 as pitch mechanism 175 is pulled to move, thereby effecting a pitch movement of end effector 150.

As shown in fig. 8B, when the third drive unit 173 rotates counterclockwise (first direction), the third drive unit 173 pulls the first pitch drive cable 153A and simultaneously releases the second pitch drive cable 153B, thereby pulling the pitch mechanism 175 to move in the a direction, since the first and

second drive cables

151A and 151B are wound on the first guide 1752, when the pitch mechanism 175 is pulled to move in the a direction, the first guide 1752 brings the first and

second drive cables

151A and 151B to increase simultaneously in length in the drive unit 170, and the increased lengths are the same, and at the same time, since the third and

fourth drive cables

152A and 152B are wound on the second guide 1753, when the pitch mechanism 175 is pulled to move in the a direction, the lengths of the third and

fourth drive cables

152A and 152B in the drive unit 170 decrease simultaneously, and the reduced length of both is the same. This corresponds to pitch mechanism 175 simultaneously retracting first drive cable 151A and second drive cable 151B and simultaneously releasing third drive cable 152A and fourth drive cable 152B, at which time end effector 150 performs a pitch motion in the opposite direction as shown in FIG. 5D. Conversely, as shown in fig. 8C, when third drive unit 173 rotates clockwise (second direction), third drive unit drives pitch mechanism 175 to move in direction B, wherein first guide 1752 simultaneously decreases the lengths of first drive cable 151A and second drive cable 151B within the drive unit, and second guide 1753 simultaneously increases the lengths of third drive cable 152A and fourth drive cable 152B within the drive unit, as reflected in end effector 150, simultaneously releases first drive cable 151A and second drive cable 151B relative to drive unit 170, and simultaneously retracts third drive cable 152A and fourth drive cable 152B, wherein drive unit 170 drives end effector 150 to perform a pitch motion as shown in fig. 5D.

In order to allow the pitch mechanism 175 to precisely manipulate the pitch motion of the end effector 150, the third drive unit 173 drives the pitch mechanism 175 to move in a straight line at all times, and allows the length change of the first to fourth drive cables 151A to 152B caused by the movement of the pitch mechanism 175 to be linearly changed within the drive unit 170 at all times. Specifically, as shown in fig. 8B, first pitch drive cable 153A is redirected by fifth guide wheel 176E back along the direction of movement of pitch mechanism 175 and is secured to one end of the pitch mechanism, and likewise, second pitch drive cable 153B is redirected by fifth guide wheel 176E back along the direction of movement of pitch mechanism 175 and is secured to the other end of pitch mechanism 175 such that the portion of first pitch drive cable 153A between fifth guide wheel 176E and first guide 1752 is parallel to the direction of movement of pitch mechanism 175, and likewise, the portion of second pitch drive cable 153B between sixth guide wheel 176F and second guide 1753 is also parallel to the direction of movement of pitch mechanism 175, such that during a pitch movement of end effector 150, third drive unit 173 will cause drive mechanism 175 to move in a straight line at all times via first pitch drive cable 153A and second pitch drive cable 153B, the speed of the linear motion of the pitching mechanism 175 is in direct proportion to the rotational linear speed of the third driving unit 173, which makes the control of the pitching motion more accurate.

In addition, the first to sixth guide wheels 176A to 176F, the first guide 1752, and the second guide 1753 are all structures having two pulleys side by side for guiding two drive cables. As shown in fig. 9A, the axes of the first guide wheel 176A and the first guide portion 1752 are parallel, the third guide wheel 176C is parallel to the axes of the first guide wheel 176A and the first guide portion 1752, two pulleys of the first guide wheel 176A and the third guide wheel 1762 are used for guiding the first drive cable 151A and the second drive cable 151B, respectively, the first drive cable 151A is guided by the first guide wheel 176A to form a first partial cable 151Aa between the first guide wheel 176A and the first guide portion 1752, and the second drive cable 151B is guided by the first guide wheel 176A and the first guide portion 1752 to form a second partial cable 151Ba between the first guide wheel 176A and the first guide portion 1752, the first partial cable 151Aa and the second partial cable 151Ba do not include portions wound around the pulleys, wherein both the first partial cable 151Aa and the second partial cable 151Ba are parallel to the movement direction of the pitch mechanism 175 Ba. Therefore, the length changes of the first and second partial cables 151Aa and 151Ba caused during the linear movement of the pitching mechanism 175 by the third driving unit 173 are always linear.

