CN112402017A

CN112402017A - Surgical robot tail end execution device and surgical robot tail end driving mechanism

Info

Publication number: CN112402017A
Application number: CN202011307931.8A
Authority: CN
Inventors: 翟晓峰; 马广军; 马骥; 何贵生
Original assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Current assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2021-02-26

Abstract

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end executing device and a surgical robot tail end driving mechanism. The surgical robot end executing device of the embodiment comprises an end opening and closing structure, an end rotation structure and an end pitching structure, and solves the technical problems that a minimally invasive surgical instrument in the prior art cannot realize accurate control, is easy to lose, has poor stability and cannot realize an infinite rotation function at the end while opening and closing, rotation and pitching actions are realized.

Description

Surgical robot tail end execution device and surgical robot tail end driving mechanism

Technical Field

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end executing device and a surgical robot tail end driving mechanism.

Background

Minimally invasive surgery has been more and more widely applied in clinical surgery because of its characteristics of small trauma, less bleeding, fast recovery and the like. Therefore, the development of a simple and practical surgical instrument with high action precision and low operation difficulty is of great significance for minimally invasive surgery.

The terminal operation robot among the current minimal access surgery apparatus is the wire rope traction mode who all adopts for realizing corresponding action, its drawback that brings is also very obvious, wire rope belongs to the flexible coupling, can inevitably appear skidding at steel wire wheel ground in-process of rotating, and wire rope itself is yielding, this all makes and utilizes the rotation angle or the removal displacement of steel wire wheel turned angle to control the execution part at terminal and can appear the deviation, can't realize accurate control, on the other hand, wire rope is also easy loss, the stability can be poor owing to the nature of itself in long-term traction and stretching process.

In addition, the minimally invasive surgical instrument in the prior art adopts a steel wire rope structure, one end of the steel wire rope is connected with the steel wire wheel, the other end of the steel wire rope needs to be fixedly connected to the winding wheel, the rotation angle of the steel wire wheel is limited by the length of the steel wire rope, namely, the rotation angle of the tail end is limited by the length of the steel wire rope and cannot realize infinite rotation, and therefore the surgical operation difficulty or the design difficulty of an auxiliary mechanism is increased.

Disclosure of Invention

The invention provides a surgical robot tail end executing device, which solves the technical problems that in the prior art, a minimally invasive surgical instrument cannot realize accurate control, is easy to wear and has poor stability and the tail end cannot realize an infinite rotation function.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides a surgical robot end effector, comprising: the tail end opening and closing structure comprises a fixed clamp fixed on the end seat and a movable clamp hinged to the fixed clamp, and the movable clamp is driven by a transmission rod of the driving module to deflect; the tail end autorotation structure comprises a base, the end seat is rotatably assembled on the first side of the base, a transmission gear is rotatably installed on the second side of the base, the end seat is rigidly connected with the transmission gear, and the transmission gear is driven by an autorotation driving gear of the driving module to drive the end seat to rotate; the swing arm is hinged to form a deflection joint, teeth are formed on the swing arm, and the teeth are driven by the pitching driving gear of the driving module to drive the base to perform pitching motion.

Furthermore, the driving module further comprises a first driving rod for driving the driving rod and a threaded sleeve screwed on the driving rod, the driving rod penetrates through the end seat, a limiting protrusion for limiting rotation of the threaded sleeve is formed on the end seat, and the threaded sleeve moves linearly under the action of the driving rod to drive the movable clamp to deflect around the hinge point.

Furthermore, the first end of the first driving rod is connected to the driving rod through a universal coupling, and the position of the universal coupling corresponds to that of the deflection joint.

Further, the first end of moving the clamp is formed with drive division, form the guide way on the drive division, the first end of moving the clamp still is formed with accommodation space, the swivel nut is arranged in the accommodation space, the lug on the swivel nut extends to in the guide way, the linear motion drive of lug moves the clamp and deflects.

Furthermore, the driving module further comprises a second driving rod sleeved outside the first driving rod, the end part of the second driving rod is provided with the rotation driving gear, and the rotation driving gear drives the transmission gear to drive the end seat to rotate.

Furthermore, the transmission gear extends out of the sleeve body towards the base, the base is provided with a through opening, and the outer peripheral surface of the sleeve body is in clearance fit with the inner peripheral surface of the through opening; the end seat extends towards the sleeve body to form an annular bulge, and the annular bulge is sleeved on the inner periphery of the sleeve body and is in interference fit with the sleeve body.

Further, the drive module still includes the third actuating lever, and the third actuating lever is rotationally installed bear in the seat, the third actuating lever cover is established the outside of second actuating lever, the tip configuration of third actuating lever pitch drive gear, pitch drive gear drive the swing arm deflection.

Further, bear the seat and be equipped with and hold pitch drive gear's installation space, pitch drive gear is in free rotation in the installation space, one side of installation space sets up pitch driven gear, pitch driven gear rotationally installs on bearing the seat, pitch driven gear respectively with pitch drive gear, the tooth meshing in the swing arm.

Another aspect of the present invention also provides a surgical robot tip driving mechanism, including: the driving module comprises a first driving rod, a second driving rod and a third driving rod which are sequentially sleeved inside and outside; the power device comprises a mounting seat, three power shafts are arranged on the mounting seat, and the three power shafts respectively directly or indirectly drive the first driving rod, the second driving rod and the third driving rod to rotate.

Further, the mount pad includes first base plate and second base plate, the third actuating lever is rotationally installed on the first base plate, three the power axle is first power axle, second power axle and third power axle respectively, first power axle is rotationally installed on the second base plate and direct drive first actuating lever, the both ends of second power axle and third power axle are rotationally installed respectively on first base plate and the second base plate and respectively indirect drive second actuating lever and third actuating lever.

Furthermore, at least a part of the second end of the first driving rod protrudes out of the second driving rod to form a protruding part, the protruding part is directly and rigidly connected with the first power shaft, at least a part of the second driving rod protrudes out of the third driving rod to form a protruding end, a driven gear I is installed on the protruding end, a main gear I for driving the driven gear I is arranged on the second power shaft, a driven gear II is installed at one end, close to the protruding end, of the third driving rod, and a main gear II for driving the driven gear II is arranged on the third power shaft.

Further, power device still includes the power supply, the power supply includes the motor cabinet and fixes the driving motor on the motor cabinet, driving motor through to inserting the connection module with the power shaft linkage.

