CN112587238A

CN112587238A - Surgical robot terminal

Info

Publication number: CN112587238A
Application number: CN202011597067.XA
Authority: CN
Inventors: 翟晓峰; 张凯; 马广军; 马骥
Original assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Current assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-04-02

Abstract

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end. The method comprises the following steps: the execution unit comprises two execution fingers which are in hinged fit; the pitching seat is hinged and assembled and drives the execution unit to do pitching motion; the transmission unit comprises a pitching transmission unit and an opening and closing transmission unit, and the pitching transmission unit drives the pitching seat to do pitching motion; the opening and closing transmission unit comprises a screw rod nut assembly and an opening and closing shaft, the opening and closing shaft is connected with a screw rod through a flexible arm, the screw rod penetrates through the pitching seat to be matched with the nut, the opening and closing shaft drives the screw rod to rotate, the nut moves linearly along the screw rod to drive two execution fingers to perform opening and closing actions, and the flexible arm passes through a pitching movement axis. The technical problems that the service life is short and the precision is poor due to the fact that the tail end of the surgical robot in the prior art adopts a steel wire rope driving mode, and the steel wire rope in the opening and closing action is pulled and stretched for a long time along with the pitching action are solved.

Description

Surgical robot terminal

Technical Field

The invention relates to the field of minimally invasive surgical instruments, in particular to a surgical robot tail end.

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 tail end of a surgical robot in the existing minimally invasive surgical instrument adopts a steel wire rope traction mode for realizing corresponding opening, closing and pitching actions, the size of a steel wire rope can be greatly reduced in a driving mode, the defect caused by the steel wire rope is obvious, the steel wire rope is flexibly connected with a steel wire wheel, slipping cannot be avoided in the rotating process, and the steel wire rope is easy to deform. In addition, when the end of the surgical robot is driven to perform pitching motion, the steel wire rope for controlling the opening and closing motion is necessarily bent and stretched, and the steel wire rope for controlling the opening and closing motion is repeatedly pulled and stretched for a long time, so that the control precision is finally influenced.

Disclosure of Invention

The invention provides a surgical robot tail end, which aims to solve the technical problems that in the prior art, a steel wire rope is adopted for driving the tail end of a surgical robot, and the steel wire rope in opening and closing actions can be pulled and stretched for a long time along with pitching actions, so that the service life is short and the precision is poor. The technical scheme of the invention is as follows:

a surgical robotic tip, comprising: the execution unit comprises two execution fingers which are in hinged fit; the pitching seat is hinged and assembled and drives the execution unit to do pitching motion; the transmission unit comprises a pitching transmission unit and an opening and closing transmission unit, and the pitching transmission unit drives the pitching seat to do pitching motion; the opening and closing transmission unit comprises a screw rod nut assembly and an opening and closing shaft, the opening and closing shaft is connected with a screw rod through a flexible arm, the screw rod penetrates through the pitching seat to be matched with the nut, the opening and closing shaft drives the screw rod to rotate, the nut moves linearly along the screw rod to drive two execution fingers to perform opening and closing actions, and the flexible arm passes through a pitching movement axis.

The tail end of the surgical robot can do pitching motion and opening and closing motion, the opening and closing transmission unit comprises a screw rod nut component and an opening and closing shaft, the opening and closing shaft is connected with a screw rod through a flexible arm, the flexible arm passes through a pitching motion axis, the flexible arm can adapt to various bending forms and can transmit rotation, when the pitching seat does the pitching motion, the flexible arm can correspondingly do the pitching motion, the rotation motion of the opening and closing shaft can be transmitted to the screw rod, when the screw rod rotates, the nut does lifting motion along the screw rod, and the nut can drive the execution unit to do the opening and closing motion. The technical problems that in the prior art, when the steel wire rope is adopted to drive the execution unit to open and close, the steel wire rope is pulled and stretched for a long time due to the pitching action, the service life is short, and the precision is poor are solved.

According to one embodiment of the invention, the flexible arm is a gimbal flexible arm.