As shown in fig. 9B, the first drive cable 151A is formed with a third partial cable 151Ab between the first guide 1752 and the third guide pulley 176C, the second drive cable 151B is formed with a fourth partial cable 151Bb between the first guide 1752 and the third guide pulley 176C, the third partial cable 151Ab and the fourth partial cable 151Bb are symmetrical with respect to a center plane H1 of the third guide pulley 176C, the center plane H1 is a straight line located in the middle of the two side-by-side pulleys of the third guide pulley 176C and perpendicular to the axis C1 of the third guide pulley 176C, and likewise, the third partial cable 151Ab and the fourth partial cable 151Bb do not include portions wound around the pulleys. The third and fourth partial cables 151Ab, 151Bb are each angled at an angle θ from the centerline H1, and the angle θ is sufficiently small that the length of the third and fourth partial cables 151Ab, 151Bb is nearly equal to the distance of the shortest straight line of the first and

third guides

1752, 176C in the center plane H1, such that the third and fourth partial cables 151Ab, 151Bb are also substantially parallel to the direction of movement of the pitch mechanism 175. Thus, during the pitching of end effector 150, the rate of movement of pitching mechanism 175 is directly proportional to the rate of change in the length of drive unit 170 by any one of first drive cable 151A through fourth drive cable 152B, and as previously described, the rate of linear movement of pitching mechanism 175 is directly proportional to the rotational linear velocity of third drive unit 173, so that during the pitching movement of end effector 150, the rate of change in the length of drive unit 170 by any one of first drive cable 151A through fourth drive cable 152B is directly proportional to the rotational linear velocity of third drive unit 173, so that the overall pitching movement of end effector 150 is precisely controllable. In this embodiment, the speed at which any one of the first drive cable 151A to the fourth drive cable 152B changes in length of the drive device 170 is twice the rotational linear speed of the third drive unit 173.

Likewise, the portions of the second pair of cables between the second guide pulley 176B, the second guide 1753 and the fourth guide pulley 176D of the third drive cable 152A and the fourth drive cable 152B are also of the same arrangement as the first pair of cables described above and will not be described again. Thus, the change in length of the third drive cable 152A and the fourth drive cable 152B caused during linear movement of the pitch mechanism 175 under the drive of the third drive unit 173 is also substantially linear.

The amount of change in the drive device 170 of the first and second pairs of cables due to the linear movement of the pitch mechanism 175 and due to the movement of the pitch mechanism 175 is also linear and the rate of linear change in the lengths of the first and second pairs of cables is also the same. As shown in fig. 8C, if the pitch mechanism 175 is moved by the third driving unit 173 by a distance L/2 in the direction B from the zero position shown in fig. 8A, the lengths of the first partial cable 151Aa and the third partial cable 151Ab of the first driving cable 151A are reduced by L/2, respectively, and the lengths of the second partial cable 151Ba and the fourth partial cable 151Ab of the second driving cable 151B are reduced by L/2, respectively, so that the lengths of the first driving cable 151A and the second driving cable 151B are reduced by L, respectively, in the driving unit 170. Conversely, the length of the portions of third and

fourth drive cables

152A, 152B between first and second guide pulleys 176B, 1753 and between second and fourth guide pulleys 1753, 176D, respectively, is increased by L/2, thereby increasing the length of third and

