CN112274253A

CN112274253A - Surgical instrument, slave operation device, and surgical robot

Info

Publication number: CN112274253A
Application number: CN202011066533.1A
Authority: CN
Inventors: 吴仲兵; 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 operating device using the surgical instrument and a surgical robot with the slave operating device, wherein an actuator of the surgical instrument is rotatably connected to a first support, a first pulley block for guiding a driving cable is arranged on the first support, the first pulley block comprises a first pulley and a second pulley arranged on a first pulley shaft, the first pulley and the second pulley comprise pulley grooves for accommodating the driving cable, the distance from the part of one driving cable in the pulley groove of the first pulley in a plurality of driving cables to the axis of the first pulley and the distance from the part of the other driving cable in the pulley groove of the second pulley in the plurality of driving cables to the axis of the first pulley are different, the distance difference is approximately equal to the distance between two annular grooves of a clamp for the actuator, and the part of the driving cable between the clamp and the first support is not easy to be separated from the annular groove on the clamp during the movement of the end instrument, the transmission efficiency and the use safety of the driving cable are improved.

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 performing corresponding surgical operation.

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

The efficiency of the transmission of the drive cable during the operation of the end device is particularly important because the end device is located at a relatively great distance from the drive device, and one of the factors influencing the transmission efficiency on the side of the end device is the deviation of the drive cable from its guide groove, for example from the guide groove of the guide pulley or from another guide groove for the guidance of the drive cable, which would not only be very inefficient for the transmission of the drive cable but would also risk the drive cable being slack.

Disclosure of Invention

In view of the above, in order to solve the above problems, the present invention provides a surgical instrument, a slave operation device using the surgical instrument, and a surgical robot having the slave operation device, wherein the surgical instrument includes a tip instrument, a driving device, and a plurality of driving cables, the driving device is configured to drive the tip instrument to move through the plurality of driving cables, and the tip instrument includes:

a first support and an actuator;

the actuator is rotationally connected to the first support, and a first pulley block for guiding the driving cable is arranged on the first support;

the first pulley block includes a first pulley and a second pulley disposed on the first pulley shaft, the first pulley and the second pulley including pulley grooves for receiving the drive cables, a portion of one of the plurality of drive cables in the pulley groove of the first pulley and a portion of another of the plurality of drive cables in the pulley groove of the second pulley being at different distances from an axis of the first pulley.

Preferably, the groove bottoms of the pulley grooves of the first pulley and the second pulley have the same radius, the first pulley shaft includes a first wheel shaft and a second wheel shaft which are not concentric, one end of the second wheel shaft is connected with the first support, the other end of the second wheel shaft is connected with the first wheel shaft, and the first wheel shaft and the second wheel are respectively used for mounting the first pulley and the second pulley.

Preferably, the projection of the first axle on the first plane is inscribed with the projection of the second axle on the first plane, and the first plane is perpendicular to the axis of the second axle.

Preferably, an inscribed point of the projections of the first wheel shaft and the second wheel shaft on the first plane is located on a second plane, and the second plane passes through the axis of the first wheel shaft and is parallel to a rotation axis of the actuator relative to the first support.

Preferably, the radius of the groove bottom of the first pulley is different from that of the groove bottom of the second pulley, and the pulley with the smaller radius of the groove bottom of the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

Preferably, the radius of the groove bottom of the first pulley is different from that of the groove bottom of the second pulley, and the pulley with the larger radius of the groove bottom of the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

Preferably, the end instrument further comprises a second bracket, the first bracket is rotatably connected to the second bracket, a second pulley block for guiding the driving cable is arranged on the second bracket, the first pulley block is located between the second pulley block and the actuator, the plurality of driving cables comprise a first pair of cables and a second pair of cables which are wound on the first pulley block and the second pulley block in the same winding manner, and the first pair of cables and the second pair of cables are used for matching the driving actuator to perform yaw movement.

Preferably, the actuator includes a first clamping portion and a second clamping portion rotatably connected to the first bracket, the first pair of cables includes a first driving cable and a second driving cable having distal ends connected to both sides of the first clamping portion and wound in opposite winding manners on the first pulley block and the second pulley block, respectively, and the second pair of cables includes a third driving cable and a fourth driving cable having distal ends connected to both sides of the second clamping portion and wound in opposite winding manners on the first pulley block and the second pulley block, respectively.

Preferably, the first support is further provided with a second pulley shaft which is not coincident with the axis of the first pulley shaft, the first pulley shaft and the second pulley shaft are respectively located at two sides of the first support, and the first pulley block further comprises a third pulley and a fourth pulley which are arranged on the second pulley shaft;

the first driving cable and the second driving cable are guided by the front part of the first pulley and the rear part of the third pulley respectively and then extend to the second pulley block;

and the third driving cable and the fourth driving cable are guided by the front part of the second pulley and the rear part of the fourth pulley respectively and then extend to the second pulley block.

Preferably, the second pulley block comprises a fifth pulley, a sixth pulley, a seventh pulley and an eighth pulley which are sequentially arranged on the same shaft, the first driving cable and the third driving cable respectively extend to the near end of the second bracket after being guided by the rear parts of the fifth pulley and the sixth pulley, and the second driving cable and the fourth driving cable respectively extend to the near end of the second bracket after being guided by the front parts of the seventh pulley and the eighth pulley.

Preferably, the portion of the first driving cable between the fifth pulley and the second bracket and the portion of the second driving cable between the seventh pulley and the second bracket are respectively located on opposite sides of the axis of the second pulley block.

Preferably, the portion of the third driving cable between the sixth pulley and the second bracket and the portion of the fourth driving cable between the eighth pulley and the second bracket are located on opposite sides of the axis of the second pulley block.

Preferably, the first clamping portion and the second clamping portion each include a clamping member, the clamping member of the first clamping portion is in contact with the clamping member of the second clamping portion when the actuator is closed, and a side surface of a proximal end side of the clamping member of the first clamping portion or the clamping member of the second clamping portion has an inclined surface.

Preferably, the driving device includes:

the proximal ends of the first drive cable and the second drive cable are connected to the first drive unit;

a second drive unit to which the proximal ends of the third and fourth drive cables are connected, the first and second drive cables driven by the first drive unit cooperating with the third and fourth drive cables driven by the second drive unit to drive yaw movement of the distal instrument;

the decoupling mechanism comprises a main decoupling piece and a slave decoupling piece connected with the main decoupling piece, the slave decoupling piece comprises a sliding frame and a first guide part and a second guide wheel which are respectively installed at two ends of the sliding frame, the first moving wheel is configured to guide a first driving cable and a third driving cable, the second moving wheel is configured to guide a second driving cable and a fourth driving cable, and the main decoupling piece is configured to drive the sliding frame to move when the end instrument performs pitching motion so as to simultaneously increase the length of the first driving cable and the third driving cable in the driving device and simultaneously reduce the length of the second driving cable and the fourth driving cable in the driving device or reduce the length of the first driving cable and the third driving cable in the driving device and simultaneously increase the length of the second driving cable and the fourth driving cable in the driving device.

Preferably, the driving device further includes a third driving unit for driving the terminal instrument to perform a pitching motion, the third driving unit is wound with proximal ends of a fifth driving cable and a sixth driving cable, the third driving unit drives the terminal instrument to perform a pitching motion through the fifth driving cable and the sixth driving cable, and the main decoupling member is disposed coaxially with the third driving unit.

Preferably, the main decoupling element and the third driving unit are configured to rotate in a first direction to release the fifth driving cable and to receive the sixth driving cable, and to move the carriage under the driving of the main decoupling element so as to reduce the length of the first driving cable and the third driving cable in the driving device.

Preferably, the third driving unit and the main decoupling member are adapted to rotate in a second direction opposite to the first direction to receive the fifth driving cable and release the sixth driving cable, and the carriage is moved by the main decoupling member to increase the length of the first driving cable and the third driving cable in the driving device.

Preferably, the driving device further comprises a first guide wheel, the first driving cable and the third driving cable are guided by the first guide wheel and then by the first moving wheel, and the moving direction of the carriage is parallel to the portions of the first driving cable and the third driving cable between the first moving wheel and the carriage.