According to one embodiment of the invention, one executing finger is a fixed executing finger fixedly assembled, the other executing finger is a movable executing finger hinged to the fixed executing finger, the movable executing finger extends to form a driving part, the driving part and the nut are matched to form a guide groove and a protrusion, the protrusion extends into the guide groove, and when the nut is lifted along the screw rod, the movable executing finger can be driven to deflect.

According to one embodiment of the invention, two lugs extend from one end of the pitch seat away from the execution unit, and the pitch seat is hinged and assembled on the loading seat through the two lugs.

According to an embodiment of the invention, the pitching transmission unit comprises two transmission cables, the two transmission cables penetrate through the loading seat and are connected with the two lugs, and the two transmission cables are driven by the pitching driving unit to be retracted and released to drive the pitching seat and the executing unit to do pitching motion.

According to one embodiment of the invention, the lug is a circular lug, the outer circumference of the lug is formed with a cable groove, and the two drive cables enter the cable groove from two directions and are connected with the lug.

According to an embodiment of the invention, the device further comprises a rotating seat, the execution unit is connected with the pitching seat through the rotating seat, the execution unit is assembled on the rotating seat, the rotating seat is rotatably assembled on the pitching seat, and a limiting protrusion for limiting the rotation of the nut is formed on the rotating seat.

According to one embodiment of the invention, the transmission unit comprises a rotation transmission unit, and the rotation transmission unit drives the rotary base to drive the execution unit thereon to rotate.

According to one embodiment of the invention, the rotation transmission unit comprises a rotation shaft and a transmission wheel assembly, the transmission wheel assembly comprises a rotation driving wheel, a rotation transition wheel and a rotation driven wheel, the rotation driving wheel is fixed on the rotation shaft, the rotation transition wheel is rotatably assembled on the inner side of the lug, the rotation driven wheel is fixedly connected with the rotation seat, and the rotation transition wheel transmits the rotation of the rotation driving wheel to the rotation driven wheel.

According to one embodiment of the invention, the pitching transmission unit, the autorotation transmission unit and the opening and closing transmission unit are sequentially arranged from outside to inside.

Based on the technical scheme, the invention can realize the following technical effects:

1. the tail end of the surgical robot can do pitching motion and opening and closing motion, the opening and closing transmission unit comprises a screw rod nut component and an opening and closing shaft, the opening and closing shaft is connected with a screw rod through a flexible arm, the flexible arm passes through a pitching motion axis, the flexible arm can adapt to various bending forms and can transmit rotation, when the pitching seat does the pitching motion, the flexible arm can correspondingly do the pitching motion, the rotation motion of the opening and closing shaft can be transmitted to the screw rod, when the screw rod rotates, the nut does lifting motion along the screw rod, and the nut can drive the execution unit to do the opening and closing motion. The technical problems of short service life and poor precision caused by long-term traction and stretching of the steel wire rope due to the pitching motion when the steel wire rope is adopted to drive the execution unit to open and close in the prior art are solved;

2. according to the surgical robot tail end, the movable executing finger is driven by the lead screw nut component to deflect relative to the fixed executing finger so as to realize opening and closing, the problem that deviation occurs when a steel wire wheel and a steel wire rope are matched to control the rotating angle or the moving displacement in the tail end executing process is avoided, the control precision of the transmission mode of the lead screw nut is high, and the stability is good;

3. according to the surgical robot tail end, the pitching transmission unit comprises the transmission cables, the two transmission cables penetrate through the loading seat and are connected with the two lugs of the pitching seat, the two transmission cables are retracted and released to drive the pitching seat to perform pitching motion, and compared with the case that one transmission cable acts on the pitching seat, the connection mode of the transmission cables enables the pitching seat to move more stably. The lug is further arranged to be circular, and the locking grooves are distributed on the periphery of the lug, so that the position of the transmission cable can be controlled, and the transmission cable is prevented from being separated from the lug and cannot play a role in transmission;

4. the surgical robot end is further provided with a rotating seat, the pitching seat can drive the rotating seat and the execution unit to perform pitching motion, the rotating seat can drive the execution unit to perform self-rotation motion, the execution unit can perform opening and closing motion under the drive of the opening and closing transmission unit, and the execution unit can realize motion with three degrees of freedom. The rotation transmission unit adopts a transmission wheel assembly mode for transmission, so that the matching is more stable and the control precision is high;

5. the pitching transmission unit, the autorotation transmission unit and the opening and closing transmission unit are arranged at the tail end of the surgical robot from outside to inside in sequence, so that the volume of the transmission unit can be effectively reduced under the condition that the execution unit can realize the movement with three degrees of freedom, and the surgical robot can be used for minimally invasive surgery.

