CN114052926A

CN114052926A - Operation control instrument assembly, split type operation device and soft tissue robot

Info

Publication number: CN114052926A
Application number: CN202210040283.7A
Authority: CN
Inventors: 王迎智; 徐高峰; 袁平
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-02-18
Anticipated expiration: 2042-01-14
Also published as: CN114052926B

Abstract

The invention provides a surgical control instrument assembly, a split type surgical device and a soft tissue robot, belonging to the technical field of surgical instruments and comprising a surgical instrument and a motor module; the surgical instrument comprises a first transmission assembly, two second transmission mechanisms, a universal snake bone assembly and a forceps head assembly; the motor module comprises a first driving assembly and two second driving assemblies; the first driving assembly drives the first transmission assembly to rotate so as to control the tong head assembly to rotate, and the first driving assembly drives the first transmission assembly to move so as to control the tong head assembly to clamp or open; and the two second transmission assemblies of each second transmission mechanism move in opposite directions under the driving action of the corresponding second driving assembly, so that the universal snake bone assembly is controlled to drive the tong head assembly to bend. By the surgical control instrument assembly, the split type surgical device and the soft tissue robot, the movement of the instrument forceps head assembly can be more finely controlled by the driving module.

Description

Operation control instrument assembly, split type operation device and soft tissue robot

Technical Field

The embodiment of the invention relates to the technical field of surgical instruments, in particular to a surgical control instrument assembly, a split type surgical device and a soft tissue robot.

Background

The surgical robot is a development trend of the medical instrument industry, wherein the most important design is the design of a surgical instrument and a surgical instrument driving module, and in the aspect of the surgical instrument driving module, the more compact the structure and the smaller the volume of the driving module are, the more the support moment and the inertia force of the mechanical arm can be reduced in a mechanical arm control system, so that the driving of the mechanical arm is more stable.

Meanwhile, the control mode of the existing surgical instrument is mechanical arm control, the instrument has multiple degrees of freedom of bending, clamping and rotating, but the movement of the forceps head of the instrument is completed by the mechanical arm, so that the movement range of the forceps head of the instrument is large, and the fine control is difficult to complete.

Disclosure of Invention

The embodiment of the invention provides a surgical control instrument assembly, a split type surgical device and a soft tissue robot, and aims to more finely control the movement of an instrument tong head by using a driving module.

A first aspect of an embodiment of the present invention provides a surgical control instrument assembly, including:

surgical instruments and motor modules;

the surgical instrument includes: the universal snake bone joint comprises a first transmission assembly, two second transmission mechanisms, a universal snake bone assembly and a tong head assembly, wherein each second transmission mechanism comprises two second transmission assemblies;

the motor module includes: the two second driving assemblies correspond to the two second transmission mechanisms one by one;

the first driving assembly drives the first transmission assembly to rotate so as to control the tong head assembly to rotate, and the first driving assembly drives the first transmission assembly to move so as to control the tong head assembly to clamp or open;

and the two second transmission assemblies move in opposite directions under the driving action of the corresponding second driving assemblies so as to control the universal snake bone assembly to drive the tong head assembly to bend.

Optionally, the first drive assembly comprises: the first motor, the second motor, the first connecting male shaft, the middle transmission shaft and the steel rope transmission part are connected, the first connecting male shaft is connected with the first transmission assembly, the middle transmission shaft is connected with the first motor and the first connecting male shaft through a gear pair respectively, and the driving force provided by the first motor is transmitted to the first connecting male shaft through the middle transmission shaft so as to drive the first connecting male shaft to rotate, so that the first connecting male shaft drives the first transmission assembly to rotate;

be provided with first mounting on the first public axle of connection, the winding has the steel cable on the steel cable driving medium, the linkage segment and the first mounting fixed connection of steel cable, the drive power that the second motor provided drives to the steel cable via the transmission of steel cable driving medium to drive the steel cable and along the axial displacement of first public axle of connection, drive first mounting and remove, and then drive the public axle of first connection and remove, make the public axle of first connection drive first transmission assembly and remove.

Optionally, the second drive assembly comprises: the third motor, the steel rope transmission part and the two second connecting male shafts are connected, and each second connecting male shaft is connected with the corresponding second transmission assembly;

the two second connecting male shafts are respectively provided with a second fixing piece and a third fixing piece;

a steel rope is wound on the steel rope transmission part, a first steel rope section of the steel rope is fixedly connected with the second fixing piece, and a second steel rope section of the steel rope is fixedly connected with the third fixing piece;

the driving force that the third motor provided is through steel cable transmission portion transmission to the steel cable to drive first steel rope section and second steel rope section and move along opposite direction, drive second mounting and third mounting and move along opposite direction, and then drive two second and connect the public axle and move along opposite direction, make two second transmission assembly move along opposite direction.

Optionally, the first transmission assembly comprises a first steel wire and a first connecting female shaft, one end of the first connecting female shaft is connected with the first driving assembly, the other end of the first connecting female shaft is connected with the first steel wire, and one end, far away from the first connecting female shaft, of the first steel wire is connected with the tong head assembly.

Optionally, each second transmission assembly comprises a second steel wire and a second connecting female shaft, one end of the second connecting female shaft is connected with the second driving assembly, the other end of the second connecting female shaft is connected with the second steel wire, and one end, far away from the second connecting female shaft, of the second steel wire is connected with the universal snake bone assembly.

Optionally, the binding clip assembly comprises a first connector and two opposing jaws;

the first steel wire is fixedly connected with the first connecting piece, and the two oppositely arranged clamp jaws are connected with the first connecting piece;

the first steel wire is driven by the first driving component to rotate, and drives the first connecting piece to rotate, so that the first connecting piece drives the two clamp jaws to rotate.

Optionally, the forceps head assembly further comprises a second connecting piece with an accommodating space, and the second connecting piece is rotatably connected with the universal snake bone assembly; the connecting parts of the two jaws are arranged in the first connecting piece, the first connecting piece is arranged in the accommodating space of the second connecting piece, and the connecting parts of the two jaws are both connected with the first connecting piece in a sliding manner and are connected with the second connecting piece in a rotating manner;

the first steel wire is driven by the first driving component to move, and drives the first connecting piece to move, so that when the connecting parts of the two jaws slide oppositely relative to the first connecting piece, the connecting parts of the two jaws rotate relative to the second connecting piece, and clamping and opening of the clamping parts of the two jaws are realized.

Optionally, a connecting shaft is arranged in the first connecting piece, the connecting shaft is fixedly connected with the first connecting piece, sliding grooves are formed in the connecting parts of the two jaws, the connecting shaft penetrates through the sliding grooves of the two jaws, and the sliding grooves are integrally arc-shaped;

a rotating shaft is arranged in the second connecting piece, a connecting part of the two jaws is provided with a rotating hole, the rotating shaft penetrates through the rotating holes of the two jaws, and the jaws rotate relative to the rotating shaft through the rotating shaft;

the first steel wire is driven by the first driving assembly to move, the first steel wire drives the first connecting piece to move, the first connecting piece drives the connecting shaft to move in the sliding grooves of the two jaws, the connecting portions of the two jaws rotate relative to the rotating shaft when the connecting portions of the two jaws relatively slide in the reverse direction relative to the first connecting piece, and then the two jaws are clamped and opened.