Preferably, the driving device further comprises a second guide wheel, the second driving cable and the fourth driving cable are guided by the second guide wheel and then by the second moving wheel, and the moving direction of the carriage is parallel to the portions of the second driving cable and the fourth driving cable between the second guide wheel and the second moving wheel.

Preferably, the main decoupling element is rotated to change the length of any one of the first, second, third and fourth driving cables in the driving device by an amount equal to twice the distance that the carriage moves in the driving device.

Preferably, the proximal end of the actuator has an annular groove for receiving the proximal ends of the fifth and sixth drive cables, the groove bottom radius R1 of the annular groove, the radius R1 of the second pulley set, the radius R2 of the third drive unit and the radius R1 of the main decoupling member satisfy the following relationship:

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.

According to the surgical instrument, the distance difference exists in the radial direction of the pulley through the bottom grooves of different pulleys on the same pulley shaft on the first support, the distance difference is approximately equal to the distance between the two annular grooves of the clamp holder for guiding the driving cable, so that the part of the driving cable between the clamp holder and the first support is not easy to separate from the annular groove on the clamp holder in the movement process of the surgical instrument, and the transmission efficiency and the use safety of the driving cable are improved.

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-5B are schematic structural illustrations of a distal instrument according to an embodiment of the present invention;

FIG. 5C is a perspective view of the clamp of the embodiment shown in FIG. 5A;

FIG. 5D is a side view of the end instrument of the embodiment shown in FIG. 5A;

FIG. 5E is a schematic view of a drive cable according to an embodiment of the present invention;

FIG. 6A is a perspective view of a first bracket of the embodiment shown in FIG. 5A;

FIG. 6B is a cross-sectional view of FIG. 6A from the first carrier center along the axis of the pulley shaft;

FIG. 6C is a cross-sectional view of a first bracket according to an embodiment of the invention;

FIG. 6D is a cross-sectional view of a first stent according to another embodiment of the present invention;

7A-7C are diagrams illustrating pitch motion of the tip instrument of the embodiment of FIG. 6A without decoupling;

FIG. 8A is a schematic view of a driving device according to an embodiment of the present invention;

8B-8C are schematic views of the decoupling process of the drive arrangement shown in FIG. 8A;

FIGS. 9A-9B are schematic views illustrating the routing path of the drive cable between the guide wheels;

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 drive arrangement using a gear transmission for the master and slave decouplers of one embodiment of the present invention;

FIG. 12A is a schematic view of a drive arrangement using cam drive for the master and slave decouplers in accordance with an embodiment of the present invention;

FIG. 12B is a profile view of a primary decoupling member in the form of a cam for the embodiment shown in FIG. 12A;

FIG. 12C is a schematic illustration of the decoupling process of the drive arrangement of the embodiment shown in FIG. 12A;

FIG. 13 is a schematic view of a drive arrangement for a non-opening/closing tip instrument in accordance with one embodiment of the present invention;

FIGS. 14A and 14B are schematic views of a driving device according to another embodiment of the present invention;

FIG. 15 is a schematic view of a drive mechanism for a non-opening/closing tip instrument according to another embodiment of the present invention.

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 in the description of the invention herein 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 replaced at any time or surgical instruments 120 may be removed to wash or sterilize surgical instruments 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 instrument 150, respectively, at a proximal end of surgical instrument 120, and a long shaft 160 between drive mechanism 170 and end instrument 150, drive mechanism 170 for coupling to instrument mount 132 of instrument holder arm 130, and instrument mount 132 has a plurality of actuators (not shown) therein that engage drive mechanism 170 to transmit the actuator's driving force to drive mechanism 170. Long shaft 160 is used to connect drive device 170 and end instrument 150, long shaft 160 is hollow for the passage of a drive cable, and drive device 170 is used to cause end instrument 150 to perform an associated surgical procedure by movement of end instrument 150 via the drive cable.

Fig. 5A-5D are schematic structural views of a distal instrument 150 according to an embodiment of the present invention, where the directional indicators in fig. 5A are for convenience of describing the manner in which the drive cable is wound around the distal instrument 150, where the distal and proximal directions in the indicators refer to the distal and proximal directions of the distal instrument 150, and the front, rear, left and right directions refer to the front, rear, left and right directions of the distal instrument 150 in the view of fig. 5A, and other figures do not have directional indicators, but can easily derive the direction of the distal instrument 150 from fig. 5A. As shown in fig. 5A and 5B, the end instrument 150 includes a second bracket 210 having a generally U-shaped configuration, a first bracket 310, an actuator 410 and a drive cable, a distal end of the second bracket 210 being adapted to be coupled to the elongated shaft 160, the first bracket 310 having a first set of pulleys for guiding the drive cable, a second pin 211 disposed between two legs of the distal end of the second bracket 210, the second pin 211 having a second set of pulleys for guiding the drive cable. The proximal end of the first bracket 310 has a pitch wheel 311, the pitch wheel 311 is disposed on the second pin 211, and the first bracket 310 is rotatable about the axis AA' of the first pin 211. A first pin 312 is disposed between the two struts at the distal end of the first support 310, the second pin 211 and the first pin 312 are perpendicular to each other, the actuator 410 is mounted on the first support 310 by the first pin 312, and the drive cables include a first pair of cables and a second pair of cables that operate the actuator 410 to open and close and yaw, and a third pair of cables that operate the end instrument to perform pitch. It will be appreciated that in other embodiments, the actuator 410 need not be moved open and closed, such as with cautery instruments, where the drive cables only have a first pair of cables for manipulating yaw movement of the actuator, and a second pair of cables for manipulating pitch of the end instruments. In other embodiments, first pin 312 may be disposed on actuator 410, such as first pin 312 and actuator 410 being integrally formed.

The distal ends of the first pair of cables are mounted to a first jaw 411 of the actuator 410, the proximal ends of the first pair of cables are connected to a first drive unit in the drive device 170, the proximal ends of the second pair of cables are mounted to a second jaw 412 of the actuator, the proximal ends of the second pair of cables are connected to a second drive unit in the drive device 170, and the first pair of cables and the second pair of cables cooperate to operate the first jaw 411 and the second jaw 412 to rotate about an axis BB' of the first pin 312 to effect opening and closing and yaw movements of the end instrument 150. The third pair of cables is mounted at a distal end to the first bracket 310 and at a proximal end to a drive unit in the drive device 170. The first pair of cables comprises a first drive cable 151A and a second drive cable 151B wound with their proximal ends in an opposite manner on the first drive unit, the second pair of cables comprises a third drive cable 152A and a third drive cable 152B wound with their proximal ends in an opposite manner on the second drive unit, the first drive cable 151A and the second drive cable 151B form a loop, and the first drive cable 151A and the second drive cable 151B form a loop, the two cables are in a relationship of diminishing their lengths as the proximal ends of the first drive cable 151A and the second drive cable 151B are wound in an opposite manner on a winch within the drive unit 170, so that when the winch rotates, the winch will either take up the first drive cable 151A and release the second drive cable 151B, or release the first drive cable 151A and take up the second drive cable 151B, and likewise, third drive cable 152A and fourth drive cable 152B also form a loop. It will be appreciated that the drive cables may be a complete strip or may be formed of multiple strips of different configurations, as illustrated in fig. 5E, where a first drive cable 151A of a first pair of cables includes a first cable segment 151A1 for coupling to the drive mechanism and a second cable segment 151A2 for coupling to an end device, the first and second cable segments 151A1 and 151A2 being connected by a rigid strip 151A3, which is more efficient than the use of a complete drive cable, and which also facilitates the entanglement of multiple drive cables within the long axis 160, it being understood that in other embodiments, the drive cables may be a complete and unsegmented cable.