Drawings

FIG. 1 is a schematic view of the construction of the surgical robot tip of the present invention;

FIG. 2 is a schematic view of the surgical robot tip at another angle;

FIG. 3 is a cross-sectional view of a surgical robot tip;

FIG. 4 is a schematic view of the structure of the open-close transmission unit and the execution unit;

in the figure: 1-an execution unit; 11-determining the executing finger; 12-move executive finger; 121-a guide groove; 2-a pitching seat; 21-a lug; 211-cable groove; 3-a rotating seat; 31-a limit bump; 4-a pitch drive unit; 41-a transmission cable; 5-opening and closing transmission unit; 51-a feed screw nut assembly; 511-screw mandrel; 512-nut; 5121-projection; 52-opening and closing shaft; 53-flexible arms; 6-rotation transmission unit; 61-a rotation shaft; 62-a drive wheel assembly; 621-rotation driving wheel; 622-self-rotating transition wheel; 623-self-rotation driven wheel; 7-loading seat; 71-a support lug; 72-a guide wheel; 8-hollow shaft.

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.

As shown in fig. 1 to 4, the present embodiment provides a surgical robot end, including an execution unit 1 and a transmission unit, where the transmission unit includes a pitch transmission unit 4, an opening and closing transmission unit 5, and a rotation transmission unit 6, and under the driving action of a driving unit, the pitch transmission unit 4 drives the execution unit 1 to perform a pitch motion; the opening and closing transmission unit 5 drives the execution unit 1 to open and close; the rotation transmission unit 6 drives the execution unit 1 to rotate.

The execution unit 1 is used for executing surgical operation, and the execution unit 1 includes two execution fingers in hinged fit, specifically, one of the execution fingers is a fixed execution finger 11 fixedly assembled, the other execution finger is a movable execution finger 12 hinged to the fixed execution finger 11, and the movable execution finger 12 is deflected relative to the fixed execution finger 11 under the drive of the opening and closing transmission unit 5 to realize opening and closing actions. The execution unit 1 may be selected from, but not limited to, a surgical forceps.

The actuating unit 1 is assembled on the rotating base 3, specifically, the fixed actuating finger 11 can be fixed on the rotating base 3, or the fixed actuating finger 11 is integrally formed with the rotating base 3, and the movable actuating finger 12 is hinged with the fixed actuating finger 11. The rotation transmission unit 6 can drive the execution unit 1 to rotate by driving the rotating base 3.

The rotating seat 3 is rotatably assembled on the pitching seat 2, the pitching seat 2 is positioned on one side of the rotating seat 3 far away from the execution unit 1, and the rotating seat 3 is rotatably assembled on the pitching seat 2 through a bearing. The pitching transmission unit 4 can drive the rotating seat 3 and the execution unit 1 to do pitching actions by driving the pitching seat 2 to pitch.

As a preferred technical solution of this embodiment, the rotating base 3 and the pitching base 2 are both hollow circular rings, so as to facilitate the opening and closing transmission unit 5 to pass through the pitching base 2 and the rotating base 3 to act on the actuating finger 12, and drive the actuating unit 1 to open and close.

The pitch seat 2 is hinged on the loading seat 7, and specifically, two lugs 21 extend from one side of the pitch seat 2 away from the rotating seat 3, and the two lugs 21 are uniformly distributed along the circumferential direction of the pitch seat 2. Two supporting lugs 71 extend from one end of the loading seat 7 facing the pitch seat 2, and the two lugs 21 are correspondingly hinged with the two supporting lugs 71. The pitching seat 2 can perform pitching motion along the pitching motion axis. Preferably, the lug 21 is a circular lug, and the outer circumferential surface of the lug 21 is formed with a cable groove 211.