Further, the plug-in connection module includes: the female end connecting structure comprises a fixing plate fixed on the second substrate, a rotary joint is rotatably arranged on the fixing plate, a first end of the rotary joint is fixedly connected with the power shaft, and a second end of the rotary joint is formed into a socket; the male end connecting structure comprises a pair of plugs which are rotatably arranged on the motor base, the pair of plugs are fixedly connected with an output shaft of the driving motor, and the pair of plugs are inserted into the bearing plugs to form a linkage structure.

Further, the fixed plate with still be equipped with between the motor cabinet and prevent slow-witted subassembly, prevent slow-witted subassembly including setting up the location boss of two at least not unidimensional of fixed plate is in with the setting on the motor cabinet with location boss complex slot, the location boss with correspond the slot is pegged graft.

Further, the end portions of the pair of plugs are formed with guide blocks, and the guide ends of the guide blocks are formed as two guide surfaces that intersect at the end portions of the guide ends.

Further, the plug-in connection module further comprises a locking assembly, the locking assembly comprises a pressing cover, a locking bolt and a threaded sleeve fixed on the mounting seat, the pressing cover presses against the driving motor, and a locking portion of the locking bolt penetrates through the pressing cover, the motor seat and the threaded sleeve to be in threaded connection.

Based on the structure, the invention can realize the technical effects that:

1. the tail end opening and closing structure realizes opening and closing actions through the first driving rod, the coupler, the driving rod and the threaded sleeve screwed on the driving rod, replaces a steel wire rope traction mode to realize opening and closing of the fixed clamp and the movable clamp, avoids the problem that deviation occurs in a rotation angle or movement displacement caused by matching of a steel wire wheel and a steel wire rope, and solves the technical problems that the tail end of a surgical robot of a minimally invasive surgical instrument in the prior art cannot realize accurate control, in addition, the matching of the driving rod and the threaded sleeve is more stable, and abrasion and poor stability of the steel wire rope in a long-term traction and stretching process are avoided;

2. the tail end rotation structure utilizes the second driving rod, the rotation driving gear, the rotation driven gear and the transmission gear to realize rotation action, replaces a steel wire rope traction mode, avoids the problem that the rotation angle is deviated in the process of controlling the tail end to execute by matching the steel wire wheel and the steel wire rope, and solves the technical problems that the tail end of a surgical robot of a minimally invasive surgical instrument in the prior art cannot realize accurate control, in addition, the matching between the gear and the gear is more stable, and the abrasion and poor stability of the steel wire rope in the long-term traction and stretching process are avoided. More importantly, the transmission gear can realize infinite rotation without being limited by the length of the steel wire rope under the driving of the second driving rod, so that the technical problem that the tail end cannot rotate infinitely is solved;

3. the tail end pitching structure realizes pitching action by utilizing the third driving rod, the pitching driving gear, the pitching driven gear and the teeth on the swing arm, replaces a steel wire rope traction mode to realize pitching action of the tail end, avoids the problem that a steel wire wheel and the steel wire rope are matched to control a deflection angle in the tail end execution process to generate deflection, solves the technical problems that the tail end of a surgical robot of a minimally invasive surgical instrument in the prior art cannot realize accurate control, in addition, the matching of a gear set is more stable, and avoids the abrasion and poor stability of the steel wire rope in the long-term traction and stretching process;

4. in the invention, the tail end opening and closing structure, the tail end rotation structure and the tail end pitching structure are respectively designed with the accommodating space, the accommodating space and the mounting space to respectively accommodate different driving parts, the whole structure is more compact without interference, and in addition, the first driving rod, the second driving rod and the third driving rod are sequentially sleeved inside and outside, so that the whole structure is compact without interference. Generally, the surgical robot end effector of the embodiment integrates the end opening and closing structure, the end rotation structure and the end pitching structure in a limited space, and has no interference with each other, when one degree of freedom works, the other two degrees of freedom mechanism pieces do not interfere with each other, so that the realization of the movement of the other two degrees of freedom mechanism pieces is affected, and the performance of the product is more stable.

Drawings

FIG. 1 is a schematic view of the overall construction of the surgical robotic end effector of the present invention;

FIG. 2 is a cross-sectional view of a surgical robotic end effector of the present invention;

FIG. 3 is a schematic view of a first perspective of the end mount of the present invention;

FIG. 4 is a schematic view of a second perspective of the end mount of the present invention;

FIG. 5 is a schematic third perspective view of the end mount of the present invention;

FIG. 6 is a schematic cross-sectional view of an end seat of the present invention;

FIG. 7 is a schematic view of the dynamic clip of the present invention;

FIG. 8 is a schematic view of the universal joint of the present invention;

FIG. 9 is a schematic view of the gears of the present invention with the end performing a spinning action;

FIG. 10 is a schematic view of a first perspective of the gear of the present invention with the end effecting a pitching motion;

FIG. 11 is a schematic view of a second perspective of the end effector pitch gear of the present invention;

FIG. 12 is a schematic view of a third perspective of the gear of the present invention with the end effecting a pitching motion;

FIG. 13 is a schematic view of a carrier of the present invention;

FIG. 14 is a schematic view from a first perspective of the drive rod in connection with the power shaft of the present invention;

FIG. 15 is a schematic view from a second perspective of the drive rod in connection with the power shaft of the present invention;

FIG. 16 is a cross-sectional view of the drive rod of the present invention;

FIG. 17 is a schematic view of the present invention showing the drive shaft and power shaft connection after the first drive shaft and connecting sleeve have been concealed;

fig. 18 is a schematic view of a connecting sleeve of the present invention;

FIG. 19 is a schematic view of a surgical robot of the present invention;

fig. 20 is a schematic view from a first perspective of the surgical robot of the present invention after concealing the protective sleeve and protective housing;

fig. 21 is a schematic view from a second perspective of the surgical robot of the present invention after concealing the protective sleeve and protective housing;

fig. 22 is a first perspective view of the drive motor of the present invention;

FIG. 23 is a schematic view from a second perspective of the drive motor of the present invention;

fig. 24 is a first perspective view of a fixation plate of the present invention;

fig. 25 is a second perspective view of the fixation plate of the present invention;

FIG. 26 is a schematic view from a first perspective of the connection of the mounting plate to the mounting base of the present invention;

FIG. 27 is a second perspective view of the connection of the mounting plate to the mounting base of the present invention;

FIG. 28 is a schematic view of a first perspective of a rotary joint of the present invention;

FIG. 29 is a schematic view of a second perspective of the rotary joint of the present invention;

FIG. 30 is a schematic view from a third perspective of the rotary joint of the present invention;

FIG. 31 is a schematic view of a motor mount and drive motor portion of the present invention from a first perspective;

FIG. 32 is a schematic view of a second perspective of the motor mount and drive motor portion of the present invention;

FIG. 33 is a schematic view from a third perspective of the motor mount and drive motor portion of the present invention;

FIG. 34 is a schematic view from a fourth perspective of the motor mount and drive motor portion of the present invention;

FIG. 35 is a schematic view of a first perspective of the motor mount of the present invention;

FIG. 36 is a schematic view of a second perspective of the motor mount of the present invention;

FIG. 37 is a schematic view of a first perspective of the plug of the present invention;

FIG. 38 is a schematic view of a second perspective of the plug of the present invention;

FIG. 39 is a schematic view of the invention after mating of the male and female connectors;

fig. 40 is a diagram of the mating process of the mating plug and the receptacle plug of the present invention.