The first and second pairs of cables are wound in the same manner about the first and second pulley sets, but the first and

second drive cables

151A and 151B of the first pair are wound in opposite manners about the first and second pulley sets, and the third and

fourth drive cables

152A and 152B of the second pair are wound in opposite manners about the first and second pulley sets. Specifically, first drive cable 151A is guided through a forward portion of first pulley block 221 and then through a rearward portion of fifth pulley block 225 of the second pulley block and then extends through second bracket 210 into long shaft 160, and second drive cable 151B is guided through a rearward portion of third pulley block 223 of the first pulley block and then through a forward portion of seventh pulley block 227 of the second pulley block and then extends through second bracket 210 into long shaft 160. Third drive cable 152A is routed through the front portion of second pulley 222 of the first pulley block and then through the rear portion of sixth pulley 226 of the second pulley block and extends through second bracket 210 into long shaft 160, and fourth drive cable 152B is routed through the rear portion of fourth pulley of the first pulley block and then through the front portion of eighth pulley 228 of the second pulley block and extends through second bracket 210 into distal long shaft 160. In other embodiments, the end device 150 may be configured to slide on only the first support 310 without the pulley block on the second support 210, such that the first and second pairs of cables extend through the second support to the long shaft 160 after passing through only the pulley block on the first support 310, but because of the absence of the pulley block on the second support, the drive cable may be subjected to a greater friction force from the second support during the pitching of the end device, thereby reducing the transmission efficiency of the drive cable and possibly causing the drive cable to slacken.

The first clamp portion 411 of the actuator 410 is configured as shown in fig. 5C, the first clamp portion 411 includes a main body 4111, a distal end of the main body 4111 has a clamp seat 4113, a proximal end of the main body 4111 has a rotation wheel 4112, the rotation wheel 4112 is configured to be mounted on the first pin 312, and a side wall of the rotation wheel 4112 has a first annular groove 4114 for guiding a driving cable. The clamping base 4113 is provided with a clamping piece 4115, the material of the clamping piece 4115 and the clamping base 4113 are made of different materials, the clamping piece 4115 is made of tungsten steel with hardness higher than that of the clamping base 4113, a slope 4116 is formed on one side of the proximal end of the clamping piece 4115, and the slope 4116 can prevent the suture from being stuck in the gap 4117 when the suture falls into the gap 4117 between the clamping piece 4115 and the clamping base 4113 along the slope 4116 during the surgical procedure.

After the first to fourth driving cables 151A to 152B are guided by the plurality of pulleys, the portions of the first and

second driving cables

151A and 151B between the second pulley block and the second bracket 210 are located on different sides of a first plane M passing through the axis AA 'of the second pin 211 and perpendicular to the axis BB' of the first pin 312, and similarly, the portions of the third and

fourth driving cables

152A and 152B between the second pulley block and the first bracket 210 are located on different sides of the first plane M, while the portions of the first and

third driving cables

151A and 152A between the second pulley block and the second bracket 210 are located on the same side of the first plane M, and the portions of the second and

fourth driving cables

151B and 152B between the second pulley block and the second bracket 210 are located on the same side of the first plane M.

As shown in fig. 5D, the first annular groove 4114 for accommodating the first drive cable 151A and the second annular groove 4124 for accommodating the third drive cable 152A are spaced apart from each other H on the axis of the first pin 312, so that the first drive cable 151A can be partially positioned in the first annular groove 4114 on the first clamping portion 411, and the third drive cable 152A can be partially positioned in the second annular groove 41244124 on the second clamping portion 412, so that the first drive cable 151A, the third drive cable 152A do not disengage from the first annular groove 4114, the second annular groove 4124 on the axis of the first pin 312, and it will be described later that the drive cable does not disengage from the first annular groove 4114 or the second annular groove 4124 on the axis of the first pin 312. Accordingly, first pulley 221 is also spaced from second pulley 222 in the radial direction by a distance H that is substantially equal to, and in some embodiments equal to, H that first annular groove 4114 is spaced from second annular groove 4124. Likewise, the third pulley 223 and the fourth pulley 224 are also located a corresponding distance in the pulley diameter so that the second drive cable 151B and the fourth drive cable 152B do not disengage from the first annular groove 4114 and the second annular groove 4124.

Specifically, as shown in fig. 6A and 6B, the first bracket 310 includes a bracket main body 314, a pitch wheel 311 is provided at a proximal end of the bracket main body 314, a first support column 315 and a second support column 316 are provided at a distal end of the bracket main body 314, the actuator 410 is disposed between the first support column 315 and the second support column 316 by a first pin 312, a first pulley shaft 317 and a second pulley shaft 318 are respectively provided at both sides of the bracket main body 314, the first pulley shaft 317 and the second pulley shaft 318 are integrally formed with the bracket main body 314, the first pulley 221 and the second pulley 222 are mounted on the first pulley shaft 317, the third pulley 223 and the fourth pulley 224 are mounted on the second pulley shaft 318, and pulley grooves of the first pulley 221 to the fourth pulley 224 have the same groove bottom radius. The first pulley shaft 317 includes a first pulley shaft 317A and a second pulley shaft 317B, the second pulley shaft 317B having one end connected to the bracket body 314 and the other end connected to the first pulley shaft 317A, the first pulley 221 being mounted on the first pulley shaft 317A, the second pulley 222 being mounted on the second pulley shaft 317B, wherein an axis a of the first pulley shaft 317A is radially spaced from an axis B of the second pulley shaft by h in a radial direction of the first pulley 221 or the second pulley 222, such that after the first pulley 221 and the second pulley 222 are mounted on the first pulley shaft 317A and the second pulley shaft 317B, respectively, groove bottoms of the first pulley 221 and the second pulley 222 are also radially spaced by h in a radial direction of the pulleys, such that after the first drive cable 151A and the third drive cable 152A are guided by the first pulley 221 and the second pulley 222, respectively, a portion of the first drive cable 151A in a pulley groove of the first pulley and a portion of the third drive cable 152A in a pulley groove of the second pulley 222 are to the first pulley groove 221 of the second pulley shaft 317B The distance of the axis b of the wheels 317A differs by h, so that the first drive cable 151A can extend along the first annular groove 4114 to the first pulley 221 without leaving the first annular groove 4114, and the third drive cable 152A can extend along the second annular groove 4124 to the second pulley 222 without leaving the second annular groove 4124. In particular, when the above-mentioned distances H and H are equal, the first and

second driving cables

151A and 152A can extend to the first and

second pulleys

221 and 222 in the direction of the central axis c of the first bracket 310, which is a straight line passing through the center of the first bracket 310 and perpendicular to the second and

first pins

211 and 312.

Since the first pulley shaft 317 is integrally formed with the bracket body 314, for the convenience of machining and mounting the pulley, the first axle 317A and the second pulley 317B are tangent to each other, i.e. the projection of the first axle 317A on a first plane is tangent to the projection of the second axle 317B on the first plane, which is perpendicular to the axis of the second axle, as shown in fig. 6B, the side wall of the first axle 317A is tangent to the side wall of the second axle 317B, the tangent point P of the two is close to the center of the first bracket 310, and the tangent point P is located on a second plane passing through the axis of the first axle 317A and parallel to the axis BB' of the first pin 312, so that the distance between the first pulley 221 and the second pulley 222 on the second plane is maximized, thereby maximizing H and H, and maximizing the first driving cables 151A and the second driving cables 152A along the central axis of the first bracket 310 Extends to the first pulley 221 and the second pulley 222.

Similarly, the second pulley shaft 318 and the first pulley shaft 317 have the same arrangement, the second pulley shaft 318 has a third pulley shaft 318A and a fourth pulley shaft 318B that are also spaced apart by a distance h in the radial direction, and the third pulley 223 and the fourth pulley 224 are mounted on the third pulley shaft 318A and the fourth pulley shaft 318B, respectively, so that the first annular groove 4114, through which the second drive cable 151B can be extended without being disengaged from the first annular groove 4114, extends to the third pulley 223, and the fourth drive cable 152B can be extended along the second annular groove 4124 to the fourth pulley 224 without being disengaged from the second annular groove 4124.