Optionally, the universal snake bone component comprises a snake bone seat, a snake bone front end and a plurality of snake bones;

wherein, the front end of the snake bone is fixedly connected with the tong head component, and a plurality of snake bones are positioned between the snake bone seat and the front end of the snake bone;

the second steel wire penetrates through the snake bone seat and the plurality of snake bones in sequence and is fixedly connected with the front ends of the snake bones;

the snake bone comprises a plurality of inclined planes, and when the second steel wires of the two second transmission assemblies are driven by the second driving assemblies to move in opposite directions, the stress of the snake bones is driven to change, so that the inclined planes of the adjacent snake bones are abutted, and the universal snake bone assembly is bent.

Optionally, the snake bone front end has the accommodation area, and the binding clip subassembly includes second connecting piece and extension, second connecting piece and extension fixed connection, and the extension is located the accommodation area, and the extension rotates with the snake bone front end to be connected, is formed with the annular spacing groove on the extension, is provided with a plurality of spacing pins on the snake bone front end, and a plurality of spacing pins stretch into to the annular spacing inslot.

Optionally, the surgical instrument further comprises a detachable drill chuck and an abdominal tube, the first transmission assembly comprises a first steel wire, and each second transmission assembly comprises a second steel wire;

the detachable drill chuck is connected with the motor module, one end of the abdominal tube is connected with the detachable drill chuck, and the other end of the abdominal tube is connected with the universal snake bone component;

the first steel wire and the second steel wire are both positioned in the abdominal tube, and the first steel wire and the second steel wire extend along the length direction of the abdominal tube.

Optionally, the abdominal entry tube includes a tube body and a five-chamber tube, the five-chamber tube is located in the tube body, and the five-chamber tube is disposed along a length direction of the tube body, the five-chamber tube has a middle channel and a plurality of circumferential channels, the middle channel and the plurality of circumferential channels extend along the length direction of the five-chamber tube, the plurality of circumferential channels are distributed along a circumferential direction of the middle channel, the first steel wire is inserted into the middle channel, and the second steel wire is inserted into the circumferential channels.

Optionally, the first transmission assembly further comprises a first connecting female shaft, and each second transmission assembly further comprises a second connecting female shaft; the first driving assembly comprises a first connecting male shaft, and the second driving assembly comprises a second connecting male shaft;

the detachable drill clamp comprises an interface shell, the interface shell is positioned on one side of the detachable drill clamp, which is far away from the abdominal tube, and the first connecting female shaft and the second connecting female shaft penetrate through the interface shell;

the motor module comprises a shell, a first driving assembly and a second driving assembly are arranged in the shell, an interface seat is arranged on one side of the shell, and a first connecting male shaft and a second connecting male shaft penetrate through the interface seat;

when the interface shell is connected with the interface seat, the first connecting male shaft is fixedly connected with the first connecting female shaft; the second connecting male shaft is fixedly connected with the corresponding second connecting female shaft.

Optionally, the first connecting female shaft and the second connecting female shaft are both provided with a connecting groove, the first connecting male shaft and the second connecting male shaft are provided with a connecting block, and the connecting blocks are matched with the connecting grooves;

a plurality of clamping parts are arranged on four side walls of the interface shell;

a plurality of matching parts are arranged on the four side walls of the interface seat, and the matching parts correspond to the clamping parts one by one and are matched with the clamping parts;

when the interface shell is connected with the interface seat, the connecting block on the first connecting male shaft is inserted into the connecting groove of the first connecting female shaft, the connecting block on the second connecting male shaft is inserted into the connecting groove of the corresponding second connecting female shaft, and the clamping part is clamped with the corresponding matching part, so that the surgical instrument and the motor module are interconnected.

Optionally, the motor module includes a housing, a first fixing plate and a second fixing plate, and the first fixing plate and the second fixing plate are disposed in the housing;

the first motor and the middle transmission shaft are fixedly arranged on the first fixing plate in a penetrating mode, and the first connecting male shaft is movably arranged on the first fixing plate and the second fixing plate in a penetrating mode;

a first gear is arranged on the first motor, a second gear is arranged at one end of the middle transmission shaft, a third gear is arranged at the other end of the middle transmission shaft, and a fourth gear is arranged on the first connecting male shaft;

the first gear is meshed with the second gear, and the third gear is meshed with the fourth gear;

the drive power that first motor provided transmits for middle transmission shaft through first gear and second gear, and the jackshaft transmission shaft will drive power and transmit for first connection public axle through third gear and fourth gear to it is rotatory to drive first connection public axle, makes first connection public axle drive first transmission assembly rotatory.

the second motor is fixedly arranged on the first fixing plate in a penetrating manner;

a fifth gear is arranged on the second motor; the steel rope transmission part comprises an intermediate shaft, a sixth gear, a first steering wheel, a second steering wheel, a third steering wheel and a fourth steering wheel;

the middle shaft fixedly penetrates through the first fixing plate;

the sixth gear and the first steering wheel are arranged on the intermediate shaft, and the sixth gear is meshed with the fifth gear; the second steering wheel and the third steering wheel are arranged on the first fixing plate side by side and close to the first steering wheel, the fourth steering wheel is arranged on the second fixing plate and close to the first connecting male shaft, and the fourth steering wheel and the second steering wheel are positioned on the same straight line;

the steel rope is wound on the first steering wheel and is steered through the second steering wheel, the third steering wheel and the fourth steering wheel;

the jackshaft is given through fifth gear and sixth gear transmission to the drive power that the second motor provided, and the jackshaft drives first directive wheel and rotates for first directive wheel winding steel cable, thereby drive the steel cable and remove, the steel cable drives the axial displacement of first mounting along first connection public axle, and then drives first connection public axle and removes, makes first connection public axle drive first transmission assembly and removes.

the third motor is fixedly arranged on the first fixing plate in a penetrating manner;

a fifth steering wheel is arranged on an output shaft of the third motor;

the steel rope transmission part comprises two sub transmission parts, and the two sub transmission parts are respectively in one-to-one correspondence with the two second connecting male shafts;

the sub transmission part comprises a sixth steering wheel and a seventh steering wheel; the sixth steering wheel is fixedly arranged on the first fixing plate, and the sixth steering wheel and the fifth steering wheel are positioned on the same side of the first fixing plate; the seventh steering wheel is fixedly arranged on the second fixing plate, and the seventh steering wheel and the sixth steering wheel are positioned on the same straight line;

the steel rope is wound on the fifth steering wheel and forms a closed ring through the sixth steering wheel and the seventh steering wheel of the two transmission pieces;

the drive power that the third motor provided drives the fifth directive wheel and rotates for the fifth directive wheel twines the steel cable, thereby drives the steel cable and removes, makes first steel rope section and second steel rope section move along opposite direction, drives second mounting and third mounting and moves along opposite direction, and then drives two second and connects the public axle and move along opposite direction, makes two second transmission assembly move along opposite direction.

Optionally, at least one magnet mounting groove is arranged in the interface shell;

the interface seat is internally provided with an identification plate, the identification plate is provided with a magnetic pole induction chip corresponding to the magnet mounting groove, and the magnetic pole induction chip is used for inducing whether a magnet is arranged in the magnet mounting groove or inducing the magnetic pole of the magnet in the magnet mounting groove so as to determine the type of the surgical instrument.

A second aspect of the embodiments of the present invention provides a split type surgical device, including a handle mechanism and a surgical control apparatus assembly as provided in the first aspect of the embodiments of the present invention, where the handle mechanism is connected to a motor module of the surgical control apparatus assembly, and the control handle is used to enable the motor module to provide a driving force to drive a surgical apparatus of the surgical control apparatus to work.