fourth drive cables

152A, 152B within drive unit 170 by L. While this causes the first and second pairs of cables to change at the end effector 150 due to the movement of the pitch mechanism 175, and returning to fig. 5C and 5D, the drive mechanism 175 simultaneously pulls in the third drive cable 152A and the fourth drive cable 152B and releases the first drive cable 151A and the second drive cable 151B such that the wrap angle length of the first drive cable 151A on the fifth pulley 225 is increased by L, the wrap angle length of the second drive cable on the eighth pulley 228 is increased by L, the wrap angle length of the third drive cable 152A on the sixth pulley 226 is decreased by L, and the wrap angle length of the fourth drive cable 152B on the seventh pulley 227 is decreased by L, such that the end effector 150 performs a pitch motion as shown in fig. 5D. Conversely, when the third drive unit 173 rotates counterclockwise, it pulls the pitch mechanism 175 in the direction a such that the drive mechanism 175 simultaneously retracts the first and

second drive cables

151A and 151B and simultaneously releases the third and

fourth drive cables

152A and 152B such that the wrap angle length of the first drive cable 151A on the fifth pulley 225 is decreased by L, the wrap angle length of the second drive cable on the eighth pulley 228 is decreased by L, the wrap angle length of the third drive cable 152A on the sixth pulley 226 is increased by L, and the wrap angle length of the fourth drive cable 152B on the seventh pulley 227 is increased by L such that the end effector 150 performs a pitch motion in the opposite direction of fig. 5D.

Thus, during the pitching motion performed by the pitching mechanism 175 via the first and second pairs of cable-operated end effectors 150, the amount of change in the length of the first pair of cables in the drive device is equal to the amount of change in the length of the second pair of cables in the drive device, and the amount of change in the wrap angle length of the first pair of cables over the second set of pulleys is equal to the amount of change in the wrap angle length of the second pair of cables over the second set of pulleys. Thus, pitch mechanism 175 provides for precise pitching manipulation of end effector 150 without slack in the drive cables after end effector 150 has been pitched, and end effector 150 pitch position can be accurately calculated because the linear motion of pitch mechanism 175 causes the change in length of the first and second pairs of cables during the pitching manipulation of end effector 150 to be linear.

Another embodiment of the drive assembly of the present invention is shown in fig. 10, where the drive assembly 270 is largely identical to the drive assembly 170 of the previous embodiment, except that the drive assembly 270 is provided with guide wheels for guiding the first and second pairs of cables, that is, the seventh guide wheel 176G, the eighth guide wheel 176H, the ninth guide wheel 176I, and the tenth guide wheel 176J are added to the driving device 270, the first driving cable 151A and the second driving cable 151B are guided by the first guide wheel 176A, the first guide portion 1752, the third guide wheel 176C, the seventh guide wheel 176G, and the ninth guide wheel 176I in sequence, enter the long shaft 160, and extend to the end effector 150, and the third driving cable 152A and the fourth driving cable 152B are guided by the second guide wheel 176B, the second guide portion 1753, the fourth guide wheel 176D, the eighth guide wheel 176H, and the tenth guide wheel 176J in sequence, enter the long shaft 160, and extend to the end effector 150. In comparison to the previous embodiment, the portions of the first and

second drive cables

151A and 151B between the first and

third guide portions

1752 and 176C and the portions of the third and

fourth drive cables

152A and 152B between the

second guide portions

1753 and 176D are both parallel to the direction of movement of the pitch mechanism 175 such that movement of the pitch mechanism 175 causes less error in the linear change in the lengths of the first and second pairs of cables within the drive device 270 than in the previous embodiment.