Wherein: 1-end seat, 11-fixed clamp, 12-movable clamp, 121-hinged part, 122-free end, 123-driving part, 1231-guide groove, 124-first extension arm, 13-driving rod, 131-thread sleeve, 132-lug, 133-annular limiting bulge, 14-limiting bulge, 15-clamping block, 16-annular bulge, 17-annular flange, 18-first driving rod, 181-universal coupling, 1811-connecting piece, 1812-connecting piece and 182-protruding part; 2-base, 21-transmission gear, 211-sleeve body, 22-swing arm, 221-tooth, 23-second driving rod, 231-self-rotation driving gear, 232-protruding end, 233-auxiliary gear I, 24-through hole, 25-self-rotation driven gear, 26-limit sleeve and 261-limit groove; 3-a bearing seat, 31-an articulated arm, 32-a third driving rod, 321-a pitching driving gear, 322-a driven gear II, 33-a pitching driven gear and 34-an avoiding port; 4-power unit, 41-mounting seat, 411-first base plate, 412-second base plate, 413-screw sleeve, 414-first speed regulating gear shaft, 4141-first speed regulating gear, 415-second speed regulating gear shaft, 4151-second speed regulating gear, 416-connecting sleeve, 42-first power shaft, 43-second power shaft, 431-main gear I, 44-third power shaft, 441-main gear II, 45-motor seat, 451-driving motor, 452-pair plug, 4521-guide block, 4522-guide surface, 453-slot, 46-fixing plate, 461-rotary joint, 4611-bearing plug, 4612-groove, 4613-guide slot, 4614-guide surface, 4615-connecting slot, 462-positioning boss, 47-gland, 48-lock bolt; 5-a protective sleeve; 6-protecting the shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The first embodiment is as follows:

the terminal operation robot among the current minimal access surgery apparatus is the wire rope traction mode who all adopts for realizing corresponding action, its drawback that brings is also very obvious, wire rope belongs to the flexible coupling, can inevitably appear skidding at steel wire wheel ground in-process of rotating, and wire rope itself is yielding, this all makes and utilizes the rotation angle or the removal displacement of steel wire wheel turned angle to control the execution part at terminal and can appear the deviation, can't realize accurate control, on the other hand, wire rope is also easy loss, the stability can be poor owing to the nature of itself in long-term traction and stretching process. In addition, the minimally invasive surgical instrument in the prior art adopts a steel wire rope structure, one end of the steel wire rope is connected with the steel wire wheel, the other end of the steel wire rope needs to be fixedly connected to the winding wheel, the rotation angle of the steel wire wheel is limited by the length of the steel wire rope, namely, the rotation angle of the tail end is limited by the length of the steel wire rope and cannot realize infinite rotation, and therefore the surgical operation difficulty or the design difficulty of an auxiliary mechanism is increased. In order to solve the above problems, the present embodiment provides an end effector of a surgical robot, which includes an end opening and closing structure, an end rotation structure, an end pitching structure and a driving module, and can implement rigid transmission to ensure the control precision, and at the same time, the end rotation structure can implement infinite rotation.

As shown in fig. 1-40, the present embodiment provides a surgical robot end effector, which includes an end opening and closing structure, an end rotation structure, an end pitching structure and a driving module, the end opening and closing structure includes a fixed clamp 11 fixed on an end base 1 and a movable clamp 12 hinged to the fixed clamp 11, the movable clamp 12 is driven by the driving module to deflect, the end rotation structure includes a base 2, a first side of the base 2 is rotatably assembled with the end base 1, a second side of the base 2 is rotatably installed with a transmission gear 21, the end base 1 is rigidly connected to the transmission gear 21, the transmission gear 21 is driven by the driving module to drive the end base 1 to rotate, the end pitching structure includes a swing arm 22, the swing arm 22 is formed on the base 2, a tooth 221 is formed on the swing arm 22, the tooth 221 is driven by the driving module to drive the base 2 to pitch, the driving module is disposed in the bearing base 3, an articulated arm 31 is, the hinge arm 31 is hinged to the swing arm 22.

The tail end opening and closing structure, the tail end rotation structure and the tail end pitching structure of the embodiment are all driven by the driving module through hard connection of the metal piece, so that the problems of low control precision, easiness in loss and poor stability caused by the adoption of a steel wire rope soft connection mode are solved. In addition, the driving module realizes the autorotation action of the tail end execution device through the transmission gear 21 arranged on the second side of the base 2, and as the transmission gear 21 is rigidly connected with the end seat 1, the number of rotation turns of the transmission gear 21 is not limited by the length of the steel wire rope any more, namely the end seat 1 can infinitely rotate on the base 2, so that the infinite rotation function of the tail end execution device is realized.

According to an embodiment of the terminal opening and closing structure of the present invention, the fixing clip 11 is fixed opposite to the end seat 1, and the fixing clip 11 may be integrally formed with the end seat 1, or may be fixedly connected to the end seat 1 through a fastener, in this embodiment, the end seat 1 is configured as a circular seat body, and an outer edge of one side of the circular seat body extends out of the fixing clip 11.

Further, as shown in fig. 3 to 7, the fixed clip 11 is hinged to the movable clip 12, specifically, a first end of the movable clip 12 is formed with a hinge portion 121, the hinge portion 121 is located at a lower portion of the first end of the movable clip 12, the hinge portion 121 is hinged to the fixed clip 11, a second end of the movable clip 12 is configured as a free end 122, the free end 122 is deflected around the hinge point to form an opening and closing action, preferably, the first end of the movable clip 12 is formed as two first extension arms 124, lower portions of the two first extension arms 124 are formed with hinge holes, the fixed clip 11 is also formed with hinge holes, and lower portions of the two first extension arms 124 are hinged to the fixed clip 11 through the hinge shafts and the hinge holes, so that a receiving space is formed between the two first extension arms 124, and the receiving space can be used for receiving a driving portion for driving the movable clip 12 to deflect, thereby making the whole.