A third aspect of an embodiment of the present invention provides a soft tissue robot, including a base;

a cantilever; and

a split surgical device as provided in a second aspect of embodiments of the present invention;

the cantilever is arranged on the base, and the split type operation device is suspended on the cantilever.

Has the advantages that:

the invention provides a surgical control instrument assembly, a split type surgical device and a soft tissue robot, wherein the surgical control instrument assembly, the split type surgical device and the soft tissue robot are provided with a surgical instrument and an electrode module connected with the surgical instrument, the surgical instrument comprises a first transmission assembly, two second transmission mechanisms, a universal snake bone assembly and a forceps head assembly, and the motor module comprises a first driving assembly and a second driving assembly; when the surgical control instrument assembly is used for surgery, the first driving assembly can drive the first transmission assembly to rotate so as to control the jaw assembly to rotate, or the first driving assembly can drive the first transmission assembly to move so as to control the jaw assembly to clamp or open; meanwhile, each group of second transmission mechanisms can be driven by a second driving component, and the two second transmission components move along opposite directions, so that the universal snake bone component is controlled to drive the tong head component to bend; the first driving assembly and the second driving assembly of the motor module can be used for controlling the movement of the forceps head assembly more finely, so that the action amplitude of the forceps head assembly is reduced, and the operation of the surgical control instrument assembly is more accurate.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic structural view of a surgical control instrument assembly according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a motor module of a surgical control instrument assembly according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a first driving assembly according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a second driving assembly according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a first transmission assembly and a second transmission assembly according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a jaw assembly and universal snake bone assembly in accordance with an embodiment of the present invention;

FIG. 7 is a schematic structural view of a universal snake bone assembly according to one embodiment of the present invention;

FIG. 8 is a schematic view of a gimbal snake bone assembly in bending in accordance with one embodiment of the present invention;

FIG. 9 is a cross-sectional view of an access tube according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an interface seat of an electrical machine module according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of an interface housing of a detachable drill chuck according to an embodiment of the present invention;

FIG. 12 is a schematic view of a first coupling male shaft and a first coupling female shaft coupled together in accordance with an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a shift plate according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of an identification plate according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a split-type surgical device according to an embodiment of the present invention.

Description of reference numerals: 26. a handle mechanism; 27. a motor module; 272. a first fixing plate; 273. a second fixing plate; 274. an interface seat; 2741. a fitting portion; 2742. a recognition board; 2743. a magnetic pole induction chip; 28. a surgical instrument; 280. a detachable drill chuck; 281. an interface housing; 2811. a clamping part; 2812. a magnet mounting groove; 2813. a locking switch; 282. entering an abdominal tube; 2822. a pipe body; 283. a five-lumen tube; 2831. a middle lumen; 2832. a circumferential cavity; 284. a universal snake bone component; 2841. the front end of the snake bone; 2842. a snake bone seat; 2843. snake bones; 2844. a housing area; 2845. a limit pin; 286. a tong head assembly; 2861. a jaw; 2862. a clamping part; 2863. a connecting portion; 2864. a chute; 2865. a first connecting member; 2866. a second connecting member; 2868. an extension portion; 2869. a circumferential limit groove; 50. a steel cord; 501. a first wire rope section; 502. a second wire rope section; 51. a first drive assembly; 511. a first motor; 5111. a first gear; 512. a second motor; 5121. a fifth gear; 513. a first connecting male shaft; 5131. a fourth gear; 5132. a first fixing member; 514. an intermediate transmission shaft; 5141. a second gear; 5142. a third gear; 515. a steel rope transmission member; 5151. an intermediate shaft; 5152. a sixth gear; 5153. a first steering wheel; 5154. a second steering wheel; 5155. a third steering wheel; 5156. a fourth steering wheel; 52. a second drive assembly; 521. a third motor; 5211. a fifth steering wheel; 5221. a sub-transmission member; 5222. a sixth steering wheel; 5223. a seventh steering wheel; 523. a second connecting male shaft; 5231. a second fixing member; 5232. a third fixing member; 53. a first transmission assembly; 531. a first connecting female shaft; 532. a first steel wire; 54. a second transmission assembly; 541. a second connecting female shaft; 542. a second steel wire; 55. a connecting shaft; 56. a rotating shaft; 57. connecting grooves; 58. connecting blocks; 59. shifting a baffle plate; 591. a limiting hole; 60. a limiting opening.

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 some, not all, embodiments of the present invention. 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.

Example one

Referring to fig. 1, a surgical control instrument assembly is disclosed in an embodiment of the present invention, which includes a surgical instrument 28 and a motor module 27.

The surgical instrument 28 includes a first transmission assembly 53, two second transmission mechanisms, a universal snake bone assembly 284 and a tong head assembly 286, wherein the first transmission assembly 53 is connected with the tong head assembly 286, the two second transmission mechanisms are connected with the universal snake bone assembly 284, meanwhile, the universal snake bone assembly 284 is connected with the tong head assembly 286, and each second transmission mechanism includes two second transmission assemblies 54; the first transmission assembly 53 can be used to rotate, clamp or open the binding clip assembly 286; bending of the universal snake bone assembly 284 can be achieved using the second drive assembly 54.

The motor module 27 includes a first driving assembly 51 and two second driving assemblies 52, the first driving assembly 51 is connected to the first transmission assembly 53, the two second driving assemblies 52 are in one-to-one correspondence with the two second transmission mechanisms, that is, each group of second driving assemblies 52 is respectively connected to two second transmission assemblies 54 of one second transmission mechanism.

Specifically, the first driving assembly 51 can drive the first transmission assembly 53 to rotate, and then drive the tong head assembly 286 to rotate. Meanwhile, the first driving assembly 51 can drive the first transmission assembly 53 to move, so as to drive the clamping or opening of the binding clip assembly 286. The second driving assembly 52 can drive the two second transmission assemblies 54 included in the corresponding second transmission mechanisms to move in opposite directions, so that the universal snake bone assembly 284 drives the lead assembly to bend.

This allows for rotation, clamping and bending of the jaw assembly 286, and the first drive assembly 51 and the second drive assembly 52 of the motor module 27 can be used to more finely control the movement of the jaw assembly 286, reducing the range of motion of the jaw assembly 286 and allowing for more precise operation of the surgical control instrument assembly.

In one embodiment, referring to fig. 2, the motor module 27 further includes a housing (not shown), a first fixing plate 272 and a second fixing plate 273, the first fixing plate 272 and the second fixing plate 273 are both located in the housing, the first driving assembly 51 and the second driving assembly 52 are also located in the housing, and the first driving assembly 51 and the second driving assembly 52 are connected to the first fixing plate 272 and the second fixing plate 273.

Specifically, referring to fig. 3, the first driving assembly 51 includes a first motor 511, a second motor 512, a first connecting male shaft 513, an intermediate transmission shaft 514 and a cable transmission member 515. The first connecting male shaft 513 is connected to the first transmission component 53, and the first connecting male shaft 513 is movably disposed through the first fixing plate 272 and the second fixing plate 273. The first motor 511, the second motor 512 and the intermediate transmission shaft 514 are fixedly inserted into the first fixing plate 272.