As shown in fig. 6C, in the second bracket according to an embodiment of the present invention, a combination of pulleys with different groove bottom radii of the pulley grooves is used to extend the first pair of cables to the first pulley block in a state of being kept not disengaged from the first annular groove 4114, and extend the second pair of cables to the second pulley block in a state of being kept not disengaged from the second annular groove 4124. Specifically, the first bracket 510 has a first pulley shaft 517 and a second pulley shaft 518, the first pulley 321 and the second pulley 322 are concentrically mounted on the first pulley shaft 517, the second pulley 322 is located at the bottom of the first pulley shaft 517, the first pulley 321 is located at the upper portion of the first shaft 517, and the groove bottoms of the first pulley 321 and the second pulley 322 have radii r1 and r2, respectively, wherein r1 is greater than r2, so that the first pulley 321 and the second pulley 322 are mounted on the first pulley shaft 317 with their bottom grooves radially spaced apart by a distance h in the first pulley 321, wherein h is r1-r2, so that the first driving cable 151A can maintain a configuration not disengaged from the first annular groove 4114 to extend along the first annular groove 4114 to the first pulley 321, and the third driving cable 152A can maintain a configuration not disengaged from the second annular groove 4124 to extend along the second annular groove 4124 to the second pulley 322. The third pulley 323 and the fourth pulley 324 are arranged in the same way as the first pulley 321 and the second pulley 322, and are not described again here.

First holder according to another embodiment of the present invention as shown in fig. 6D, the first holder 610 of this embodiment is different from the embodiment shown in fig. 6C in that a pulley with a large radius of the groove bottom is disposed inside the first holder 610, a pulley with a small radius of the groove bottom is disposed outside the first holder 610, specifically, the radius of the groove bottom of the first pulley 421 is r1, the radius of the groove bottom of the second pulley 422 is r2, and r2> r1 after the first pulley 421 and the second pulley 422 are mounted on the first pulley shaft 617, the groove bottoms of the two pulleys are spaced apart by h in the radial direction of the first pulley 421, wherein h is r1-r2, and the first pair of cables and the second pair of cables are connected to the actuator 410 in a manner opposite to the first embodiment, specifically, the first pair of cables is connected to the second grip portion 412, and the second pair of cables is connected to the first grip portion 411, whereby the first drive 151 of the first pair can be maintained in a state of not being separated from the second annular groove 4124 and extend along the second annular groove 4124 To the first pulley 421, the third drive cable 152A of the second pair of cables can extend along the first annular groove 4114 to the second pulley 422, maintaining a configuration that does not disengage the first annular groove 4114. The third pulley 423 and the fourth pulley 424 are arranged in the same way as the first pulley 421 and the second pulley 422, and are not described again here. Since the first pulley 421 with smaller radius of the groove bottom is located at the upper part of the first pulley shaft 617 and the second pulley 422 with larger radius of the groove bottom is located at the bottom of the first pulley shaft 421, the cross section of the outer contour of the whole terminal instrument 150 after the first pulley block is mounted on the first bracket is closer to a circle, the cross section of the terminal instrument 150 is closer to the cross section of the circular sheath 160A, so that the structure of the whole terminal instrument 150 is more compact than the first two embodiments, and the sheath 160A is more tightly fitted to the terminal instrument 150.

After the driving cables are wound on the first pulley block and the second pulley block in the winding mode, a coupling relation exists between the third pair of cables for controlling the pitching motion of the tail end appliance and the first pair of cables and the second pair of cables for controlling the yawing and opening and closing motion of the tail end appliance. Specifically, as shown in FIG. 7, when the drive mechanism 170 of the surgical instrument releases the fifth drive cable 153A of the third pair of cables and retracts the sixth drive cable 153B of the third pair of cables, the desired pitch motion of the end instrument 150 is a clockwise rotation of the first support 310 of the end instrument 150 and the actuator 410 together about the axis AA 'of the second pin 211, and during the rotation the actuator 410 does not move about the first pin 312, but as the drive cables are wound in the manner described above, the wrap angle lengths of the first drive cable 151A of the first pair of cables and the third drive cable 152B of the second pair of cables will increase over the fifth pulley 225 and the sixth pulley 226, respectively, while the wrap angle of the second drive cable 152B of the first pair of cables and the fourth drive cable 152B of the second pair of cables will increase over the seventh pulley 227 and the eighth pulley 228, respectively, during the counterclockwise rotation of the first support 310 and the actuator 410 together about the axis AA' of the second pin 211, respectively The length will decrease such that the portion 151A ' of the first drive cable 151A between the first grip 411 and the fifth pulley 225 and the portion 152A ' of the third drive cable 152A between the second grip 412 and the sixth pulley 226 will decrease, the portion 152B ' of the second drive cable 152B between the first grip 411 and the seventh pulley 227 and the portion 152B ' of the fourth drive cable 152B between the second grip 412 and the eighth pulley 228 will increase in length, thereby causing the actuator 410 to rotate counterclockwise about the axis BB ' of the first pin 312, which is undesirable.

Thus, movement of the third pair of cables on the side of the end instrument that steers the pitch of the end instrument causes movement of the first and second pairs of cables that steers the yaw of the end instrument, and this change in one element affects the other element by what is referred to as a coupled relationship, i.e., there is a coupled relationship between one element and the other element, i.e., there is a coupled relationship between the third pair of cables and the first and second pairs of cables. Due to the coupling between the third pair of cables and the first and second pairs of cables, the tip instrument 150 may not perform the pitch manipulation properly, and thus the surgical procedure may not be performed properly. Therefore, it is necessary to decouple the third pair of cables from the first and second pairs of cables so that the movement of the third pair of cables does not affect the movement of the first and second pairs of cables, and the movements of the third pair of cables are independent of each other and do not interfere with or affect each other.

As to how to release the coupling relationship between the two driving cables, one existing decoupling method is to use a software algorithm for decoupling, and the main console 200 controls the movement of the third pair of cables and also controls the movement of the first pair of cables and the second pair of cables, but the decoupling method using the software algorithm leads to a complicated control procedure of the surgical robot, is easy to make mistakes, and causes each driving unit of the driving mechanism of the surgical instrument to lose independence by the decoupling method using the software algorithm, specifically, the driving device has a first driving unit for driving the first pair of cables, a second driving unit for driving the second pair of cables, and a third driving unit for driving the third pair of cables, and ideally, the control of each driving unit is independent from each other, however, when the decoupling is performed using the software algorithm, the three driving units are required to be controlled to move together at the same time, thereby causing the three drive units to lose independence and being prone to control errors.

Therefore, the present invention also provides a driving device for driving the above-mentioned end instrument, the driving device of the present invention uses a mechanical decoupling method to release the above-mentioned coupling relationship, as shown in fig. 8A, which is a schematic diagram of a driving device 170 according to an embodiment of the present invention, the driving device 170 includes a housing 178 and a first driving unit 171 and a second driving unit 172 located in the housing 178 for driving the end instrument 150 to perform opening, closing, yawing, a first driving unit 173 for driving the end instrument 150 to perform a pitching motion, and a fourth driving unit 174 for driving the long shaft 160 to perform a self-rotating motion. The proximal ends of the first and

second drive cables

151A and 151B of the first pair are wound in opposite windings about the first drive unit 171, the proximal ends of the third and

fourth drive cables

152A and 152B of the second pair are wound in opposite windings about the second drive unit 172, respectively, the fifth and

sixth drive cables

153A and 153B of the third pair are wound in opposite windings about the third drive unit 173, respectively, and the sixth and

seventh drive cables

154A and 154B of the fourth pair are wound in opposite windings about the fourth drive unit 174, respectively.

When the actuator in the implement mount 132 rotates the first driving unit 171, the first driving unit 171 pulls/releases the first driving cable 151A, while releasing/pulling the second driving cable 151B to rotate the first grip 411 about the axis BB 'of the first pin 312, the second bracket 310 rotates about the axis AA' of the second pin 215, when the actuator in the implement mount 132 rotates the second driving unit 172, the second driving unit 172 pulls/releases the third driving cable 152A, while releasing/pulling the fourth driving cable 152B to rotate the second grip 412 about the axis BB 'of the first pin 312, when the actuator rotates the third driving unit 173, the third driving unit 173 pulls/releases the fifth driving cable 153A, while releasing/pulling the sixth driving cable 153B to rotate the axis AA' of the second pin 211 of the first bracket 310, effecting a tilting motion of the tip instrument 150. As the actuator within the implement mounting bracket 132 drives the fourth drive unit 174 to rotate about its axis 174A, the fourth drive unit 174 retracts or releases either the seventh drive cable 154A or the eighth drive cable 154B to effect a spinning motion of the drive shaft 160.