As described above, in the present embodiment, the movable clamp 12 is driven by the driving module to perform the opening and closing actions, according to an embodiment of the driving module of the present invention, the driving module includes the transmission rod 13, the threaded sleeve 131 and the first driving rod 18, specifically, the end seat 1 of the present embodiment is formed with a shaft hole, the optical axis portion of the transmission rod 13 is rotatably installed in the shaft hole of the end seat 1, the first end of the transmission rod 13 is in threaded fit with the threaded sleeve 131, the second end of the transmission rod 13 passes through the shaft hole and is connected with the first driving rod 18 of the driving module, the transmission rod 13 is rotated under the driving of the first driving rod 18, in order to make the threaded sleeve 131 not follow the rotation and form the linear movement, the end seat 1 of the present embodiment is formed with the limiting protrusion 14 for limiting the rotation of the threaded sleeve 131, at least a portion of the outer circumferential surface of the threaded sleeve 131 is a rotation limiting plane, the limiting protrusion 14 on the end, so that the screw sleeve 131 forms a linear motion under the action of the transmission rod 13, in the embodiment, the screw sleeve 131 is configured as a cube, one face of which is configured as a rotation limiting plane to match with the limiting protrusion 14, but the screw sleeve 131 may also be configured as a sphere or a cylinder, and the rotation limiting plane is milled on the face of the sphere or the cylinder close to the limiting protrusion 14.

Further, the movable clamp 12 is pushed to deflect around the hinge point by the linear motion of the screw sleeve 131, specifically, a protruding block 132 is formed on the screw sleeve 131, a driving part 123 is formed at the first end of the movable clamp 12, the driving part 123 is located at the upper part of the first end of the movable clamp 12, a guide groove 1231 matched with the protruding block 132 is formed in the driving part 123, and the protruding block 132 of the screw sleeve 131 extends into the guide groove 1231, so that the movable clamp 12 can be driven to deflect to realize the opening and closing actions of the terminal opening and closing structure when the screw sleeve 131 moves linearly.

It should be noted that the driving structure of the screw sleeve 131 of the present embodiment may be modified in many ways, for example, the protrusion 132 is disposed on the driving portion 123, the guide groove 1231 is disposed on the screw sleeve 131, and the driving of the fixing clip 11 may also be realized, that is, the driving structure of the screw sleeve 131 of the present embodiment is not limited in specific form as long as the driving of the fixing clip 11 can be realized.

Preferably, two annular limiting protrusions 133 are further formed on the transmission rod 13, the two annular limiting protrusions 133 are limited on two sides of the end seat 1, and the annular limiting protrusions 133 can prevent the transmission rod 13 from being displaced relative to the end seat 1 in the axial direction in the working process, so that the working stability is ensured.

Preferably, at least two clamping blocks 15 are further formed on the end seat 1, and the two clamping blocks 15 are located on two sides of the driving portion 123 of the movable clamp 12 to limit and fix the movable clamp 12.

In order to realize the autorotation function of the tail end execution device and simultaneously realize the mutual matching and noninterference with the opening and closing actions, the tail end autorotation structure of the implementation utilizes the transmission gear 21 to be rigidly connected with the end seat 1 of the tail end opening and closing structure, the transmission gear 21 drives the end seat 1 to rotate, the fixed clamp 11 and the movable clamp 12 on the end seat 1 can rotate along with the transmission gear, and on the other hand, the transmission rod 13 can also rotate freely to drive the movable clamp 12 to deflect to realize the opening and closing actions, so that the opening and closing actions and the autorotation actions.

According to an embodiment of the present invention, the transmission gear 21 and the end seat 1 can be rigidly connected in a manner that the transmission gear 21 extends out of the sleeve body 211 towards the end seat 1, the end seat 1 extends out of the annular protrusion 16 towards the sleeve body 211, and the annular protrusion 16 is sleeved on the inner periphery of the sleeve body 211 and is in interference fit with the sleeve body 211, that is, the transmission gear 21 integrated with the sleeve body 211 can drive the end seat 1 to rotate together when rotating.

Further, the assembly structure of the transmission gear 21 and the base 2 of the present embodiment is that the base 2 and the end seat 1 are in the same shape, the base 2 is formed with a through opening 24, the sleeve body 211 is disposed in the through opening 24, and the outer peripheral surface of the sleeve body 211 is in clearance fit with the inner peripheral surface of the through opening 24 so that the transmission gear 21 can rotate in the through opening 24. Preferably, a limiting sleeve 26 is further disposed between the base 2 and the end seat 1 of the present embodiment, a limiting groove 261 is formed on a side of the limiting sleeve 26 facing the end seat 1, the end seat 1 is formed with an annular flange 17, and the annular flange 17 is fitted in the limiting groove 261 and is rotatable, i.e., the limiting groove 261 and the annular flange 17 limit each other.

In order to avoid interference, the sleeve 211 of the transmission gear 21 of the present embodiment passes through the first driving rod 18, and the transmission gear 21 and the first driving rod 18 rotate relatively, so that the first driving rod 18 does not interfere with the rotation of the driving end seat 1 of the transmission gear 21 when rotating to drive the fixing clip 11 to open and close.

Further, as described above, the transmission gear 21 of the present embodiment is driven to rotate by the driving module, the driving module of the present embodiment drives the transmission gear 21 to rotate through the second driving rod 23, specifically, the second driving rod 23 is sleeved outside the first driving rod 18 and can rotate relatively therebetween, one end of the second driving rod 23 close to the transmission gear 21 is provided with the rotation driving gear 231, and the rotation driving gear 231 drives the transmission gear 21 to rotate so as to realize the rotation of the end socket 1, thereby realizing the rotation function of the end socket.