In another embodiment of the driving device according to the present invention, as shown in fig. 11, the pitching mechanism 375 of the driving device 370 is connected to the third driving unit 373 through a gear engagement, specifically, the pitching mechanism 375 of the driving device 370 has a carriage 3751, two ends of the carriage 3751 are respectively connected to the first guiding portion 1752 and the second guiding portion 173, a body of the carriage 3751 has a rack structure, the third driving unit 372 has a gear structure engaged with the rack structure of the carriage 3751, and when the third driving unit 373 rotates, the third driving unit 373 drives the pitching mechanism to move along a straight line, so as to change lengths of the first pair of cables and the second pair of cables in the driving device 370, thereby implementing the pitching motion for operating the end effector 150. It is understood that the third driving unit 373 and the pitching mechanism 375 can be engaged not only by a rack-and-pinion manner, but also by two gears in other embodiments. In some other embodiments, the third driving unit and the pitching mechanism may be connected by a cam, that is, the third driving unit includes a cam structure, the cam structure abuts against the carriage of the pitching mechanism, and when the third driving unit rotates, the cam structure abuts against the carriage of the pitching mechanism to push the pitching mechanism to move in a straight line.

Fig. 12A to 12E show a driving device according to another embodiment of the present invention, and the driving device 470 includes a body 479, and a first driving unit 471, a second driving unit 472, a third driving unit 473, a fourth driving unit 474 and a pitching mechanism 475 are disposed on the body 479, and the fourth driving unit 474 is used for driving the long shaft 160 to roll. The long shaft 160 is connected to the body 479 through bearings, and the pitch mechanism 475 and the third drive unit 473 are connected through pitch cables. The pitch mechanism 475 includes a carriage 4731, and a first guide 4732 and a second guide 4733 provided at both ends of the carriage 4731, the carriage 4731 is slidably mounted on a mount 478, the mount 478 is fixedly mounted on a body 478, the mount 478 is provided with a first guide wheel 477A, a second guide wheel 477B, a third guide wheel 477C, and a fourth guide wheel 477D for guiding the carriage 4731 to slide, the first guide wheel 477A, the second guide wheel 477B, the third guide wheel 477C, and the fourth guide wheel 477D form a slide region in which the carriage 4731 slides, and the carriage 4731 is restricted to slide in the slide region.

The proximal ends of the first and second pairs of cables for manipulating the pitch, yaw, and opening and closing movements of the end effector 150 are wound around the first and

second drive units

471 and 472, respectively, and the first and second drive cables 151A and 451B of the first pair of cables are guided by the first guide wheel 476A provided on the mounting base 478, guided by the first guide portion 4732, guided by the third guide wheel 476C provided on the mounting base 478, introduced into the long shaft 160, and extended along the distal end of the long shaft 160 and finally fixed to the first clamping portion 411 of the end effector 150. Third drive cable 152A and fourth drive cable 152B of the second pair of cables are routed through second guide pulley 476B disposed on the mounting block, then routed through second guide 4733, then finally routed through fourth guide pulley 476D disposed on mounting block 478 into elongated shaft 160, and extend all the way distally along elongated shaft 160 and are finally secured to second clamp 412 of end effector 150. The proximal ends of the pitch cables for manipulating the pitch movement of the end effector 150 are wound around the third drive unit 473, the first pitch cable 153A and the second pitch cable 153B are connected to the carriage 4731 of the pitch mechanism 475 after being guided by the fifth guide wheel 476E, and the third drive unit 473 drives the carriage 4731 to move on the mount 478 via the first pitch cable 153A and the second pitch cable 153B.

The mounting seat 478 includes a first boss 4781, the first boss 4781 is used for being fixedly connected with the body 479, and a second boss 4782, a third boss 4783, a fourth boss 4784 and a fifth boss 4785 are arranged on the first boss 4781. The second boss 4782 has a first mounting hole 4791 and a second mounting hole 4792, and the first guide wheel 477A and the second guide wheel 477B are mounted to the second boss 4782 through the second mounting hole 4792 and the first mounting hole 4791, respectively. The third boss 4783 has a third mounting hole 4793 and a fourth mounting hole 4794 thereon, and the first guide pulley 476A and the second guide pulley 476B are mounted to the third boss 4783 through the third mounting hole 4793 and the fourth mounting hole 4794, respectively. The fourth boss 4784 has a fifth mounting hole 4795 formed therein, and the third guide wheel 477C and a fifth guide wheel 476E located below the third guide wheel 477C are mounted in the fifth mounting hole 4795 by the same shaft. The fifth mesa 4775 has a seventh mounting hole 4797 therein through which the fourth guide wheel 477D is mounted to the fifth mesa 4775. To maintain the same height of the third and