Drive device 170 further includes a decoupling mechanism for decoupling the first and second and third pairs of cables on the side of end instrument 150, the decoupling mechanism including a master decoupling member 175 and a slave decoupling member 176, master decoupling member 175 being disposed coaxially with third drive unit 173, master decoupling member 1751 receiving drive from the same power source as third drive unit 171, i.e., the actuator in the slave operating apparatus described above, so that master decoupling member 175 rotates at the same angular velocity as third drive unit 173. The secondary decoupling element 176 includes the carriage 171 and first and

second guides

1763 and 1764 disposed at opposite ends of the carriage, respectively, the first drive cable 151A of the first pair of cables and the third drive cable 152A of the second pair of cables being guided by the first guide 1763 and then entering the long shaft, and the second drive cable 151B of the first pair of cables and the fourth drive cable 152B of the second pair of cables being guided by the second guide 1764 and then entering the long shaft. The primary decoupler 175 is used to drive the secondary decoupler 176 to move to change the lengths of the first and second pairs of cables within the drive device to decouple the third pair of cables from the first and second pairs of cables.

Drive device 170 further includes a plurality of guide wheels for guiding the drive cables, first drive cable 151A and third drive cable 152A being guided by first guide wheel 177A and then by first guide 1763 and finally being guided by second guide wheel 177B and extending into long shaft 160, second drive cable 151B and fourth drive cable 152B being guided by third guide wheel 177C and then by second guide 1764 and finally being guided by fourth guide wheel 177D and extending into long shaft 160, fifth drive cable 153A and sixth drive cable 153B being guided by fifth guide wheel 177G and sixth guide wheel 177H, respectively, and extending into long shaft 160.

First through sixth guide wheels 176A through 176F, first guide 1763, and second guide 1764 are all structures having two pulleys side-by-side for guiding two drive cables. As shown in fig. 9A, each of the first guide pulley 177A, the first guide pulley 177B and the first guide portion 1753 has two side-by-side pulley structures for guiding the first driving cable 151A and the third driving cable 152A, respectively, wherein an axis of the first guide pulley 177A and an axis of the first guide portion 1763 are parallel to each other, and an axis of the first guide portion 1763 and an axis of the second guide pulley 177B are perpendicular to each other. After the first guide pulley 177A, the first guide portion 1753, and the second guide pulley 177B are guided, the first drive cable 151A forms a first partial cable 151Aa between the first guide pulley 177A and the first guide portion 1763, the third drive cable 152A forms a second partial cable 152Aa between the first guide pulley 177A and the first guide portion 1763, the first partial cable 151Aa and the second partial cable 152Aa are parallel to the moving direction of the carriage 1761, and the first partial cable 151Aa and the second partial cable 152Aa do not include portions wound around the pulleys. Therefore, the changes in the lengths of the first and second partial cables 151Aa and 152Aa caused during linear movement of the secondary decoupler 176 upon actuation of the primary decoupler 1751 are always linear.

As shown in fig. 9B, the first drive cable 151A and the third drive cable 152A are respectively formed with a third partial cable 151Ab and a fourth partial cable 152Ab between the first guide 1763 and the second guide pulley 177B, the third partial cable 151Ab and the fourth partial cable 152Ab are symmetrical with respect to a center plane H1 of the third guide pulley 176C, a center plane S1 of the third guide pulley 176C refers to a plane which is located at the center of two side-by-side pulleys of the third guide pulley 176C and perpendicular to an axis C1 of the third guide pulley 176C, and similarly, the third partial cable 151Ab and the fourth partial cable 152Ab do not include portions wound around the pulleys. The third portion of cables 151Bb and the fourth portion of cables 152Bb are both angled at an angle theta from the central plane S1, and the angle theta is sufficiently small so that the length of the third portion of cables 152Ab and the fourth portion of cables 152Bb is approximately equal to the distance h from the first guides 1753 to the third guides 176C so that the third portion of cables 152Ab and the fourth portion of cables 152Bb are also approximately parallel to the direction of movement from the decoupler. Therefore, the changes in the lengths of the third and fourth partial cables 152Ab and 152Bb caused during linear movement of the secondary decoupler 176 upon actuation of the primary decoupler 175 are also substantially linear.

Similarly, the portions of second actuation cable 151B of the first pair and fourth actuation cable 152B of the second pair between third guide pulley 176C, second guide portion 1754, and fourth guide pulley 176D are also the same as the arrangements of first actuation cable 151A and third actuation cable 152A on first guide pulley, first guide portion 1763, and second guide pulley 177B, described above, and therefore will not be described again here. Thus, during decoupling, the rate of change of length of any one of the first drive cable 151A through fourth drive cable 152B within the drive device is directly proportional to the speed of movement of the carriage 1761.

In this embodiment, the secondary decouplers 176 further include first and

second decoupling cables

1765 and 1766, with one end of first and second decoupling cables 1761 and 1762 connected to the primary decouplers 175 and the other end connected to the carriage 1761, respectively, and with the primary decouplers 175 operating the first and second decoupling cables 1761 and 1762 to thereby steer the carriage 1761 of the secondary decouplers 176 into motion. A first decoupling cable 1761 and a second decoupling cable 1762 are wound on the main decoupling member 175 in an opposite manner, the main decoupling member 175 having a radius R3 and the third drive unit 173 having a radius R3, wherein R3< R3, the main decoupling member 175 effecting movement of the carriage 1761 for operating the secondary decoupling member 176 by retracting/releasing the first decoupling cable 1765 and simultaneously releasing/retracting the second decoupling cable 1766.

Turning in detail to how the decoupling mechanism is decoupled, as shown in fig. 8B, when the third drive unit 173 is rotated in a first direction (counterclockwise), the third drive unit 173 pulls the fifth drive unit 153B and simultaneously releases the fourth drive cable 153A, thereby causing the first bracket 310 of the end instrument 150 to rotate along the axis AA' of the second pin 211 in the direction shown in fig. 7. Since the main decoupling member 173 is disposed coaxially with the third drive unit 173, the main decoupling member 173 rotates in the first direction at the same angular velocity as the third drive unit 173, and when the main decoupling member 175 rotates in the first direction, it releases the first decoupling cable 1765 and simultaneously retracts the second decoupling cable 1766 to draw the carriage 1761 of the secondary decoupling member 176 to move in the direction a within the drive device 170, thereby causing the lengths of the first and

third drive cables

151A, 152A within the drive device to decrease simultaneously and the lengths of the second and

fourth drive cables

151B, 152B within the drive device to increase simultaneously.

In order to allow the decoupling mechanism to accurately decouple the third pair of cables from the first and second pairs of cables, the secondary decoupling member 176 driven by the primary decoupling member 175 is always moved in a straight line, and the change in length of the first drive cable 151A to the fourth drive cable 152B within the drive unit 170 caused by movement of the secondary decoupling member 176 is always linear. Specifically, as shown in fig. 8A-8C, first decoupling cable 1765 is redirected by fifth guide wheel 176E of the plurality of guide wheels to extend in the direction of movement of carriage 1761 and is fixed to one end of carriage 1761, and likewise, second decoupling cable 1766 is redirected by sixth guide wheel 176G to extend in the direction of movement of carriage 1761 and is fixed to the other end of carriage 1761, such that the portion of first decoupling cable 1765 between fifth guide wheel 177E and carriage 1761 is parallel to the direction of movement of carriage 1761, and likewise, the portion of second decoupling cable 1767 between seventh guide wheel 177E and carriage 1761 is also parallel to the direction of movement of carriage 1761, such that during decoupling, the speed of movement of carriage 1761 is in direct proportion to the linear speed of rotation of primary decoupling member 175 and the linear speed of rotation of third drive unit 173, as described above, the rate of change of length of any one of first drive cable 151A through fourth drive cable 152B within the drive device is directly proportional to the speed of movement of carriage 1761, such that the rate of change of length of any one of first drive cable 151A through fourth drive cable 152B within the drive device is directly proportional to the linear speed of rotation of main decoupling member 175 and the linear speed of rotation of third drive unit 173, allowing for precise and controllable decoupling. In this embodiment, the length of any one of first drive cable 151A through fourth drive cable 152B within the drive device varies at a rate that is 2 times the linear speed of rotation of main decoupling element 175.