It should be noted that the rotation driving gear 231 on the second driving rod 23 can be directly engaged with the transmission gear 21 to drive the transmission gear 21 to rotate, but the actuator of the present embodiment also needs to simultaneously implement the pitch function, so in order to avoid the interference between rotation and pitch, the rotation driving gear 231 of the present embodiment drives the transmission gear 21 in an indirect driving manner. Specifically, the second extension arm extends towards the direction away from the end seat 1 from the outer edge of the second side of the base 2, the second extension arm is two and is symmetrically arranged, one of the second extension arms is rotatably provided with a rotation driven gear 25, the rotation driven gear 25 is respectively engaged with the rotation driving gear 231 and the transmission gear 21, and the rotation driving gear 231, the rotation driven gear 25 and the transmission gear 21 are all bevel gears. Thus, the rotation driving gear 231 can drive the transmission gear 21 to rotate through the rotation driven gear 25, and at the same time, the swing arm 22 of the end pitch structure can be formed by the other second extension arm.

Specifically, the other second extension arm is configured as a swing arm 22 with a distal pitching structure, the swing arm 22 is hinged to a hinge arm 31 on the carrying seat 3, specifically, the carrying seat 3 has a shape corresponding to the base 2, the hinge arm 31 extends from an outer edge of the carrying seat 3 toward one side of the base 2, the hinge arms 31 are symmetrically arranged, and the two hinge arms 31 are hinged to the two second extension arms correspondingly, so as to form a yawing joint between the base 2 and the carrying seat 3, so that the base 2 can perform a pitching motion relative to the carrying seat 3, and the fixed clamp 11 and the movable clamp 12 on the base 2 also perform a pitching motion therewith, and on the other hand, an accommodating space is formed between the two second extension arms, and the accommodating space can be provided with a driving portion.

As mentioned above, the base 2 is driven by the driving module to perform the pitching motion, specifically, the teeth 221 on the swing arm 22 are formed at one end of the swing arm 22 away from the base 2 and are formed as circular arc-shaped racks at the end, and the circular arc-shaped racks are driven by the driving module. Specifically, the driving module further includes a third driving rod 32, the third driving rod 32 is rotatably installed in the carrying seat 3, the third driving rod 32 is sleeved outside the second driving rod 23, a pitch driving gear 321 is installed at an end of the third driving rod 32, the pitch driving gear 321 can directly engage with the teeth 221 on the swing arm 22 to drive the swing arm 22 to deflect, but in order to be compatible with rotation and pitch motions simultaneously, the pitch driving gear 321 of the embodiment drives the swing arm 22 through a pitch driven gear 33, specifically, an installation space for accommodating the pitch driving gear 321 is provided in the carrying seat 3, the pitch driving gear 321 can freely rotate in the installation space, the pitch driven gear 33 is provided at one side of the installation space, the pitch driven gear 33 is rotatably installed on the carrying seat 3, the carrying seat 3 is further provided with an avoiding through hole 34 at an installation position of the pitch driven gear 33, so that the pitch driven gear 33 is engaged with the pitch drive gear 321 and the teeth 221 on the swing arm 22, respectively, and the pitch drive gear 321 drives the swing arm 22 to deflect through the pitch driven gear 33.

Further, the second driving lever 23 extends to protrude from the carrier base 3, and the rotation driving gear 231 is mounted at an end thereof, so that the pitch driving gear 321 and the rotation driving gear 231, and the second driving lever 23 and the third driving lever 32 do not interfere with each other in operation.

Meanwhile, in order to be compatible with the opening and closing functions, a part of the first driving rod 18 of the embodiment is configured to be a universal coupling 181, the position of the universal coupling 181 corresponds to that of the yaw joint, that is, the universal coupling 181 is arranged in the accommodating space between the two second extension arms, so that the first driving rod 18 can still transmit power to the driving rod 13 through the universal coupling 181 during pitching, because the angle of the universal coupling 181 can be adjusted during pitching, power can still be transmitted, and the universal coupling 181 cannot interfere with the rotation driven gear 25 and the pitching driven gear 33 on the two sides of the universal coupling 181, in addition, the universal coupling 181 is installed by utilizing the space between the two second extension arms, so that the whole structure is more compact, and the miniaturization design is facilitated.

Preferably, the end of first drive rod 18 close to the transmission rod is configured as a universal joint 181, universal joint 181 being rigidly connected to transmission rod 13. As shown in fig. 8, the universal joint 181 of the present embodiment includes two connecting members 1811 and a connecting block 1812, one end of the connecting member 1811 is formed as a sleeve that can be sleeved on the first driving rod 18 and the driving rod 13, a pair of connecting arms hinged on the connecting block 1812 extend out from one side of the outer edge of the connecting member 1811 facing away from the sleeve, a pin for hinging the connecting arms is formed on the side wall of the connecting block 1812, and the shape of the connecting block 1812 can be any shape as long as the two connecting members 1811 can be effectively hinged at two ends.

In this embodiment, in order to allow the first driving rod 18 to protrude from the second driving rod 23 and to be connected to the universal joint 181, a through hole is formed in the rotation driving gear 231, and the first driving rod 18 passes through the through hole and is connected to the universal joint 181.

The operating principle of the surgical robot tail end executing device is as follows:

opening and closing actions: the first driving rod 18 is driven by the power device 4 to rotate, the first driving rod 18 drives the driving rod 13 to rotate through the coupler, the threaded sleeve 131 on the driving rod 13 can only move along a straight line due to the rotation limited by the limiting protrusion 14 on the end seat 1, and the threaded sleeve 131 drives the movable clamp 12 to deflect around a hinge point through the convex block 132 on the threaded sleeve 131, so that the opening and closing action of the tail end executing device is realized.

The tail end opening and closing structure in the embodiment is that the opening and closing actions are realized through the first driving rod 18, the coupler, the driving rod 13 and the threaded sleeve 131 which is screwed on the driving rod 13, the opening and closing of the fixed clamp 11 and the movable clamp 12 are realized by replacing a steel wire rope traction mode, the problem that deviation can occur in the rotating angle or the moving displacement caused by the matching of a steel wire wheel and a steel wire rope is avoided, the problem that the tail end of a surgical robot of a minimally invasive surgical instrument in the prior art cannot be accurately controlled is solved, in addition, the matching of the driving rod 13 and the threaded sleeve 131 is more stable, and the technical problems that the steel wire rope is abraded and poor in stability in the long-term traction and stretching process are avoided, so that the tail end opening and closing structure in the embodiment is.

Self-rotation action: the second driving rod 23 is driven by the power device 4 to rotate, the rotation driving gear 231 on the second driving rod 23 sequentially passes through the rotation driven gear 25 and the transmission gear 21 to drive the end seat 1 to rotate, and the end seat 1 drives the movable clamp 12 and the fixed clamp 11 on the end seat to rotate together, so that the rotation action of the tail end executing device is realized.