Referring to fig. 3, the output shaft of the first motor 511 is provided with a first gear 5111, one end of the intermediate transmission shaft 514 is provided with a second gear 5141, the other end is provided with a third gear 5142, and the first connecting male shaft 513 is provided with a fourth gear 5131. The first gear 5111 and the second gear 5141 are located on the same side of the first fixing plate 272, and the first gear 5111 and the second gear 5141 are engaged with each other, the third gear 5142 and the fourth gear 5131 are located at a position between the first fixing plate 272 and the second fixing plate 273, and the third gear 5142 and the fourth gear 5131 are engaged with each other.

When the first motor 511 outputs driving force, the driving force is transmitted to the intermediate transmission shaft 514 through the first gear 5111 and the second gear 5141, so that the intermediate transmission shaft 514 rotates, the intermediate transmission shaft 514 drives the third gear 5142 to rotate, the third gear 5142 drives the fourth gear 5131 to rotate, the fourth gear 5131 drives the first connecting male shaft 513 to rotate, the first connecting male shaft 513 drives the first transmission assembly 53 to rotate, and the tong head assembly 286 is driven to rotate.

Also, in order to ensure that the movement of the first connecting male shaft 513 can be controlled while the rotation of the first connecting male shaft 513 is controlled, the length of the fourth gear 5131 is greater than that of the third gear 5142, so that the third gear 5142 can maintain a state of being engaged with the fourth gear 5131.

Referring to fig. 3, the output shaft of the second motor 512 is provided with a fifth gear 5121. The cable transmission member 515 includes an intermediate shaft 5151, a sixth gear 5152, a first steering wheel 5153, a second steering wheel 5154, a third steering wheel 5155 and a fourth steering wheel 5156. The intermediate shaft 5151 is disposed on one side of the second motor 512, the intermediate shaft 5151 is also fixedly disposed through the first fixing plate 272, the sixth gear 5152 is disposed on the intermediate shaft 5151, and the fifth gear 5121 and the sixth gear 5152 are engaged with each other.

A first steering wheel 5153 is also provided on the intermediate shaft 5151, a second steering wheel 5154 and a third steering wheel 5155 are fixed on the first fixing plate 272 by a mounting shaft, the second steering wheel 5154 and the third steering wheel 5155 are located at one side of the first steering wheel 5153, and the second steering wheel 5154 and the third steering wheel 5155 are arranged side by side. The fourth steering wheel 5156 is fixed to the second fixing plate 273 by a mounting shaft, and the fourth steering wheel 5156 is on the same line as the second steering wheel 5154, the line being parallel to the axis of the first connecting male shaft 513.

Referring to fig. 3, a steel cable 50 is wound around the steel cable transmission member 515. Specifically, the steel rope 50 is wound around the first diverting pulley 5153, and then sequentially passes through the second diverting pulley 5154, the fourth diverting pulley 5156 and the third diverting pulley 5155 to be diverted, and then is wound around the first diverting pulley 5153. Meanwhile, a first fixing member 5132 is disposed on the first connecting male shaft 513, and the first fixing member 5132 is fixedly connected to the connecting section of the steel cable 50. In this embodiment, the first fixing member 5132 has a clip shape, the connection segment of the steel cable 50 refers to a position clamped by the clip-shaped first fixing member 5132, and the connection segment of the steel cable 50 is located between the second steering wheel 5154 and the fourth steering wheel 5156.

After the second motor 512 outputs driving force, the driving force is transmitted to the intermediate shaft 5151 through the fifth gear 5121 and the sixth gear 5152, so that the intermediate shaft 5151 rotates, the intermediate shaft 5151 drives the first steering wheel 5153 to rotate, so that the first steering wheel 5153 winds the steel cable 50, thereby driving the steel cable 50 to move on the second steering wheel 5154, the third steering wheel 5155 and the fourth steering wheel 5156, and the connecting section of the steel cable 50 is located between the second steering wheel 5154 and the fourth steering wheel 5156, so that the movement of the connecting section of the steel cable 50 is the movement along the axis direction of the first connecting male shaft 513, and the connecting section of the steel cable 50 further drives the first fixing member 5132 to move along the axis of the first connecting male shaft 513, thereby driving the first connecting male shaft 513 to move, so that the first connecting male shaft 513 drives the first transmission member 53 to move, and further the tong head assemblies 286 are clamped or opened.

Referring to fig. 4, the second driving assembly 52 includes a third motor 521, a cable transmission and two second connecting male shafts 523. The third motor 521 is fixedly disposed through the first fixing plate 272, the second connecting male shaft 523 is movably disposed through the second fixing plate 273, and each second connecting male shaft 523 is connected to the corresponding second transmission assembly 54.

The output shaft of the third motor 521 is provided with a fifth steering wheel 5211, and the fifth steering wheel 5211 and the first steering wheel 5153 are located on the same side of the first fixing plate 272. While a second fixing member 5231 and a third fixing member 5232 are respectively provided on the two second connecting male shafts 523.

Referring to fig. 4, the rope transmission portion includes two sub transmission members 5221, and the two sub transmission members 5221 are respectively in one-to-one correspondence with the two second connecting male shafts 523. The sub-transmission member 5221 includes a sixth steering wheel 5222 and a seventh steering wheel 5223, the sixth steering wheel 5222 is fixedly disposed on the first fixing plate 272 by an installation shaft, and the sixth steering wheel 5222 and the fifth steering wheel 5211 are located on the same side of the first fixing plate 272, the seventh steering wheel 5223 is fixed on the second fixing plate 273 by the installation shaft, and the sixth steering wheel 5222 and the seventh steering wheel 5223 are located on the same straight line, which is parallel to the axis of the second connecting male shaft 523.

Referring to fig. 4, the wire rope 50 is wound around the wire rope transmission part, and the wire rope 50 is wound around the fifth diverting pulley 5211 and then sequentially passes through the sixth diverting pulley 5222 and the seventh diverting pulley 5223 of the two sub-transmission members 5221 to form a closed loop. In addition, the steel cable 50 between the sixth steering wheel 5222 and the seventh steering wheel 5223 of one sub-transmission member 5221 is a first steel cable segment 501, the steel cable 50 between the sixth steering wheel 5222 and the seventh steering wheel 5223 of the other sub-transmission member 5221 is a second steel cable segment 502, the first steel cable segment 501 is fixedly connected with the second fixing member 5231, and the second steel cable segment 502 is fixedly connected with the third fixing member 5232.

When the third motor 521 outputs driving force, the driving force rotates the fifth steering wheel 5211, the fifth steering wheel 5211 winds the steel rope 50, so as to drive the steel rope 50 to move, at this time, because the steel rope 50 winds the fifth steering wheel 5211, the first steel rope segment 501 and the second steel rope segment 502 move in opposite directions, so as to drive the second fixing member 5231 and the third fixing member 5232 to move in opposite directions, and the second fixing member 5231 and the third fixing member 5232 further drive the two second connecting male shafts 523 to move in opposite directions, so that the two second transmission assemblies 54 corresponding to the two second connecting male shafts 523 move in opposite directions, and further control the universal snake bone assembly 284 to drive the tong head assembly 286 to bend.

In this way, different movements of the first transmission assembly 53 and the second transmission assembly 54 are achieved by means of the first drive assembly 51 and the second drive assembly 52.

In one embodiment, referring to fig. 1, the surgical instrument 28 further comprises a detachable drill chuck 280 and a belly tube 282, wherein the detachable drill chuck 280 is connected to the housing of the motor module 27, and the belly tube 282 has one end connected to the detachable component and the other end connected to the universal snake bone component 284.