fourth guide wheels

477C and 477D when mounted to the mounting block 478, the fourth plateau 4784 and the fifth plateau 4785 have a height differential that is approximately equal to the height of the fifth guide wheel 476E.

Mounting block 478 also has a sixth boss 4786 opposite third boss 4783, mounting slot 4796 between sixth boss 4786 and third boss 4783 and a wire passing hole 4787, third and

fourth guide wheels

476C and 476D are mounted to mounting block 478 via mounting slot 4796, wire passing hole 4787 is located between third and

fourth guide wheels

476C and 477D mounted to mounting block 478, and wire passing hole 4775 is in communication with elongated shaft 160 for directing the drive cable into elongated shaft 160.

A first slide rail 4776A and a second slide rail 4776B are provided on both sides of a body portion of the carriage 4731 of the pitch mechanism 475, and when the carriage 4731 is attached to the mount 478, the first slide rail 4776A is slidably attached to the first guide wheel 477A and the second guide wheel 477B in alignment, the second slide rail 4776B is slidably attached to the third guide wheel 477C and the fourth guide wheel 477D in alignment, and the first slide rail 4776 is restricted to slide in a slide region formed by the first guide wheel 477A, the second guide wheel 477B, the third guide wheel 477C, and the fourth guide wheel 477D. Both ends of the carriage 4731 have a first mounting space 4777 and a second mounting space 4778, respectively, and a first guide 4732 and a second guide 4733 are mounted into the first mounting space 4777 and the second mounting space 4778, respectively. The carriage 4731 further has a central opening 4771, the central opening 4771 is used for accommodating the third boss 4783 and the sixth boss 4786, and when the carriage 4731 slides to the extreme position, the inner side of the central opening 4771 will interfere with the third boss 4783 and the sixth cam 4786, so that the three bosses 4783, the sixth boss 478 can limit the sliding stroke of the carriage 4731 in the sliding area on the mounting seat 478.

The carriage 4731 has a first guide groove 4674 and a first fixing hole 4772 at one end and a second guide groove 4675 and a second fixing hole 4773 at the other end, the first guide groove 4784 is used for guiding the first pitch drive cable 153A to be fixed in the first fixing hole 4772, and the second guide groove 4775 is used for guiding the second pitch drive cable 153B to be fixed in the second fixing hole 4773. The first guide groove 4674 and the second guide groove 4675 are offset from each other in the axial direction of the first guide wheel 476A so that the first pitch drive cable 153A and the second pitch drive cable 153B can be fixed to the carriage 4731 without interfering with each other.

The process of actuating the end effector 150 pitch motion by the drive device 470 of this embodiment is shown in figure 12E, when the actuator drive shaft 473A rotates the third drive unit 473 in the first direction (counterclockwise), the third drive unit 473 retracts the second pitch drive cable 153B and simultaneously releases the first pitch drive cable 153A, thereby causing the pitch mechanism 475 to move in the direction shown in fig. 12E, if the pitch mechanism 475 in fig. 12E moves a distance L/2 relative to the null state in which the pitch mechanism 475 is in fig. 12B, the length of the first and

second drive cables

151A and 151B between the first guide 4732 and the first guide pulley 476A, and the length between the first guide portion 4732 and the third guide pulley 476C are each reduced by L/2 at the same time, such that the lengths of the first and