The terminal rotation structure of this embodiment utilizes second actuating lever 23, rotation drive gear 231, rotation driven gear 25 and drive gear 21 to realize the rotation action, has replaced the mode that the wire rope pulls, avoids steel wire wheel and wire rope cooperation to control terminal execution in-process turned angle can the problem that the deviation can appear, the surgical robot terminal of having solved among the prior art minimal access surgery apparatus can't realize accurate control, in addition, the cooperation between gear and the gear is more stable, the technical problem of wire rope wearing and tearing and the poor stability in long-term traction and stretching process has been avoided. More importantly, the transmission gear 21 can realize infinite rotation without being limited by the length of the steel wire rope under the driving of the second driving rod 23, thereby solving the technical problem that the tail end cannot rotate infinitely.

Pitching motion: the third driving rod 32 is driven by the power device 4 to rotate, the pitching driving gear 321 on the third driving rod 32 drives the base 2 to deflect sequentially through the pitching driven gear 33 and the teeth 221 on the swing arm 22, and the base 2 drives the movable clamp 12 and the fixed clamp 11 on the end seat 1 to perform pitching actions together, so that the pitching action of the end executing device is realized.

The tail end pitching structure of the embodiment utilizes the third driving rod 32, the pitching driving gear 321, the pitching driven gear 33 and the teeth 221 on the swing arm 22 to realize pitching action, the mode of steel wire rope traction is replaced to realize tail end pitching action, the problem that deviation can occur in the process of controlling the tail end to execute by matching the steel wire wheel and the steel wire rope is avoided, the problem that the tail end of the surgical robot of the minimally invasive surgical instrument in the prior art cannot realize accurate control is solved, in addition, the matching of the gear set is more stable, the technical problems of abrasion and poor stability of the steel wire rope in the long-term traction and stretching process are avoided, and therefore, the tail end pitching structure in the embodiment is higher in control accuracy and better in stability.

The end opening and closing structure, the end rotation structure and the end pitching structure of the present embodiment are designed with an accommodating space, an accommodating space and an installation space to accommodate different driving parts, respectively, the overall structure is more compact and has no interference with each other, in addition, the first driving rod 18, the second driving rod 23 and the third driving rod 32 are sleeved inside and outside in sequence, and also the overall structure is compact and has no interference with each other, generally, the end executing device of the surgical robot of the present embodiment integrates the end opening and closing structure, the end rotation structure and the end pitching structure in a limited space and has no interference with each other, when one degree of freedom works, the other two degrees of freedom do not interfere with each other, that is, when one degree of freedom among the end opening and closing structure, the end rotation structure and the end pitching structure acts, the other two degrees of freedom remain motionless, or the other two degrees of freedom are adaptively matched with the action of the working degrees of freedom, so that each end structure can act. It should be noted that: when the instrument is actually used, the instrument is usually moved in a single degree of freedom, and other two degrees of freedom are kept still when the instrument is moved and pitched. Specifically, the opening and closing actions are independent actions realized by driving the universal coupling 181 to rotate by the driving motor 451, and the cooperation of the other two degrees of freedom is not needed; the realization of the rotation action needs the matching of the driving motor 451 of the opening and closing action, namely, the universal joint 181 rotates along with the rotation to prevent the false triggering of the opening and closing action during the rotation; the pitch motion is realized by the driving motor 451 which needs the rotation motion to cancel the interference of the rotation driven gear 25 in accordance with the 1:1 rotation, and the universal joint 181 also needs to change the angle adaptively to match the pitch and yaw directions. Therefore, each degree of freedom on the sense of the operator can independently act without influencing each other through the decoupling relation between the driving motors 451 with three degrees of freedom.

Example two:

as shown in fig. 14 to 40, the present embodiment further provides a surgical robot end driving mechanism, which includes a driving module and a power device 4, and the structure of the driving module of the present embodiment is completely the same as that of the first embodiment, which is not described herein again.

The power device 4 of the embodiment includes a mounting base 41, and three power shafts are disposed on the mounting base 41, and the three power shafts directly or indirectly drive the first driving rod 18, the second driving rod 23, and the third driving rod 32 to rotate, respectively. Specifically, the mounting base 41 includes a first base plate 411 and a second base plate 412, the first base plate 411 and the second base plate 412 are arranged in parallel and are respectively provided with a plurality of bearing seats, the third driving rod 32 is rotatably installed in the bearing seat of the first base plate 411, the three power shafts are respectively a first power shaft 42, a second power shaft 43 and a third power shaft 44, the first power shaft 42 is rotatably installed in the bearing seat of the second base plate 412 and directly drives the first driving rod 18, and two ends of the second power shaft 43 and the third power shaft 44 are respectively rotatably installed on the first base plate 411 and the second base plate 412 and indirectly drive the second driving rod 23 and the third driving rod 32 respectively.

Specifically, the driving structure of the first driving lever 18 is: at least a portion of the second end of the first driving rod 18 protrudes from the second driving rod 23 and forms a protruding portion 182, the protruding portion 182 is directly and rigidly connected to the first power shaft 42, specifically, a rotation limiting plane may be cut on the protruding portion 182, an insertion slot matched with the protruding portion 182 is formed on the first power shaft 42, and the protruding portion 182 is inserted into the insertion slot to form a rigid connection.

Further, the driving structure of the second driving lever 23 is: at least one part of the second driving rod 23 protrudes out of the third driving rod 32 to form a protruding end 232, the protruding end 232 is provided with a slave gear I by a connecting sleeve 416, a master gear I431 for driving the slave gear I233 is arranged on the second power shaft 43, specifically, a rotation limiting plane can be cut on the protruding end 232, the protruding end 232 is fixedly matched with the inner surface of the connecting sleeve 416, at least one part of the outer peripheral surface of the connecting sleeve 416 is fixedly connected with the slave gear I233, the bottom of the connecting sleeve 416 is abutted against the third driving rod 32, and the second driving rod 23 can be limited by the connecting sleeve 416.

Preferably, the main gear i 431 is driven by a first governor gear 4141 to rotate by the driven gear i 233 in this embodiment, and specifically, the first base plate 411 and the second base plate 412 are provided with a first governor gear shaft 414, the first governor gear 4141 is fixed to the first governor gear shaft 414, and the first governor gear is respectively meshed with the main gear i 431 and the driven gear i 233, so that the installation position of the second power shaft 43 is more flexible.