If the radii of the second set of pulleys are all groove bottom radii R1, the groove bottom radii of the

annular grooves

4114, 4124 of the pitch wheel 311 of the first carriage 310 are R1, and the end device is rotated in the first direction through an angle α, the wrap angle lengths of the first drive cable 151A of the first pair and the third drive cable 152A of the second pair of cables over the fifth pulley 225 and the sixth pulley 226, respectively, will increase by L, where L is α R1, while the wrap angle lengths of the second drive cable 151B of the first pair and the fourth drive cable 152B of the second pair of cables over the seventh pulley 227 and the eighth pulley 228, respectively, will decrease by L.

Returning again to fig. 7A, as the end instrument 150 pitches, the energy of the fifth drive cable 153A or the sixth drive cable 153B forms a wrap angle in the

annular grooves

4114, 4124. As shown in fig. 7B and 7C, when the end instrument 150 is pitched at an angle α, the wrap angle length of the fifth drive cable 153A in the trough on the pitch wheel 311 is increased by L1, and the wrap angle length of the sixth drive cable 153B on the pitch wheel 311 is simultaneously decreased by L1, wherein L1 is α R1, since the pitching motion of the end instrument 150 is driven by the third drive unit 173 in the drive device 170, as shown in fig. 8B, when the third drive unit 173 releases the fifth drive cable 153A and simultaneously pulls the sixth drive cable 153B, provided that the angle of the pitching motion of the end instrument 150 is β, which is the angle of the rotation of α in the first direction, such that the length of the fifth drive cable 153A around the third drive unit 173 is decreased by L1, the length of the sixth drive cable 153B around the third drive unit 173 is increased by L1, wherein L1 ═ β R2. Since main decoupling element 1761 and the third drive unit rotate at the same angular speed, main decoupling element 175 releases first decoupling cable 1765 and simultaneously pulls second decoupling cable 1766, respectively, such that the length of first decoupling cable 1767 about main decoupling element 175 is reduced by L/2, i.e., first decoupling cable 1767 is released by L/2, the length of second decoupling cable 1768 about main decoupling element 175 is increased by L/2, where L/2 is β r2, and the lengths of first drive cable 151A and third drive cable 152A are reduced by L in drive device 170, and the lengths of second drive cable 151B and fourth drive cable 152B are increased by L in drive device 170, as previously described, L α r 1. To sum up, through the above four equations: l1 ═ α × R1, L1 ═ β R2, L/2 ═ β R2, and L ═ α R1, the following relationships can be obtained:

the above relationship indicates that the ratio of the radius of third drive unit 173 to the radius of primary decoupling member 176 is 2 times the ratio of the radius of pitch wheel 311 to the radius of the second set of pulleys, resulting in the 2 times relationship because secondary decoupling member 176 has 2 moving guide wheels, first moving guide wheel 1763 and second moving guide wheel 1764. In other embodiments, the number of guide wheels of the secondary decoupling element may be different, so that the relationship between the ratio of the radius of the third drive unit to the radius of the primary decoupling element and the ratio of the radius of the pitch wheel to the radius of the second set of pulleys may also vary, for example the secondary decoupling element may have N guide wheels, half of the third drive unitThe ratio of the diameter to the radius of the main decoupling piece is N times the ratio of the radius of the pitching wheel to the radius of the second group of pulleys, namely:

however, the increase in the number of guide wheels of the secondary decoupling element corresponds to a corresponding increase in the volume of the secondary decoupling element, and it is preferable to use 2 guide wheels for the secondary decoupling element in the above-described embodiment.

As shown in fig. 8C, when the third drive unit 173 and the main decoupling member 175 are rotated together in a second direction opposite to the first direction, the entire decoupling process is reversed from the above-described rotation of the third drive unit 173 and the main decoupling member 175 in the first direction, and thus the resulting changes in the drive cable and the decoupling cable are also reversed from the above-described movement in the first direction. That is, rotation of the third drive unit 173 in the second direction draws the fifth drive cable 153A and releases the sixth drive cable 153B, thereby causing the first carriage of the end instrument 150 to rotate about the axis AA' in a direction opposite that of fig. 7, causing the wrap angle lengths of the first drive cable 151A and the third drive cable 152A of the second pair of cables to decrease over the fifth pulley 225 and the sixth pulley 226, respectively, and the wrap angle lengths of the second drive cable 151B and the fourth drive cable 152B over the seventh pulley 227 and the eighth pulley 228, respectively, to increase. The decoupling element 175 rotates at the same angular speed as the third drive unit 173 in the second direction to pull the first decoupling cable 1765 and simultaneously release the second decoupling cable 1766, thereby driving the carriage 1761 of the secondary decoupling element 176 in the direction B opposite to the direction a, thereby increasing the length of the first and

third drive cables

151A, 152A within the drive device 170 and decreasing the length of the second and

fourth drive cables

151B, 152B within the drive device 170.

Whereby the amount of change in the wrap angle length of first drive cable 151A of the first pair and third drive cable 152A of the second pair of cables over fifth pulley 225 and sixth pulley 226 respectively is required for the pitch motion of end instrument 150, and the amount of change in wrap angle length of the second and

fourth drive cables

151B, 152B on the seventh and

eighth pulleys

227, 228, respectively, are all provided by the amount of change in the length of the first and

third drive cables

151A, 152A within the drive device caused by movement of the decoupler 176, and the amount of change in the length of the second and

fourth drive cables

152B, 152B within the drive device, therefore, the movement of the third pair of cables is not limited by the first pair of cables and the second pair of cables, and the third pair of cables and the first pair of cables and the second pair of cables are accurately decoupled. The lengths of the first path 151Aa, the second path 151Ba, the third path 152Aa, and the fourth path 152Ba may be maintained constant throughout the decoupling process, the tension of the entire first pair of cables and the entire second pair of cables may be maintained constant throughout the decoupling process, and since only the shaft 173A of the third drive unit 173 moves throughout the decoupling process, the first drive unit 171 and the second drive unit 172 are completely independent of the third drive unit 173, such that the pitch motion of the distal tip instrument 150 during the decoupling process does not cause any opening and/or yaw motion of the distal tip instrument 150. In addition, since the main decoupling element 1761 and the coupling source, i.e., the third drive unit 173, are rotated coaxially, so that the main decoupling element 1761 and the coupling source, i.e., the third drive unit 173, move at the same angular velocity, the length change of the first and second pairs of cables on the side of the end instrument 150, caused by the coupling source, i.e., the third drive unit 173, can be completely and accurately mapped to the length change of the first and second pairs of cables on the decoupling mechanism 176, so that the decoupling mechanism 176 can completely and accurately decouple the third pair of cables from the first and second pairs of cables. In addition, since the secondary decoupling element is always driven to move to the corresponding position by the primary decoupling element 1761, the first pair of cables and the second pair of cables are always unstressed on the secondary decoupling element, so that the tension of the first pair of cables and the second pair of cables is basically unchanged in the decoupling process, and the service life of the first pair of cables and the second pair of cables is prolonged.

As shown in fig. 10, in one embodiment of the present invention, drive device 270 adds more guide wheels than in the embodiment of fig. 8A, specifically, sixth guide wheel 177I for guiding first drive cable 151A and third drive cable 152A is added between first guide 1763 and second guide wheel 177B, seventh guide wheel 177J for guiding second drive cable 151B and fourth drive cable 152B is added between second guide 1764 and fourth guide wheel 177D, and after passing through the guide wheels of sixth guide wheel 177I and seventh guide wheel 177J, first drive cable 151A and third drive cable 152A are parallel to the direction of movement of carriage 1761 on both sides of first guide 1763, and second drive cable 151B and fourth drive cable 152B are parallel to the direction of movement of carriage 1761 on both sides of second guide 1764, such that first drive cable 151A through fourth drive cable 152B are parallel to the direction of movement of carriage 1761 on both sides of second guide 1764, resulting from movement of carriage 1 The variation of the length within the rotor is entirely linear.