The pitching transmission unit 4, the autorotation transmission unit 6 and the opening and closing transmission unit 5 are sequentially arranged from outside to inside and respectively play a transmission role. The pitching transmission unit 4 drives the pitching base 2, the rotating base 3 thereon and the execution unit 1 to perform pitching motion along the pitching motion axis. In this embodiment, the pitch transmission unit 4 includes two transmission cables 41, the two transmission cables 41 pass through the avoiding holes on the loading base 7 and enter the locking slots 211 on the two lugs 21, and the two transmission cables 41 are fixedly connected with the two lugs 21.

As a preferred technical solution of this embodiment, two driving cables 41 enter the locking slots 211 on the two lugs 21 from two directions, and the two driving cables 41 are retracted and extended under the driving of the driving unit to drive the pitching assembly 2 to perform pitching motion. The drive cable 41 may be selected from, but not limited to, a steel cable.

As a preferred technical solution of this embodiment, two notches are symmetrically formed on the outer wall of the loading seat 7, a guide wheel 72 is installed in the notches, and the driving cable 41 passes through the guide wheel 72 and then enters the cable groove 211 of the lug 21. The guide wheel 72 is provided to guide the movement of the transmission cable 41.

The rotation transmission unit 6 drives the rotating base 3 and the execution unit 1 thereon to do rotation motion along the rotation axis. The rotation transmission unit 6 comprises a rotation shaft 61 and a transmission wheel assembly 62, the rotation shaft 61 is positioned between the two transmission cables 41, the transmission wheel assembly 62 comprises a rotation driving wheel 621, a rotation transition wheel 622 and a rotation driven wheel 623, the rotation driving wheel 621 is fixedly arranged at one end of the rotation shaft 61 close to the rotating base 3, the rotation transition wheel 622 is rotatably assembled on the inner side of the lug 21, the rotation driven wheel 623 is fixedly assembled on the rotating base 3, and the rotation transition wheel 622 can transmit the rotation action of the rotation driving wheel 622 to the rotation driven wheel 623. In this embodiment, the rotation driving wheel 621, the rotation transition wheel 622, and the rotation driven wheel 623 are all gears, and the rotation transition wheel 622 is engaged with both the rotation driving wheel 621 and the rotation driven wheel 623. In addition, the rotation driving wheel 621, the rotation transition wheel 622, and the rotation driven wheel 623 may be other available mechanisms such as a friction wheel, and the rotation driving wheel 621, the rotation transition wheel 622, and the rotation driven wheel 623 may transmit the rotation motion to the rotation driven wheel 623. Preferably, the axis of the rotation transition wheel 622 is collinear with the pitch motion axis.

As a preferred embodiment of the present invention, the rotation shaft 61 is a hollow shaft to accommodate the opening and closing transmission unit 5.

The opening and closing transmission unit 5 drives the actuating finger 12 to deflect relative to the fixed actuating finger 11, so that the actuating unit 1 can open and close. The opening and closing transmission unit 5 comprises a screw nut component 51 and an opening and closing shaft 52, the screw nut component 51 penetrates through the pitching seat 2 and the rotating seat 3 to drive the execution unit 1 to perform opening and closing actions, the screw nut component 51 comprises a screw rod 511 and a nut 512, the screw rod 511 is rotatably assembled inside the rotating seat 3, the opening and closing shaft 52 is located inside the rotating shaft 61, the opening and closing shaft 52 can rotate relative to the rotating shaft 61, one end, close to the opening and closing shaft, of the screw rod 511 is connected with the opening and closing shaft 52 through a flexible arm 53, and the other end of the screw rod 511 is matched with the nut 512. When the opening and closing shaft 52 is driven by the driving unit to rotate, the rotation of the opening and closing shaft 52 can be transmitted to the screw rod 511 through the flexible arm 53, the screw rod 511 rotates to drive the nut 512 thereon to do linear motion along the screw rod 511, and the linear motion of the nut 512 drives the actuating finger 12 to deflect relative to the fixed actuating finger 11, so as to realize opening and closing.