Further, the driving structure of the third driving lever 32 is: the third driving rod 32 is sleeved with the secondary gear ii 322, the third power shaft 44 is provided with a primary gear ii 441 for driving the secondary gear ii 322, preferably, the primary gear ii 441 in the embodiment indirectly drives the secondary gear ii 322 to rotate through a second governor gear 4151, specifically, the first base plate 411 and the second base plate 412 are provided with a second governor gear shaft 415, the second governor gear 4151 is fixed on the second governor gear shaft 415, and the second governor gear 4151 is respectively meshed with the secondary gear ii 322 and the primary gear ii 441, so that the mounting position of the third power shaft 44 is flexible, and the secondary gear i 233 and the secondary gear ii 322 do not interfere with each other when being driven.

According to an embodiment of the present invention, the power device 4 further includes a power source, the power source includes a motor base 45 and a driving motor 451 fixed on the motor base 45, in this embodiment, the motor base 45 is a circular base, three driving motors 451 are arranged on the motor base 45, and the driving motors 451 are linked with the power shaft through an opposite-insertion connection module.

According to an embodiment of the present invention, the opposite-insertion connection module includes a female connection structure and a male connection structure, wherein the female connection structure includes a fixing plate 46 fixed on the second substrate 412, in this embodiment, the fixing plate 46 is slightly larger than the second substrate 412, the fixing plate 46 is fixedly connected to the second substrate 412 through a plurality of screws, a bearing seat is disposed on the fixing plate 46, a rotary joint 461 is rotatably disposed in the bearing seat, a connecting groove 4615 is disposed at a first end of the rotary joint 461, and the rotary joint 461 is fixedly connected to the power shaft through the connecting groove 4615, that is, an end of the power shaft is inserted into the connecting groove 4615 and forms an interference fit. Further, the second end of the rotary joint 461 is formed as a socket 4611, the male end connection structure includes a pair of plugs 452 engaged with the socket 4611, the pair of plugs 452 is rotatably mounted on the motor base 45, the pair of plugs 452 is fixedly connected to the output shaft of the driving motor 451, for example, a slot is provided on the pair of plugs 452, the output shaft of the driving motor 451 is inserted into the slot and fixed, so that the output shaft of the driving motor 451 can be detachably connected with the power shaft through the pair of plug connection modules.

In order to facilitate the adaptive plug-in connection, a guide block 4521 is circumferentially formed at the end of the plug 452, the guide end of the guide block 4521 is formed as two guide surfaces 4522, the two guide surfaces 4522 intersect at the end of the guide end, correspondingly, the socket 4611 is provided with a groove 4612, the inner wall of the groove 4612 is provided with a plurality of guide grooves 4613, the guide grooves 4613 are formed with inclined guide surfaces 4614 facing the end surface of the plug 452, so that the initial positioning of the plug 452 and the socket 4611 can be realized by the cooperation of the guide surfaces 4522 on the plug 452 and the guide surfaces 4614 on the socket 4611, and the power shaft and the output shaft of the driving motor 451 can freely rotate during the initial positioning, thereby adaptively correcting the plug-in angle of the plug 452 or the socket 4611, and realizing the fast reading plug-in connection.

Preferably, the number of the guide grooves 4613 is an integral multiple of the number of the guide blocks 4521, in this example, the number of the guide grooves 4613 is preferably eight, and the number of the guide blocks 4521 is preferably four, so that the deviation rectification and alignment can be automatically completed by the guide grooves 4613 and the guide blocks 4521 without manual alignment in the alignment and insertion process, which is convenient and fast.

In order to make the opposite insertion more rapid and convenient, a fool-proof assembly is further arranged between the fixing plate 46 and the motor base 45, the fool-proof assembly comprises at least two positioning bosses 462 with different sizes arranged on the fixing plate 46 and a slot 453 arranged on the motor base 45 and matched with the positioning bosses 462, and the positioning bosses 462 are inserted into the corresponding slots 453. In this embodiment, location boss 462 is one big one little two, distributes in the edge of fixed plate 46, and two bosss roughly are 180 degrees angular setting, correspondingly, and slot 453 also is one big one little two, distributes in the edge of motor cabinet 45 and is 180 degrees angular setting, like this when inserting, the user can only peg graft according to the mode that location boss 462 and adaptation slot 453 correspond, and convenience of customers confirms the grafting mode, convenient and fast.

According to an embodiment of the invention, the opposite-insertion connection module further comprises a locking assembly, the locking assembly comprises a pressing cover 47, a locking bolt 48 and a threaded sleeve 413 fixed on the mounting base 41, the threaded sleeve 413 is fixed between the first base plate 411 and the second base plate 412 of the mounting base 41, the pressing cover 47 is pressed against the driving motor 451, a handle capable of being rotated by a human hand is arranged at the position, close to the pressing cover 47, of the locking bolt 48, and a locking part of the locking bolt 48 penetrates through the pressing cover 47, the motor base 45 and the threaded sleeve 413 to be in threaded connection so as to lock the opposite-insertion connection module.

Example three:

as shown in fig. 19 to 40, this embodiment further provides a surgical robot, which includes a terminal executing device and a terminal driving mechanism, and the terminal executing device and the terminal driving mechanism are completely the same as those in the second and third embodiments, and are not described herein again.

Further, the surgical robot of this embodiment further includes a protection sleeve 5, one end of the protection sleeve 5 is fixed to the bearing base 3, the other end is fixed to the first base 2, and a third driving rod 32 is disposed in the protection sleeve 5.

In addition, the surgical robot of this embodiment further includes a protective housing 6, the protective housing 6 is sleeved on the exterior of the driving motor 451 and the power shaft, and the pressing cover 47 is pressed and fixed with the protective housing 6.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims

1. A surgical robotic end effector, comprising:

the tail end opening and closing structure comprises a fixed clamp (11) fixed on the end seat (1) and a movable clamp (12) hinged to the fixed clamp (11), and the movable clamp (12) is driven by a transmission rod (13) of the driving module to deflect;

the tail end autorotation structure comprises a base (2), wherein the end seat (1) is rotatably assembled on the first side of the base (2), a transmission gear (21) is rotatably installed on the second side of the base (2), the end seat (1) is rigidly connected with the transmission gear (21), and the transmission gear (21) is driven by an autorotation driving gear (231) of the driving module to drive the end seat (1) to rotate;

the terminal every single move structure, terminal every single move structure is including forming swing arm (22) on base (2) and articulated arm (31) that form on bearing seat (3), swing arm (22) with articulated arm (31) articulate and form the joint that deflects, be formed with tooth (221) on swing arm (22), tooth (221) by drive module's every single move drive gear (321) drive is in order to drive base (2) every single move action.