second drive cables

151A and 151B, respectively, within the drive device 470 are reduced by L. Accordingly, the length of third drive cable 152A and fourth drive cable 152B between second guide 4733 and second guide pulley 476B, and the length between second guide 4733 and fourth guide pulley 476D, are both simultaneously increased by L/2, respectively, such that the length of third drive cable 152A and fourth drive cable 152B within the drive device are both increased by L, respectively. Movement of the pitch mechanism 475 causes the first and second pairs of cables to change on the end effector 150 as shown in fig. 5B, simultaneously retracting the third and

fourth drive cables

152A, 152B and simultaneously releasing the first and

second drive cables

151A, 152B relative to the drive mechanism 175 such that the wrap angle length of the third drive cable 152A on the sixth pulley 226 is decreased by L, the wrap angle length of the fourth drive cable 152B on the seventh pulley 227 is decreased by L, the wrap angle length of the first drive cable 151A on the fifth pulley 225 is increased by L, and the wrap angle length of the second drive cable on the eighth pulley 228 is increased by L, such that the end effector 150 performs a pitch motion as shown in fig. 5D. When the third drive unit 473 rotates in the second direction (clockwise) opposite to the first direction, the movement direction of the pitch mechanism 475 is opposite to the rotation direction of the third drive unit 473 in the first direction, and the specific intermediate process is opposite to the rotation direction of the third drive unit 473 in the first direction, which is not described herein again, so that the third drive unit 473 manipulates the end effector 150 to perform a pitch movement in the opposite direction to that shown in fig. 5D.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical instrument comprising an end effector, a drive device configured to drive movement of the end effector via cables, and cables, wherein the cables comprise a first pair of cables and a second pair of cables, distal ends of the first and second pairs of cables coupled to the end effector, proximal ends of the first and second pairs of cables coupled to the drive device, the first and second pairs of cables cooperating to drive the end effector to perform yaw and pitch movements, the drive device comprising:

2. The surgical instrument of claim 1, wherein the drive unit is configured to drive the pitch mechanism in a linear motion to vary the length of the first and second pairs of cables within the drive device.

3. The surgical instrument of claim 2, wherein the pitch mechanism includes a carriage, the guide portions include a first guide portion and a second guide portion respectively disposed at two ends of the carriage, the first pair of cables and the second pair of cables extend to the end effector after being guided by the first guide portion and the second guide portion respectively, and the driving unit drives the carriage to move to change the lengths of the first pair of cables and the second pair of cables in the driving device.

4. The surgical instrument of claim 3, wherein the drive device further comprises a first guide wheel, wherein the first pair of cables is guided by the first guide wheel and then by the first guide portion and then extends to the end effector, and wherein a portion of the first pair of cables between the first guide wheel and the first guide portion is parallel to the direction of movement of the pitch mechanism.

5. The surgical instrument of claim 4, wherein the drive device further comprises a second guide wheel, wherein the second pair of cables is guided by the second guide wheel and then by the second guide portion and then extends to the end effector, and wherein a portion of the second pair of cables between the second guide wheel and the second guide portion is parallel to the direction of movement of the pitch mechanism.

6. The surgical instrument of claim 5, wherein the drive device further comprises a third guide wheel and a fourth guide wheel, wherein the first pair of cables extends to the end effector after being guided by the first guide portion and then by the third guide wheel, and wherein the third drive cable and the fourth drive cable extend to the end effector after being guided by the second guide portion and then by the fourth guide wheel.

7. The surgical instrument of claim 6, wherein a direction of movement of the pitch mechanism is parallel to a portion of the first pair of cables between the first guide and the third guide wheel.

8. The surgical instrument of claim 7, wherein a direction of movement of the pitch mechanism is parallel to a portion of the second pair of cables between the second guide and the fourth guide wheel.

9. A slave manipulator apparatus, characterized in that it comprises a robotic arm on which the surgical instrument is mounted and a surgical instrument according to any of claims 1-8 for manipulating the surgical instrument in motion.

10. A surgical robot comprising a master operation console and a slave operation device according to claim 9, the slave operation device performing a corresponding operation according to an instruction of the master operation console.