As the preferred technical scheme of this embodiment, flexible arm 53 is universal flexible arm, and flexible arm 53 includes two connecting pieces and a connecting block, and the one end of two connecting pieces forms to establish the sleeve on lead screw 511 and the axle 52 that opens and shuts, and the other end of two connecting pieces extends the linking arm that articulates on the connecting block, is formed with on the connecting block lateral wall to supply the articulated round pin axle of linking arm, and the shape of connecting block can be arbitrary shape, as long as can effectively articulate two connecting pieces at both ends can. The connecting block in this embodiment is in a square shape. Preferably, the flexible arm 53 passes through the pitch axis, and further preferably, the connection block of the flexible arm 53 passes through the pitch axis.

As a preferred technical solution of this embodiment, the nut 512 and the actuating finger 12 are engaged with each other through the guide groove and the protrusion. Specifically, two driving parts are symmetrically extended on the manual execution finger 12 at intervals, a guide groove 121 is formed on each driving part, the nut 512 is located between the two driving parts, protrusions 5121 are correspondingly formed on two sides of the nut 512, the protrusions 5121 extend into the guide grooves 121, and when the nut 512 is lifted along the lead screw 511, the protrusions 5121 slide along the guide grooves 121 and drive the manual execution finger 12 to deflect. Preferably, the guide groove 121 is an elongated groove having one open end, and the length of the guide groove 121 may be controlled to prevent the projection 5121 from completely escaping from the guide groove 121. Besides the above arrangement, the guide groove 121 may be disposed on the nut 512, and the protrusion 5121 may be disposed on the actuating finger 12, as long as the linear movement of the nut 512 drives the actuating finger 12 to deflect to realize the opening and closing action.

As a preferred solution of this embodiment, in order to prevent the nut 512 from rotating along with the lead screw 511, in this embodiment, the outer peripheral surface of the nut 512 is provided with a rotation-preventing plane, the rotation base 3 correspondingly extends with the limiting protrusion 31, and the inner surface of the limiting protrusion 31 can be connected with the rotation-preventing plane of the nut 512, so as to prevent the nut 512 from rotating along with the lead screw 511. Preferably, the nut 512 is a square nut.

As a preferred solution of this embodiment, a hollow shaft 8 is connected to one end of the loading seat 7 away from the pitching seat 2, and the hollow shaft 8 is sleeved on the outer periphery of the transmission cable 41 of the pitching transmission unit 4.

The driving unit is used for driving the transmission unit to drive the execution unit 1 to realize various actions. The driving unit comprises a pitching driving unit, an opening and closing driving unit and an autorotation driving unit corresponding to the transmission unit, the pitching driving unit drives two transmission cables 41 to be folded and unfolded to drive the pitching seat 2 and the rotating seat 3 thereon as well as the execution unit 1 to do pitching motion; the opening and closing driving unit drives the opening and closing shaft 52 to rotate, the opening and closing shaft 52 drives the screw rod 511 to rotate, and the nut 512 moves linearly along with the screw rod 511 to drive the execution unit 1 to perform opening and closing actions; the rotation driving unit drives the rotation shaft 61 to rotate, and the rotation shaft 61 drives the rotation base 3 to rotate through the transmission wheel assembly 62, so as to drive the execution unit 1 to perform rotation.

Based on the above structure, the operation principle of the surgical robot end of the present embodiment is:

when the execution unit 1 is required to execute the pitching motion, the pitching driving unit drives the two transmission cables 41 to retract and release one transmission cable, and the two transmission cables 41 pull the pitching seat 2, the rotating seat 3 thereon and the execution unit 1 to do the pitching motion;

when the execution unit 1 is required to execute the rotation action, the rotation driving unit drives the rotation shaft 61 to rotate, the rotation shaft 61 drives the rotation base 3 to rotate through the transmission wheel assembly 62, and the rotation base 3 drives the execution unit 1 thereon to do the rotation action. In the process, the opening and closing driving unit needs to drive the opening and closing shaft 52 to synchronously rotate, so that the screw rod 511 and the nut 512 synchronously rotate, the nut 512 does not linearly move relative to the screw rod 511, and the self-rotation action of the execution unit 1 does not influence the opening and closing action of the execution unit 1;