Referring to fig. 5, the first transmission assembly 53 includes a first steel wire 532 and a first connection female shaft 531, the first connection female shaft 531 is disposed in the detachable drill chuck 280, one end of the first connection female shaft 531 is connected to the first connection male shaft 513 of the first driving assembly 51, the other end is connected to the first steel wire 532, the first steel wire 532 is disposed in the abdominal tube 282 along the length direction of the abdominal tube 282, and one end of the first steel wire 532, which is far away from the first connection female shaft 531, is connected to the forceps head assembly 286.

Referring to fig. 6, the forceps head assembly 286 includes a first connecting member 2865, a second connecting member 2866 and two opposing jaws 2861, one end of the first wire 532 far from the first connecting female shaft 531 is fixedly connected with the first connecting member 2865, the second connecting member 2866 is rotatably connected with the universal snake bone assembly 284, the second connecting member 2866 has a receiving space, the first connecting member 2865 is located in the receiving space of the second connecting member 2866, the jaws 2861 have a connecting portion 2863 and a clamping portion 2862, the connecting portion 2863 of the jaws 2861 is slidably connected with the first connecting member 2865, and is rotatably connected with the second connecting member 2866.

When the first connecting female shaft 531 is driven by the first connecting male shaft 513 of the first driving assembly 51 to rotate, the first wire 532 rotates along with the first connecting female shaft 531, the first wire 532 drives the first connecting piece 2865 to rotate, and the first connecting piece 2865 drives the two jaws 2861 and the second connecting piece 2866 to rotate, so that the rotary motion of the forcep head assembly 286 is realized.

Specifically, in the present embodiment, the first connector 2865 and the second connector 2866 are both U-shaped clips.

Referring to fig. 6, a connecting shaft 55 is disposed in the first connecting member 2865, the connecting shaft 55 is fixedly connected to the first connecting member 2865, an arc-shaped sliding slot 2864 is disposed on the connecting portion 2863 of the j aws 2861, the directions of the sliding slots 2864 on the two j aws 2861 are opposite, and the connecting shaft 55 simultaneously passes through the sliding slots 2864 of the two j aws 2861.

Meanwhile, a rotating shaft 56 is disposed in the second connecting member 2866, the rotating shaft 56 is fixedly connected to the second connecting member 2866, a connecting portion 2863 of the j aws 2861 is provided with a rotating hole, and the rotating shaft 56 passes through the rotating holes of the two j aws 2861, so that the j aws 2861 can rotate relative to the rotating shaft 56.

When the first connecting female shaft 531 is driven by the first connecting male shaft 513 of the first driving assembly 51 to move, the first connecting female shaft 531 drives the first wire 532 to move, the first wire 532 drives the first connecting member 2865 to move, at this time, the two jaws 2861 cannot move in the axial direction of the abdominal tube 282 due to the limitation of the rotating shaft 56, so the connecting shaft 55 can slide in the sliding slots 2864 of the two jaws 2861 at the same time, and the connecting portions 2863 of the two jaws 2861 can rotate in the opposite direction relative to the rotating shaft 56 due to the fact that the jaws 2861 can rotate relative to the rotating shaft 56 and the sliding slots 2864 of the two jaws 2861 are in opposite arc shapes, so that the connecting portions 2863 of the two jaws 2861 can rotate in the opposite direction relative to the rotating shaft 56 under the moving effect of the connecting shaft 55, and the clamping portions 2862 of the two jaws 2861 can move relatively, thereby clamping and opening the two jaws 2861.

In one embodiment, referring to fig. 5, each of the second connecting assemblies includes a second steel wire 542 and a second connecting female shaft 541, the second connecting female shaft 541 is inserted into the detachable drill chuck 280, one end of the second connecting female shaft 541 is connected to a corresponding second connecting male shaft 523 of the second driving assembly 52, and the other end is connected to the second steel wire 542; the second wire 542 penetrates the abdominal tube 282 along the length direction of the abdominal tube 282, and one end of the second wire 542 far away from the second connection female shaft 541 is connected to the universal snake bone assembly 284. In this embodiment, there are two second transmission mechanisms, and each second transmission mechanism includes two second transmission assemblies 54, so that a total of four second connecting female shafts 541 and four second wires 542 are included.

Specifically, referring to FIG. 7, the universal snake bone assembly 284 comprises a snake bone seat 2842, a snake bone nose 2841 and a plurality of snake bones 2843. The snake bone seat 2842 is fixedly connected with one end of the abdomen entering pipe 282 far away from the detachable drill chuck 280, the snake bone front end 2841 is rotatably connected with the second connecting piece 2866 of the forceps head assembly 286, the plurality of snake bones 2843 are positioned between the snake bone seat 2842 and the snake bone front end 2841, and each second steel wire 542 sequentially penetrates through the snake bone seat 2842 and the plurality of snake bones 2843 and then is fixedly connected with the snake bone front end 2841.

The snake bones 2843 are sequentially overlapped between the snake bone seat 2842 and the snake bone front end 2841, the snake bones 2843 are provided with a plurality of inclined surfaces, and two adjacent snake bones 2843 can rotate relatively.

Referring to FIG. 8, in the cross-section of the belly tube 282, one set of two second wires 542 at a first diagonal line is used to control bending of the universal snake assembly 284 in a first planar direction, and the other set of two second wires 542 at a second diagonal line is used to control bending of the universal snake assembly 284 in a second planar direction, with the first and second planes being in a perpendicular relationship.

When two second connecting female shafts 541 on any diagonal line are driven by the second driving assembly 52 to move in opposite directions, the two second connecting female shafts 541 drive the two corresponding second steel wires 542 to move in opposite directions, and at the moment, the two second steel wires 542 drive the stress of the plurality of snake bones 2843 to change, so that the inclined surfaces of the adjacent snake bones 2843 are abutted, the universal snake bone assembly 284 is bent, and the tong head assembly 286 is driven to bend.

In this manner, bending movement of the jawarm assembly 286 is achieved.

Referring to fig. 6 and 7, the snake bone front end 2841 has a receiving area 2844, the connecting element includes an extending part 2868, the extending part 2868 is located in the receiving area 2844, the extending part 2868 is rotatably connected with the snake bone front end 2841, an annular limiting groove 2869 is formed on the extending part 2868, a plurality of limiting pins 2845 are arranged on the snake bone front end 2841, and the plurality of limiting pins 2845 extend into the annular limiting groove 2869.

Specifically, after the limiting pin 2845 extends into the annular limiting groove 2869, the extending part 2868 can be limited from moving along the axial direction of the abdominal tube 282, so that when the first wire 532 drives the first connecting piece 2865 to move, the second connecting piece 2866 is limited from moving along with the first connecting piece 2865 through the two jaws 2861; however, since the extension 2868 is rotatably connected to the snake bone front end 2841 and the stop pin 2845 does not limit the rotation of the second connecting member 2866, when the first wire 532 drives the first connecting member 2865 to rotate, the first connecting member 2865 drives the second connecting member 2866 to rotate together through the two jaws 2861.