2. The surgical robot end effector according to claim 1, wherein the driving module further includes a first driving rod (18) for driving the driving rod (13) and a threaded sleeve (131) screwed to the driving rod (13), the driving rod (13) penetrates through the end base (1), a limiting protrusion (14) for limiting the rotation of the threaded sleeve (131) is formed on the end base (1), and the threaded sleeve (131) moves linearly under the action of the driving rod (13) to drive the movable clamp (12) to deflect around a hinge point.

3. Surgical robotic end effector according to claim 2, characterized in that the first end of the first driving rod (18) is connected to the driving rod (13) by a universal joint (181), the universal joint (181) corresponding to the position of the yaw joint.

4. The surgical robot end effector according to claim 2, wherein the first end of the movable clamp (12) is formed with a driving portion (123), the driving portion (123) is formed with a guiding groove (1231), the first end of the movable clamp (12) is further formed with an accommodating space, the screw sleeve (131) is disposed in the accommodating space, a protrusion (132) on the screw sleeve (131) extends into the guiding groove (1231), and the linear motion of the protrusion (132) drives the movable clamp (12) to deflect.

5. The surgical robot end effector according to claim 2, wherein the driving module further includes a second driving rod (23) sleeved outside the first driving rod (18), the end of the second driving rod (23) is configured with the rotation driving gear (231), and the rotation driving gear (231) drives the transmission gear (21) to rotate the end base (1).

6. The surgical robot end effector as claimed in claim 5, characterized in that the transmission gear (21) extends out of a sheath body (211) towards the base (2), the base (2) is formed with a through opening (24), and the outer circumferential surface of the sheath body (211) is in clearance fit with the inner circumferential surface of the through opening (24);

the end seat (1) extends out of an annular bulge (16) towards the sleeve body (211), and the annular bulge (16) is sleeved on the inner periphery of the sleeve body (211) and is in interference fit with the sleeve body (211).

7. The surgical robot end effector according to claim 6, wherein the driving module further includes a third driving rod (32), the third driving rod (32) is rotatably installed in the carrying seat (3), the third driving rod (32) is sleeved outside the second driving rod (23), the end of the third driving rod (32) is configured with the pitch driving gear (321), and the pitch driving gear (321) drives the swing arm (22) to deflect.

8. The surgical robot end effector according to claim 7, wherein the carrier (3) has an installation space for accommodating the pitch drive gear (321), the pitch drive gear (321) is freely rotatable in the installation space, a pitch driven gear (33) is provided at one side of the installation space, the pitch driven gear (33) is rotatably mounted on the carrier (3), and the pitch driven gear (33) is engaged with the teeth (221) of the pitch drive gear (321) and the swing arm (22), respectively.

9. A surgical robotic end drive mechanism, comprising:

the driving module comprises a first driving rod (18), a second driving rod (23) and a third driving rod (32) which are sequentially sleeved inside and outside;

the power device (4) comprises a mounting seat (41), three power shafts are arranged on the mounting seat (41), and the three power shafts respectively directly or indirectly drive the first driving rod (18), the second driving rod (23) and the third driving rod (32) to rotate.

10. The surgical robot end driving mechanism according to claim 9, wherein the mounting base (41) comprises a first base plate (411) and a second base plate (412), the third driving rod (32) is rotatably mounted on the first base plate (411), the three power shafts are respectively a first power shaft (42), a second power shaft (43) and a third power shaft (44), the first power shaft (42) is rotatably mounted on the second base plate (412) and directly drives the first driving rod (18), and both ends of the second power shaft (43) and the third power shaft (44) are respectively rotatably mounted on the first base plate (411) and the second base plate (412) and indirectly drive the second driving rod (23) and the third driving rod (32), respectively.

11. The surgical robot distal end driving mechanism according to claim 10, wherein the second end of the first driving rod (18) protrudes at least partially from the second driving rod (23) to form a protrusion (182), the protrusion (182) is directly and rigidly connected to the first power shaft (42), at least a portion of the second driving rod (23) protrudes from the third driving rod (32) to form a protrusion (232), a driven gear i (233) is mounted on the protrusion (232), a main gear i (431) for driving the driven gear i (233) is provided on the second power shaft (43), a driven gear ii (322) is mounted on one end of the third driving rod (32) close to the protrusion (232), and a main gear ii (441) for driving the driven gear ii (322) is provided on the third power shaft (44).

12. The surgical robot end driving mechanism according to claim 11, wherein the power device (4) further comprises a power source, the power source comprises a motor base (45) and a driving motor (451) fixed on the motor base (45), and the driving motor (451) is linked with the power shaft through a butt-plug connection module.

13. A surgical robotic end drive mechanism according to claim 12, wherein the docking connection module comprises:

the female end connecting structure comprises a fixing plate (46) fixed on the second base plate (412), a rotary joint (461) is rotatably arranged on the fixing plate (46), a first end of the rotary joint (461) is fixedly connected with the power shaft, and a second end of the rotary joint (461) is formed into a socket head (4611);

the male end connecting structure comprises a pair of plugs (452) rotatably mounted on a motor base (45), the pair of plugs (452) is fixedly connected with an output shaft of the driving motor (451), and the pair of plugs (452) are inserted into the plug bearing plug (4611) to form a linkage structure.

14. The surgical robot end driving mechanism according to claim 13, wherein a fool-proof assembly is further disposed between the fixing plate (46) and the motor base (45), the fool-proof assembly includes at least two positioning bosses (462) of different sizes disposed on the fixing plate (46) and a slot (453) disposed on the motor base (45) and matched with the positioning bosses (462), and the positioning bosses (462) are plugged with the corresponding slots (453).

15. The surgical robot tip driving mechanism according to claim 14, wherein an end of the pair of plug pins (452) is formed with a guide block (4521), a guide end of the guide block (4521) is formed with two guide surfaces (4522), and the two guide surfaces (4522) intersect with the end of the guide end.

16. The surgical robot end driving mechanism according to claim 15, wherein the plug-in connection module further comprises a locking assembly, the locking assembly comprises a pressing cover (47), a locking bolt (48) and a screw sleeve (413) fixed to the mounting base (41), the pressing cover (47) presses against the driving motor (451), and a locking portion of the locking bolt (48) penetrates through the pressing cover (47), the motor base (45) and the screw sleeve (413) to be in threaded connection.