when the execution unit 1 is required to execute the opening and closing action, the opening and closing driving unit drives the opening and closing shaft 52 to rotate, the opening and closing shaft 52 drives the screw rod 511 to rotate through the flexible arm 53, the screw rod 512 drives the nut 512 on the screw rod to do linear motion, and the nut 512 drives the execution finger 12 to deflect, so that the execution unit 1 performs the opening and closing action.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A surgical robotic tip, comprising:

an execution unit (1), wherein the execution unit (1) comprises two execution fingers (11, 12) which are in hinged fit;

the pitching seat (2) is hinged and assembled, and the pitching seat (2) drives the execution unit (1) to do pitching motion;

the transmission unit comprises a pitching transmission unit (4) and an opening and closing transmission unit (5), and the pitching transmission unit (4) drives the pitching seat (2) to do pitching motion; the opening and closing transmission unit (5) comprises a screw rod nut component (51) and an opening and closing shaft (52), the opening and closing shaft (52) is connected with a screw rod (511) through a flexible arm (53), the screw rod (511) penetrates through the pitching seat (2) and the nut (512), the opening and closing shaft (52) drives the screw rod (511) to rotate, the nut (512) moves linearly along the screw rod (511) to drive the two execution fingers (11, 12) to do opening and closing actions, and the flexible arm (53) passes through a pitching movement axis.

2. A surgical robotic tip according to claim 1, wherein said flexible arm (53) is a gimbaled flexible arm.

3. The surgical robot tip as claimed in claim 1, wherein one of the executing fingers is a fixed executing finger (11) fixedly assembled, and the other executing finger is a movable executing finger (12) hinged to the fixed executing finger (11), the movable executing finger (12) extends to form a driving part, the driving part and the nut (512) are cooperatively formed with a guide groove (121) and a protrusion (5121), the protrusion (5121) extends into the guide groove (121), and the nut (512) can drive the movable executing finger (12) to deflect when ascending and descending along the lead screw (511).

4. A surgical robot tip according to claim 1, characterized in that two lugs (21) extend from the end of the pitch seat (2) remote from the actuator unit (1), and the pitch seat (2) is hingedly mounted on the loading seat (7) by means of the two lugs (21).

5. The surgical robot tip according to claim 4, wherein the pitch transmission unit (4) comprises two transmission cables (41), the two transmission cables (41) pass through the loading seat (7) and are connected with the two lugs (21), and the two transmission cables (41) are retracted and released to drive the pitch seat (2) and the execution unit (1) to perform pitch motion under the driving of the pitch driving unit.

6. A surgical robot tip according to claim 5, characterized in that the lug (21) is a circular lug, the outer circumference of the lug (21) is formed with cable grooves (211), and the two driving cables (41) enter the cable grooves (211) from two directions and are connected with the lug (21).

7. A surgical robot tip according to claim 1, further comprising a rotating base (3), wherein the executing unit (1) is connected with the pitching base (2) through the rotating base (3), the executing unit (1) is assembled on the rotating base (3), the rotating base (3) is rotatably assembled on the pitching base (2), and a limiting protrusion (31) for limiting the rotation of the nut (512) is formed on the rotating base (3).

8. The surgical robot tip according to claim 7, wherein the transmission unit further comprises a rotation transmission unit (6), and the rotation transmission unit (6) drives the rotary base (3) to rotate the execution unit (1) thereon.

9. A surgical robot tip according to claim 8, characterized in that the rotation transmission unit (6) comprises a rotation shaft (61) and a transmission wheel assembly (62), the transmission wheel assembly (62) comprises a rotation driving wheel (621), a rotation transition wheel (622) and a rotation driven wheel (623), the rotation driving wheel (621) is fixed on the rotation shaft (61), the rotation transition wheel (622) is rotatably assembled at the inner side of the lug (21), the rotation driven wheel (623) is fixedly connected with the rotary base (3), and the rotation transition wheel (622) transmits the rotation of the rotation driving wheel (621) to the rotation driven wheel (623).

10. A surgical robot tip according to claim 8 or 9, characterized in that the pitch transmission unit (4), the rotation transmission unit (6) and the opening and closing transmission unit (5) are arranged in sequence from outside to inside.