Referring to fig. 8, the abdominal tube 282 includes a tube body 2822 and a five-lumen tube 283, the five-lumen tube 283 is disposed in the tube body 2822 along a length direction of the tube body 2822, the five-lumen tube 283 has a middle channel 2831 and a plurality of circumferential channels 2832, the middle channel 2831 and the circumferential channels 2832 extend along the length direction of the five-lumen tube 283, the plurality of circumferential channels 2832 are uniformly distributed along a circumferential direction of the middle channel 2831, wherein the first steel wire 532 is disposed in the middle channel 2831, and the plurality of second steel wires 542 are disposed in different circumferential channels 2832. The first and

second wires

532 and 542 may be prevented from intertwining with each other by the five-lumen tube 283.

In one embodiment, referring to fig. 10 and 11, the detachable drill chuck 280 includes an interface housing 281, the interface housing 281 is located on a side of the detachable drill chuck 280 away from the abdominal tube 282, and the first connecting female shaft 531 and the second connecting female shaft 541 are both disposed through the interface housing 281. One side of the housing of the electrical machine module 27 is provided with an interface seat 274, the first connecting male shaft 513 and the second connecting male shaft 523 penetrate through the interface seat 274, and the interface housing 281 is matched with the interface seat 274.

The surgical device 28 and the motor module 27 can be connected together through the interface housing 281 and the interface seat 274, and when the interface housing 281 is connected with the interface seat 274, the first connecting male shaft 513 is fixedly connected with the first connecting female shaft 531, and the second connecting male shaft 523 is fixedly connected with the corresponding second connecting female shaft 541, so that the first connecting male shaft 513 can drive the first connecting female shaft 531 to move, and the second connecting male shaft 523 can drive the corresponding second connecting female shaft 541 to move.

Referring to fig. 11 and 12, a connection groove 57 is formed on each of the first connection female shaft 531 and the second connection female shaft 541;

referring to fig. 10 and 12, a connection block 58 is provided on the first and second

connection male shafts

513 and 523, and the connection block 58 is fitted to the connection groove 57.

Specifically, referring to fig. 12, taking the connection groove 57 of the first connection female shaft 531 as an example, the connection groove 57 is located at an end of the first connection female shaft 531, the connection groove 57 is opened from a side wall of the first connection female shaft 531 and then penetrates through the end of the first connection female shaft 531, and an opening size of the connection groove 57 at the side wall of the first connection female shaft 531 is larger than an opening size of the connection groove 57 at the end of the first connection female shaft 531. The shape of the coupling groove 57 on the second coupling female shaft 541 is the same as that of the coupling groove 57 on the first coupling female shaft 531.

Taking the first connecting male shaft 513 as an example, the connecting block 58 is located on the end of the first connecting male shaft 513, and an annular groove is formed at the connection position of the connecting block 58 and the first connecting male shaft 513. Likewise, the junction of the connecting block 58 and the second connecting male shaft 523 also forms an annular groove.

Thus, when the interface housing 281 and the interface seat 274 are connected, the interface housing 281 is moved from the side (i.e., the direction perpendicular to the axis of the belly tube 282) toward the interface seat 274, so that the connection blocks 58 on the first and second

connection male shafts

513 and 523 enter the connection grooves 57 from the side walls of the first and second connection

female shafts

531 and 541, and the annular grooves of the first and second connecting

male shafts

513 and 523 correspond to the ends of the first and second connecting

female shafts

531 and 541 until the connecting block 58 is completely inserted into the connecting groove 57, at which time, due to the shape fit of the connecting block 58 and the connecting groove 57, the first connecting male shaft 513 and the first connecting female shaft 531, the second connecting male shaft 523 and the second connecting female shaft 541 are fixedly connected in the axial direction, so that the first male connecting shaft 513 can drive the first female connecting shaft 531 to move, and the second male connecting shaft 523 can drive the corresponding second female connecting shaft 541 to move.

Referring to fig. 13, in order to better connect the first connecting male shaft 513 and the second connecting male shaft 523 with the first connecting female shaft 531 and the second connecting female shaft 541, a shift plate 59 is further disposed in the interface housing 281, a plurality of limiting holes 591 are formed in the shift plate 59, and the first connecting female shaft 531 and the second connecting female shaft 541 respectively pass through the different limiting holes 591; the first connecting female shaft 531 and the second connecting female shaft 541 are provided with a limiting opening 60, the limiting opening 60 is located on the same side of the first connecting female shaft 531 and the second connecting female shaft 541, and the shift washer 59 can slide in the interface housing 281 in the direction of the limiting opening 60 on the first connecting female shaft 531 and the second connecting female shaft 541. When the shift piece slides towards the direction of the limiting openings 60 on the first connecting female shaft 531 and the second connecting female shaft 541, the edge of the limiting hole 591 of the shift piece 59 is clamped into the limiting opening 60, and at this time, the shift piece 59 can limit the movement of the first connecting female shaft 531 and the second connecting female shaft 541 in the axial direction, so that the first connecting male shaft 513 and the connecting block 58 of the second connecting male shaft 523 can be accurately clamped into the connecting grooves 57 of the first connecting female shaft 531 and the second connecting female shaft 541. Meanwhile, when the surgical instrument 28 is not used, the shift sheet 59 can be used for clamping the first connecting female shaft 531 and the second connecting female shaft 541 so as to avoid misoperation; when the surgical instrument 28 is used, the shift sheet 59 is slid again, so that the edge of the limiting hole 591 is separated from the limiting port 60.

Referring to fig. 11, a plurality of clamping portions 2811 are disposed on four side walls of the interface housing 281, a plurality of matching portions 2741 are disposed on a side wall of the interface seat 274, and the clamping portions 2811 and the matching portions 2741 are in one-to-one correspondence and are matched with each other.

Specifically, referring to fig. 10, the clamping portion 2811 includes a limiting groove disposed on an upper side wall of the interface casing 281, a limiting boss disposed on a lower side wall of the interface casing 281, and insertion bosses disposed on left and right side walls of the interface casing 281; the mating portion 2741 includes a limiting boss disposed on the upper sidewall of the interface seat 274, a limiting groove disposed on the lower sidewall of the interface seat 274, and a socket notch disposed on the left sidewall and the right sidewall of the interface seat 274.

When the interface shell 281 and the interface seat 274 are connected, the interface shell 281 is moved from a lateral direction (i.e. a direction perpendicular to the axis of the abdominal tube 282) toward the interface seat 274, so that the limit boss of the lower sidewall of the interface shell 281 is inserted into the limit groove of the lower sidewall of the interface seat 274, the insertion bosses of the left sidewall and the right sidewall of the interface shell 281 are inserted into the insertion grooves of the left sidewall and the right sidewall of the interface seat 274, and the limit groove of the upper sidewall of the interface shell 281 is inserted into the limit boss of the upper sidewall of the interface seat 274, so that the interface shell 281 and the interface seat 274 can be fixedly connected in the axis direction of the abdominal tube 282 by using the clamping portion 2811 and the matching portion 2741, and further the interconnection between the surgical instrument 28 and the motor module 27 is realized.

Referring to fig. 11 and 13, a locking switch 2813 is further disposed on a lower side wall of the interface housing 281, the locking switch 2813 can slide on the interface housing 281, and after the interface housing 281 is connected to the interface seat 274, the locking switch 2813 is slid toward the interface seat 274, so that a latch tongue of the locking switch 2813 is clamped to an outer side of the lower side wall of the interface seat 274, and at this time, the locking switch 2813 can limit displacement of the interface housing 281 and the interface seat 274 in a lateral direction, thereby further fixing the interface housing 281 and the interface seat 274.