In the driving device according to an embodiment of the present invention, as shown in fig. 11, a main decoupling element 1751 of a decoupling mechanism 275 of a driving device 370 is connected with a secondary decoupling element 1752 in a gear engagement manner, specifically, the secondary decoupling element has a carriage 2752, both ends of the carriage 2752 are respectively connected with a first guide portion 2753 and a second guide portion 2754, a body of the carriage 3751 has a rack structure, the main decoupling element 2751 has a gear structure engaged with the rack structure of the carriage 3751, the main decoupling element 2751 and a third driving unit 173 are arranged on the same shaft, and when the third driving unit 173 rotates together with the main decoupling element 2751, the main decoupling element 2751 drives the pitch mechanism to move along a straight line, so as to change lengths of a first pair of cables and a second pair of cables in the driving device 370, and thus release of the first driving cable 151 is realized. It will be appreciated that the primary and secondary decouplers 2751 and 2751 of the decoupling mechanism 275 may not only be engaged by a rack and pinion arrangement, but in other embodiments, the primary and secondary decouplers 2751 and 2751 may be engaged by two gears.

As shown in fig. 12A-12C, the driving device 470 includes a main decoupling member 375 having a cam structure disposed on the same rotation axis 173A as the third driving unit 173, and a sub decoupling member 376 connected to the main decoupling member 375, wherein the main decoupling member 375 drives the sub decoupling member 376 to move linearly by a driving method in the form of a cam.

Specifically, the secondary decoupling assembly 376 includes a carriage 3761 and first and second

movable pulleys

3763 and 3764 mounted at opposite ends of the carriage 3761 for guiding the first and second pairs of cables, and the first and second

movable pulleys

3763 and 3764 guide the first and second pairs of cables in the same manner as the previous embodiment, and will not be described again. The main decoupling element 375 includes a first cam 375a and a second cam 375b disposed on the same, the sliding frame 376 further includes an accommodating frame 3762, the accommodating frame 3762 is formed with a through hole for accommodating the main decoupling element 375, the sliding frame 375 extends a first protrusion 3762a and a second protrusion 3762b into the through hole, the first protrusion 3762a is used for abutting against the first cam 375a, and the second protrusion 3762b abuts against the second cam 375 b.

As shown in fig. 12B, the first cam 375a and the second cam 375B of the main decoupling member 375 each have a half-heart shaped cam, the second cam 375B and the first cam 375a have the same outer profile, the first cam 375a has a heart shaped involute S1 and a first arc S2 and a second arc S3 at both ends of the involute S1, the first arc S2 and the second arc S3 have different radii, the distance of the involute S1 from the axial center of the rotation shaft 173A has a gradually increasing direction from the first arc S2 to the second arc S3, and the involute S1 has the following contour: that is, the variation P of the distance from the involute S1 to the axial center of the rotating shaft 173A is in a linear relationship with the angle θ 1 of the first cam 375a rotating around the shaft 173A, where P is K1 θ 1+ K2, where K1 and K2 are constant, so that when the main decoupling element 375 rotates at a uniform speed, the distance from the contact point of the involute S1 of the first cam 3762a and the rotating shaft 173A and the distance from the contact point of the involute S1' of the second cam 3762b and the rotating shaft 173A are also linearly varied at a uniform speed.

First cam 375a and second cam 375b of main decoupling member 315 are vertically staggered in the axial direction of the cams, first cam 375a is in cooperation with first boss 3762a of carriage 376, and second cam 375b is in cooperation with second boss 3762b of carriage 376. As shown in fig. 12B, when the third drive unit 173 and the main decoupling member 375 rotate in a first direction (clockwise positive direction shown in fig. 12B), the first cam 375a of the main decoupling member 375 rotates clockwise such that the first boss 3762A moves on the involute S1 of the first cam 375a in a direction in which the distance from the rotational axis 173A on the involute S1 increases, and conversely, the second cam 375B of the main decoupling member 375 rotates counterclockwise such that the first boss 3762A moves on the involute S1 of the second cam 375B in a direction in which the distance from the rotational axis 173A on the involute S1 decreases, such that the main decoupling member 375 pushes the carriage to move in the a direction, whereby the lengths of the first drive cable 151A and the third drive cable 152A in the drive device 170 decrease simultaneously, the lengths of the second drive cable 151B and the fourth drive cable 152B in the drive device 470 increase simultaneously, the master decoupler 375 is enabled to drive movement of the slave decoupler 5762 to decouple the first pair of cables from the second and third pairs of cables.

If the main decoupling element 375 continues to rotate in the first direction, so that the carriage 375 moves to an extreme position, in which case the first boss 3762a leaves the involute S1 of the first cam 375a and enters the second arc S3, the second boss 3762b leaves the involute S1 'of the second cam 375b and enters the first arc S2', while the distance from the contact point of the first boss 3762a with the first cam 375a to the rotation axis 573A no longer changes as the first boss 3762a moves over the first arc S1 and the second arc S2 of the first cam 375a, and likewise, the distance from the contact point of the second boss 3762b with the first cam 375a to the rotation axis 573A no longer changes as the second boss 3762b moves over the first arc S1 'and the second arc S2' of the second cam 375b, so that the carriage 375 no longer moves in the a direction, the carriage 375 is in the extreme position at which the time moves in the a direction, and therefore the first arc S3725 of the first cam 375S 1 moves in the first arc S2, S1 'and second arcs S2, S2' cause main decoupler 375 to rotate to the extreme position and continue to rotate and the carriage to move. In contrast, when main decoupling member 375 rotates clockwise, the movement of first cam 375a, second cam 375b and the carriage is opposite to the counterclockwise movement of main decoupling member 375, which is not described herein again.

Fig. 13 shows a driving device according to an embodiment of the present invention, the driving device 150 is suitable for an end instrument having only a yawing motion and no opening and closing motion, such as a cauterized electric hook type end instrument, and has only one pair of driving cables, i.e., only a first pair of cables, compared to the end instrument shown in fig. 5A, the driving device 570 is suitable for driving this type of end instrument, the driving device 570 has one less driving unit for cooperating with the first driving unit to drive the end instrument to open and close compared to the driving device in the previous embodiments, and other structures are substantially similar to the driving device in the previous embodiments. Specifically, the drive device 570 includes a first drive unit 271 and first and second drive cables 271A and 271B wound on opposite ends of the first drive unit 271, the first drive unit being operable to steer the end instrument through the first and second drive cables 271A and 271B in a yaw motion; a second drive unit 272 for driving end instrument pitch motion, third drive cable 252A and fourth drive cable 252B having opposite ends looped around the second drive unit, second drive unit 272 manipulating end instrument pitch motion via third drive cable 252A and fourth drive cable 252B; the third driving unit 273 operates the long shaft 160 to rotate by the fifth and

sixth driving cables

153A and 153B.

The decoupling mechanism of the driving device comprises a secondary decoupling member 3761 and a primary decoupling member 475 coaxially arranged with respect to the secondary driving device, the primary decoupling member 475 being operated by a primary decoupling cable 2765 and a secondary decoupling member 2766 of the secondary decoupling member 476 to move linearly along a carriage 4761 of the secondary decoupling member 476, as a function of the length of the primary drive cable 251A and the secondary drive cable 251B within the driving device 570, it being understood that, similarly to the several embodiments described above, the primary decoupling member 475 and the secondary decoupling member 476 may also be connected in a gear-meshing manner, or in a cam-like manner, and that the several embodiments described above have been described in great detail with respect to how the gear-cam connection is used, and will not be described here in any further detail.

Similar to the several embodiments described above, when the second drive unit 272 and the primary decoupling member 475 are rotated together at the same angular velocity in a first direction, the second drive unit 272 releases the third drive cable 152A and pulls the fourth drive cable 252B, while the primary decoupling member 475 releases the first decoupling cable 2765 and pulls the second decoupling cable 2766, causing the carriage from the decoupling member 476 to move in a direction that decreases the length of the first drive cable 251 within the drive arrangement 570 and increases the length of the second drive cable 251B within the drive arrangement 570. Conversely, when the second drive unit 272 and the primary decoupling element 475 are rotated together at the same angular velocity in a second direction opposite the first direction, the second drive unit 272 pulls the third drive cable 152A and releases the fourth drive cable 252B, while the primary decoupling element 475 pulls the first decoupling cable 2765 and releases the second decoupling cable 2766, causing the carriage from the decoupling element 476 to move in a direction that increases the length of the first drive cable 251 within the drive device 570 and decreases the length of the second drive cable 251B within the drive device 570, thereby decoupling the coupling between the third and fourth drive cables and the first and second drive cables that manipulate pitch.

The plurality of guide wheels 177A-177H in the driving device 570 are used in the same manner as the previous embodiments, such that the portions of the first driving cable 251A on both sides of the first guide portion 4763 are parallel to the moving direction of the carriage, and the portions of the second driving cable 251B on both sides of the second guide portion 4764 are parallel to the moving direction of the carriage, and will not be described again.

In other embodiments, the main decoupling part may not be disposed coaxially with the third driving unit for driving the pitch motion, the main decoupling part may be disposed on a different rotation axis from the third driving unit and driven by a different power source, and the main decoupling part detects the motion of the third driving unit through an encoder disposed on the third driving unit, so as to achieve synchronous operation with the third driving unit and drive the motion of the slave decoupling part. Or a tension sensor is arranged on a driving cable on the manipulating end instrument, and the main decoupling piece drives the slave decoupling piece to move according to tension data detected by the tension sensor.

As shown in fig. 14A and 14B, a driving device 670 according to another embodiment of the present invention is largely identical to the driving device 170 shown in fig. 8A, except that the decoupling mechanism 576 of the driving device 670 in this embodiment has only a slave decoupling member portion of the decoupling mechanism in the embodiment shown in fig. 8A, and does not have a master decoupling member, i.e., the decoupling mechanism 576 in this embodiment only includes a carriage 1761 and first and

second guides

1763 and 1764 disposed at both ends of the carriage, and the movement of the carriage 1761 of the decoupling mechanism 576 of the driving device 670 is driven by the tension change of the first and second pairs of cables, which are otherwise identical to the driving device 170 in the embodiment shown in fig. 8A, and will not be described herein again.

Specifically, as shown in fig. 14B, when third drive unit 173 is rotated in a first direction (counterclockwise), third drive unit 173 pulls in sixth drive cable 153B and releases fifth drive cable 153A to rotate first carriage 310 of the end effector about axis AA' in the direction shown in fig. 7B, such that the wrap angle lengths of first drive cable 151A and third drive cable 152A over fifth pulley 225 and sixth pulley 226, respectively, begin to increase, the wrap angle lengths of second drive cable 151B and fourth drive cable 152B over seventh pulley 227 and eighth pulley 228, respectively, begin to decrease, resulting in an increase in tension on first drive cable 151A and third drive cable 152A, and conversely, a decrease in tension on second drive cable 151B and fourth drive cable 152B, such that first drive cable 151A and third drive cable 152B exert a greater force on first guide 1763 than second drive cable 151B and fourth drive cable 152B B on the second guiding portion 1764, so that the carriage 1761 moves in the direction a under the driving of the forces exerted by the first and

third driving cables

151A and 152A on the first guiding portion 1763, thereby achieving the same decoupling effect as the embodiment shown in fig. 8B, and the specific decoupling process of the movement of the carriage 1761 in the direction a refers to the above description of the decoupling process of the embodiment shown in fig. 8B, and will not be described again here.

When the third drive unit 173 is rotated in a second direction opposite to the first direction, the tension on the first drive cable 151A and the third drive cable 152A decreases, and conversely, the tension on the second drive cable 151B and the fourth drive cable 152B increases, so that the force exerted by the second drive cable 151B and the fourth drive cable 152B on the second guide 1764 is greater than the force exerted by the first drive cable 151A and the third drive cable 152A on the first guide 1763, so that the carriage 1761 moves in a direction opposite to direction a under the drive of the force exerted by the second drive cable 151B and the fourth drive cable 152B on the second guide 1764, thereby achieving the same decoupling effect as in the embodiment shown in fig. 8C, and the specific decoupling process is described above with reference to the decoupling process of the embodiment shown in fig. 8C and will not be repeated here.

Fig. 15 shows a driving device suitable for an end effector without an opening/closing function according to another embodiment of the present invention, and a driving device 770 in this embodiment is also different from the driving device 570 in the embodiment shown in fig. 13 only in a decoupling mechanism, and the others are the same and will not be described again. Specifically, the decoupling mechanism 676 of the drive device 770 has only the slave decoupling portion of the decoupling mechanism in the embodiment shown in fig. 13, with no master decoupling, and the decoupling mechanism 576 includes a carriage 4761 and first and

second guides

4763 and 4764 disposed at either end of the carriage 4761.

In a manner similar to the actuation of the decoupling mechanism 576 in the embodiment of fig. 14A, the decoupling mechanism 676 is actuated by changes in the tension on the first and

second drive cables

251A and 251B, and in particular, the changes in the tension on the first and

second drive cables

251A and 251A that will be induced by the end effector during the pitch motion as the second drive unit 272 rotates, resulting in a different force being exerted by the first drive cable 251A on the first guide portion 4763 than the second drive cable 251B on the second guide portion 5764, thereby moving the carriage 4761 to decouple the first and second pairs of cables, and the movement of the carriage 4761 causes the decoupling process to be the same as the decoupling process described above with respect to fig. 13 and will not be repeated here.

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 a tip instrument, a drive device configured to drive movement of the tip instrument via a plurality of drive cables, and a plurality of drive cables, the tip instrument comprising:

the actuator is rotatably connected to the first support, and a first pulley block for guiding the driving cable is arranged on the first support;

the first pulley block comprises a first pulley and a second pulley arranged on a first pulley shaft, the first pulley and the second pulley comprise pulley grooves for accommodating the driving cables, and the distance from the part of one of the driving cables in the pulley groove of the first pulley and the distance from the part of the other driving cable in the pulley groove of the second pulley to the axis of the first pulley are different.

2. The surgical instrument of claim 1, wherein the groove bottom radii of the pulley grooves of the first and second pulleys are the same, the first pulley shaft comprises a first and second non-concentric axle, one end of the second axle is connected to the first bracket, the other end of the second axle is connected to the first axle, and the first and second axles are used to mount the first and second pulleys, respectively.

3. The surgical instrument of claim 2, wherein a projection of the first axle on a first plane is inscribed on a projection of the second axle on the first plane, the first plane being perpendicular to an axis of the second axle.

4. The surgical instrument of claim 3, wherein an inscribed point of the projections of the first and second axles on the first plane lies on a second plane that passes through the axis of the first axle and is parallel to the axis of rotation of the actuator relative to the first support.

5. The surgical instrument of claim 1, wherein a groove bottom radius of the first pulley is different from a groove bottom radius of the second pulley, and wherein the smaller of the groove bottom radii of the first and second pulleys is mounted at a bottom of the first pulley shaft.

6. The surgical instrument of claim 1, wherein a groove bottom radius of the first pulley is different from a groove bottom radius of the second pulley, the larger of the groove bottom radii of the first and second pulleys being mounted at a bottom of the first pulley shaft.

7. The surgical instrument of claim 2, wherein the end instrument further comprises a second bracket, the first bracket being pivotally connected to the second bracket, the second bracket having a second pulley set disposed thereon for guiding the drive cable, the first pulley set being positioned between the second pulley set and the actuator, the plurality of drive cables including a first pair of cables and a second pair of cables wound identically about the first pulley set and the second pulley set, the first pair of cables and the second pair of cables being adapted to cooperatively drive the actuator in yaw motion.

8. The surgical instrument of claim 7, wherein the actuator includes first and second clamps rotatably coupled to the first support, the first pair of cables including first and second drive cables having distal ends coupled to opposite sides of the first clamp and having opposite windings about the first and second pulley sets, respectively, and the second pair of cables including third and fourth drive cables having distal ends coupled to opposite sides of the second clamp and having opposite windings about the first and second pulley sets, respectively.

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.