In one embodiment, a plurality of surgical instruments 28 are typically used during the operation of the surgical control instrument assembly, and the motor module 27 is required to identify the types of the different surgical instruments 28 due to the different opening and closing angles of the different surgical instruments 28.

Specifically, referring to fig. 11, at least one magnet mounting groove 2812 is formed in the interface housing 281, and the magnet may be selectively mounted or not mounted in the magnet mounting groove 2812, and the orientation of the N pole or S pole of the magnet may be selected when the magnet is mounted.

Referring to fig. 14, an identification plate 2742 is disposed in the interface seat 274, and magnetic pole sensing chips 2743 corresponding to the number and positions of the magnet mounting slots 2812 are disposed on the identification plate 2742, so that the magnetic pole sensing chips 2743 can sense whether there is a magnet in the magnet mounting slots 2812 or sense the magnetic poles of the magnet in the magnet mounting slots 2812, thereby determining the type of the surgical instrument 28 according to the sensing result.

In this embodiment, three magnet mounting grooves 2812 are provided, the three magnet mounting grooves 2812 are distributed in a triangular shape, three magnetic pole sensing chips 2743 are provided at corresponding positions on the identification plate 2742, signals that each magnetic pole sensing chip 2743 can sense are respectively 0 and N, S, where 0 indicates that no magnet is mounted in the magnet mounting groove 2812, N indicates that the magnetic pole of the magnet mounted in the magnet mounting groove 2812 is an N pole, and S indicates that the magnetic pole of the magnet mounted in the magnet mounting groove 2812 is an S pole.

When the surgical instrument 28 is identified, for example, if there is one non-installed magnet in three magnet installation slots 2812 of one surgical instrument 28 and the magnetic poles of the other two installed magnets are N poles, the signal sensed by the magnetic pole sensing chip 2743 is (0, N), and the motor module 27 determines the type of the surgical instrument 28 according to the identified signal.

Thus, the type of the surgical instrument 28 can be determined based on the signal induced by the induction pole chip, and the corresponding motion control restriction can be performed.

In one embodiment, the supporting members of the electric machine module 27, such as the housing, the first fixing plate 272 and the second fixing plate 273, and the interface seat 274, may be made of special engineering plastics, such as PEEK (polyetheretherketone) material; the moving components of the motor module 27, such as the first driving component 51 and the second driving component 52, can be made of aviation materials, such as 7075 aluminum alloy materials, so that the weight of the motor module 27 can be reduced, and the motor module 27 is designed in an integrated manner, so that the layout is more compact, the handheld device is more easily portable and the mechanical arm is more easily controlled, and the driving power consumption is reduced.

Example two

Embodiments of the present invention provide a split surgical device including a handle mechanism 26 and a surgical control instrument assembly as provided in one embodiment of the present invention.

Referring to fig. 15, the handle mechanism 26 is connected to a motor module 27 of the surgical control instrument assembly, and the control handle is used for enabling the motor module 27 to provide a driving force to drive a surgical instrument 28 of the surgical control instrument assembly to work.

The first driving assembly 51 and the second driving assembly 52 of the electrode module are used for driving the first transmission assembly 53 and the second transmission assembly 54 to move, so that the rotation, clamping and bending of the forceps head assembly 286 are realized, the first driving assembly 51 and the second driving assembly 52 of the motor module 27 can be used for controlling the movement of the forceps head assembly 286 more finely, the action amplitude of the forceps head assembly 286 is reduced, and the operation of the surgical control instrument assembly is more accurate.

EXAMPLE III

The embodiment of the invention discloses a soft tissue robot, which comprises a base, a cantilever and a split type surgical device provided by the embodiment II of the invention.

Specifically, the cantilever is arranged on the base, and the split type surgical device is suspended on the cantilever.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should also be noted that, in this document, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Moreover, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions or should not be construed as indicating or implying relative importance.

The technical solutions provided by the present invention are described in detail above, and the principle and the implementation manner of the present invention are described in this document by using specific examples, and the description of the above examples is only for assisting understanding of the present invention, and the content of the present description should not be construed as limiting the present invention. While various modifications of the illustrative embodiments and applications herein will be apparent to those skilled in the art, it is not desired to be exhaustive or exhaustive that all such modifications and variations are within the scope of the invention.

Claims

1. A surgical control instrument assembly, comprising:

surgical instruments and motor modules;

the two second transmission assemblies move in opposite directions under the driving action of the corresponding second driving assemblies, and then the universal snake bone assembly is controlled to drive the tong head assembly to bend.

2. The surgical control instrument assembly of claim 1, wherein:

the first drive assembly includes: the first motor, the second motor, the first connecting male shaft, the intermediate transmission shaft and the steel rope transmission member, wherein the first connecting male shaft is connected with the first transmission assembly, the intermediate transmission shaft is respectively connected with the first motor and the first connecting male shaft through a gear pair, and the driving force provided by the first motor is transmitted to the first connecting male shaft through the intermediate transmission shaft so as to drive the first connecting male shaft to rotate, so that the first connecting male shaft drives the first transmission assembly to rotate;

the first connecting male shaft is provided with a first fixing piece, a steel rope is wound on the steel rope transmission piece, the connecting section of the steel rope is fixedly connected with the first fixing piece, and the driving force provided by the second motor is transmitted to the steel rope through the steel rope transmission piece so as to drive the steel rope to move along the axial direction of the first connecting male shaft, drive the first fixing piece to move, further drive the first connecting male shaft to move, and enable the first connecting male shaft to drive the first transmission assembly to move.

3. The surgical control instrument mechanical assembly of claim 1, wherein:

the second drive assembly includes: the third motor, the steel rope transmission part and two second connecting male shafts are connected, and each second connecting male shaft is connected with the corresponding second transmission assembly;

the driving force provided by the third motor is transmitted to the steel rope through the steel rope transmission part so as to drive the first steel rope section and the second steel rope section to move along opposite directions, drive the second fixing piece and the third fixing piece to move along opposite directions, further drive the two second connecting male shafts to move along opposite directions, and enable the two second transmission assemblies to move along opposite directions.

4. The surgical control instrument assembly of claim 1, wherein:

the first transmission assembly comprises a first steel wire and a first connecting female shaft, one end of the first connecting female shaft is connected with the first driving assembly, the other end of the first connecting female shaft is connected with the first steel wire, and one end, far away from the first connecting female shaft, of the first steel wire is connected with the tong head assembly.

5. The surgical control instrument assembly of claim 1, wherein:

every the second transmission assembly includes that second steel wire and second connect female axle, the second connect female axle one end with second drive assembly connects, the other end with the second steel wire is connected, the second steel wire is kept away from the second connect female axle one end with universal snake bone subassembly is connected.

6. The surgical control instrument assembly defined in claim 4, wherein:

the tong head assembly comprises a first connecting piece and two opposite clamp jaws;

7. The surgical control instrument assembly defined in claim 6, wherein:

the pincer head assembly further comprises a second connecting piece with an accommodating space, and the second connecting piece is rotatably connected with the universal snake bone assembly; the connecting parts of the two jaws are arranged in the first connecting piece, the first connecting piece is arranged in the accommodating space of the second connecting piece, and the connecting parts of the two jaws are both connected with the first connecting piece in a sliding manner and are connected with the second connecting piece in a rotating manner;

the first steel wire is driven by the first driving assembly to move so as to drive the first connecting piece to move, so that the connecting parts of the two jaws relatively slide in opposite directions relative to the first connecting piece, and simultaneously, the connecting parts of the two jaws rotate relative to the second connecting piece, so that clamping and opening of the clamping parts of the two jaws are realized.

8. The surgical control instrument assembly of claim 7, wherein:

a connecting shaft is arranged in the first connecting piece and fixedly connected with the first connecting piece, sliding grooves are formed in the connecting parts of the two jaws, the connecting shaft penetrates through the sliding grooves of the two jaws, and the sliding grooves are integrally arc-shaped;

the first steel wire is driven by the first driving assembly to move, the first steel wire drives the first connecting piece to move, and the first connecting piece drives the connecting shaft to move in the sliding grooves of the two jaws, so that the connecting parts of the two jaws rotate relative to the rotating shaft while the connecting parts of the two jaws relatively slide in opposite directions relative to the first connecting piece, and clamping and opening of the two jaws are achieved.

9. The surgical control instrument assembly defined in claim 5, wherein:

the universal snake bone component comprises a snake bone seat, a snake bone front end and a plurality of snake bones;

the front ends of the snake bones are fixedly connected with the tong head assembly, and the snake bones are positioned between the snake bone seat and the front ends of the snake bones;

the second steel wire penetrates through the snake bone seat and the snake bones in sequence and is fixedly connected with the front ends of the snake bones;

the universal snake bone component comprises a universal snake bone component and is characterized in that the universal snake bone component comprises a plurality of inclined surfaces, and when second steel wires of the two second transmission components are driven by the second driving components to move in opposite directions, the stress of the plurality of snake bones is changed, so that the inclined surfaces of the adjacent snake bones are abutted, and the universal snake bone component is bent.

10. A surgical control instrument assembly as recited in claim 9, wherein:

the snake bone front end has the accommodation area, the binding clip subassembly includes second connecting piece and extension, second connecting piece and extension fixed connection, the extension is located in the accommodation area, the extension with the snake bone front end rotates to be connected, be formed with annular spacing groove on the extension, be provided with a plurality of spacing pins on the snake bone front end, a plurality of spacing pins stretch into to annular spacing inslot.

11. The surgical control instrument assembly of claim 1, wherein:

the surgical instrument further comprises a detachable drill chuck and an abdominal tube, the first transmission assembly comprises a first steel wire, and each second transmission assembly comprises a second steel wire;

the first steel wire and the second steel wire are both located in the abdominal tube, and the first steel wire and the second steel wire extend along the length direction of the abdominal tube.

12. The surgical control instrument assembly defined in claim 11, wherein:

go into the abdominal tube and include body and quintuple tube, the quintuple tube is located in the body, just the quintuple tube along the length direction setting of body, the quintuple tube has middle chamber and says and a plurality of circumference chamber, middle chamber with a plurality of circumference chamber say along the length direction of quintuple tube extends, a plurality of circumference chamber say along the circumference of middle chamber is distributed, first steel wire is worn to locate in the middle chamber says, the second steel wire is worn to locate in the circumference chamber says.

13. A surgical control instrument assembly as recited in claim 11, wherein: the first transmission assembly further comprises a first connecting female shaft, and each second transmission assembly further comprises a second connecting female shaft; the first drive assembly comprises a first connecting male shaft and the second drive assembly comprises a second connecting male shaft;

the motor module comprises a shell, the first driving assembly and the second driving assembly are arranged in the shell, an interface seat is arranged on one side of the shell, and the first connecting male shaft and the second connecting male shaft penetrate through the interface seat;

14. The surgical control instrument assembly defined in claim 13, wherein:

connecting grooves are formed in the first connecting female shaft and the second connecting female shaft, connecting blocks are arranged on the first connecting male shaft and the second connecting male shaft, and the connecting blocks are matched with the connecting grooves;

a plurality of matching parts are arranged on four side walls of the interface seat, and the matching parts correspond to the clamping parts one by one and are matched with the clamping parts;

when the interface shell is connected with the interface seat, the connecting block on the first connecting male shaft is inserted into the connecting groove of the first connecting female shaft, the connecting block on the second connecting male shaft is inserted into the corresponding connecting groove of the second connecting female shaft, and the clamping part is clamped with the corresponding matching part, so that the surgical instrument is connected with the motor module.

15. The surgical control instrument assembly of claim 2, wherein:

the motor module comprises a shell, a first fixing plate and a second fixing plate, wherein the first fixing plate and the second fixing plate are arranged in the shell;

wherein the first gear is in mesh with the second gear and the third gear is in mesh with the fourth gear;

the driving force provided by the first motor is transmitted to the intermediate transmission shaft through the first gear and the second gear, and the intermediate transmission shaft transmits the driving force to the first connecting male shaft through the third gear and the fourth gear so as to drive the first connecting male shaft to rotate, so that the first connecting male shaft drives the first transmission assembly to rotate.

16. The surgical control instrument assembly of claim 2, wherein:

the second motor is fixedly arranged on the first fixing plate in a penetrating mode;

the middle shaft is fixedly arranged on the first fixing plate in a penetrating mode;

the sixth gear and the first steering wheel are arranged on an intermediate shaft, and the sixth gear is meshed with the fifth gear; the second steering wheel and the third steering wheel are arranged on the first fixing plate side by side and close to the first steering wheel, the fourth steering wheel is arranged on the second fixing plate and close to the first connecting male shaft, and the fourth steering wheel and the second steering wheel are on the same straight line;

the driving force provided by the second motor is transmitted to the intermediate shaft through the fifth gear and the sixth gear, the intermediate shaft drives the first steering wheel to rotate, so that the first steering wheel is wound on the steel rope to drive the steel rope to move, the steel rope drives the first fixing piece to move along the axial direction of the first connecting male shaft to drive the first connecting male shaft to move, and the first connecting male shaft drives the first transmission assembly to move.

17. A surgical control instrument assembly as recited in claim 3, wherein:

a fifth steering wheel is arranged on an output shaft of the third motor;

the sub-transmission member comprises a sixth steering wheel and a seventh steering wheel; the sixth steering wheel is fixedly arranged on the first fixing plate, and the sixth steering wheel and the fifth steering wheel are positioned on the same side of the first fixing plate; the seventh steering wheel is fixedly arranged on the second fixing plate, and the seventh steering wheel and the sixth steering wheel are positioned on the same straight line;

the steel rope is wound on the fifth steering wheel, and the steel rope forms a closed ring through a sixth steering wheel and a seventh steering wheel of the two transmission pieces;

the driving force provided by the third motor drives the fifth steering wheel to rotate, so that the fifth steering wheel is wound on the steel rope, the steel rope is driven to move, the first steel rope section and the second steel rope section move in opposite directions, the second fixing piece and the third fixing piece are driven to move in opposite directions, the two second connecting male shafts are driven to move in opposite directions, and the two second transmission assemblies are driven to move in opposite directions.

18. The surgical control instrument assembly defined in claim 13, wherein:

at least one magnet mounting groove is formed in the interface shell;

19. A split surgical device, comprising:

the surgical control instrument assembly defined in any one of claims 1-18 and a handle mechanism, the handle mechanism being connected to the motor module of the surgical control instrument assembly, the control handle being configured to enable the motor module to provide a driving force to operate a surgical instrument of the surgical control instrument assembly.

20. A soft tissue robot, comprising:

a machine base;

a cantilever; and

the split surgical device of claim 19;

the cantilever is arranged on the base, and the split type surgical device is suspended on the cantilever.