CN114587595A - Surgical instrument, actuator and surgical robot - Google Patents

Abstract

The invention relates to a surgical instrument, an actuating mechanism and a surgical robot, wherein the surgical instrument comprises an outer sheath, an instrument rod, a surgical tool and a head dismounting assembly, wherein: the head dismounting component is arranged at one end of the outer sheath; the surgical tool is arranged on the head disassembling and assembling component and can be disassembled from one end of the outer sheath through the head disassembling and assembling component; the instrument rod is arranged in the sliding cavity of the outer sheath in a sliding mode, one end of the instrument rod is connected to the surgical tool in a driving mode, the surgical tool is arranged on the head disassembling and assembling component and is connected to the instrument rod in a driving mode, the surgical tool can be disassembled from the outer sheath through the head disassembling and assembling component due to the head disassembling and assembling component, the surgical instrument can be separated from the outer sheath through the head disassembling and assembling component before cleaning and disinfecting, accordingly, the surgical tool, the instrument rod and the outer sheath are separated, cleaning and disinfecting are respectively conducted on a plurality of parts, and small gaps which are difficult to clean due to the fact that the structure cannot be disassembled are reduced.

Description

Surgical instrument, actuator and surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a surgical instrument, an actuating mechanism and a surgical robot.

Background

The minimally invasive surgery is to open a tiny wound on the body of a patient, part of an actuating mechanism of a surgical robot penetrates through the tiny wound and enters a focus position, a telecentric motionless point of the actuating mechanism is overlapped with the wound position, an operator controls a mechanical arm part of the surgical robot to drive the actuating mechanism to do spatial swing within a certain angle range by taking the telecentric motionless point as a hinge point, and the action of the actuating mechanism is assisted to complete the minimally invasive surgery. In recent years, minimally invasive surgery is gaining favor of medical staff and patients due to small wound and less bleeding.

The structure of the actuator generally includes: the surgical instrument is used for stretching into the focus position, and the driving component is used for driving the surgical instrument to rotate, open and close, and the like. After the surgical instruments are used, or when necessary, the surgical instruments need to be detached and cleaned, and the existing surgical instrument structure has more dead angle positions which are difficult to clean, so that the cleaning and the disinfection of the surgical instruments are not facilitated.

Disclosure of Invention

In view of the above, there is a need for an improved surgical instrument, an actuator and a surgical robot, wherein the surgical instrument can be disassembled into a plurality of parts for easy cleaning, so as to meet the requirement of cleaning and disinfecting the surgical instrument.

The embodiment of the invention firstly provides a surgical instrument, which comprises an outer sheath, an instrument rod, a surgical tool and a head dismounting assembly, wherein: the head dismounting component is arranged at one end of the outer sheath; the surgical tool is arranged on the head disassembling and assembling component and can be disassembled from one end of the outer sheath through the head disassembling and assembling component; the instrument shaft is slidably disposed within the outer sheath and has one end drivingly connected to the surgical tool. Surgical instruments sets up on head dismouting subassembly to the drive is connected to the apparatus pole, and head dismouting subassembly makes surgical instruments can pass through head dismouting subassembly and epitheca split, and like this, surgical instruments can separate surgical instruments and epitheca through head dismouting subassembly before clean disinfection, thereby realize the separation of surgical instruments and apparatus pole and epitheca, thereby clear up the disinfection respectively to a plurality of spare parts, reduced because the structure can not be split and be difficult to the tiny gap of clearance.

In a possible solution, the head dismounting assembly includes a head connector, a locking block is fixedly disposed in the outer sheath, and the head connector can cooperate with the locking block to lock or unlock with the outer sheath, and the surgical tool is disposed on the head connector. The locking block and the outer sheath are fixed with each other, the head connecting piece and the locking block are matched with each other, when the head connecting piece and the locking block are separated, the head connecting piece and the surgical tool on the head connecting piece can be separated from the outer sheath together, and the disassembly and the assembly are more convenient.

In a feasible scheme, a first locking groove is formed in the head connecting piece, and the first locking groove comprises a sliding-in section and a locking section which are communicated with each other; the locking block can slide in the sliding-in section along with the axial relative movement of the outer sheath and the head connecting piece and slide in the locking section along with the circumferential relative movement of the outer sheath and the head connecting piece so as to lock the outer sheath and the head connecting piece.

In a possible scheme, the number of the locking blocks is two or more, the two or more locking blocks are arranged at intervals along the circumferential direction, and the number and the positions of the first locking grooves correspond to the number and the positions of the locking blocks. Two or more locking blocks arranged at intervals along the circumferential direction enable a plurality of connecting and fixing positions to be formed between the head connecting piece and the outer sheath, and the head connecting piece and the outer sheath are connected more stably.

In a possible solution, the head connecting member is provided with an instrument rod sliding hole for slidably supporting the instrument rod. The instrument rod sliding hole can support and guide the axial sliding of the instrument rod in the outer sheath, so that the axial movement precision of the instrument rod is higher.

In a possible embodiment, the surgical instrument further includes a tail disassembling and assembling component, the tail disassembling and assembling component includes an outer locking member detachably connected to the outer sheath, and the outer locking member is provided with a guide hole for slidably supporting the instrument rod. Through the guiding hole of seting up on the outer closure, surgical instruments is under the assembled condition, and the apparatus pole can receive the guide effect of guiding hole and have higher axial motion precision, simultaneously, for guaranteeing smooth and easy the sliding of apparatus pole, need leave certain clearance between this guiding hole and the apparatus pole, and can dismantle between outer closure and the epitheca and be connected, has guaranteed that narrow and small spatial position such as this clearance can carry out thorough clearance through the split.

In a feasible scheme, an inner locking piece is fixedly arranged on the outer sheath, a second locking groove is arranged on one of the outer locking piece and the inner locking piece, a locking bulge is arranged on the other of the outer locking piece and the inner locking piece, and the second locking groove comprises a sliding-in section and a locking section which are communicated with each other; the locking protrusion can slide in the sliding-in section along with the axial relative movement of the outer locking piece and the inner locking piece and slide in the locking section along with the circumferential relative movement of the outer locking piece and the inner locking piece so as to lock the outer locking piece and the inner locking piece. The detachable connection between the outer locking piece and the outer sheath is realized through the inner locking piece fixedly connected with the outer sheath, so that the tail part of the outer sheath does not need to be provided with a complex structure, and only the inner locking piece needs to be fixed through interference, gluing, welding and the like, the processing of the outer sheath is simplified, and meanwhile, the assembly of a surgical instrument is also simplified.

In a possible solution, the inner locking member is fixed to the outer sheath in a sleeved manner and has an insertion section capable of extending into the outer locking member, and the locking protrusion is fixed to the insertion section. So set up, the epitheca sets up in interior locking piece, and the inserted section of interior locking piece stretches into outer locking piece again in, the nested setting inside and outside the three is favorable to guaranteeing this local position axiality of the surgical instruments that assemble higher, and the operation of assembly is also more convenient.

In a feasible scheme, the head dismounting assembly and the tail dismounting assembly are dismounted by axially sliding and circumferentially rotating relative to the outer sheath, and the outer sheath can be dismounted simultaneously by rotating in the same direction by a preset angle. When the surgical instrument is assembled after the disinfection, the head disassembly and assembly component and the tail disassembly and assembly component need to be aligned with the instrument rod and penetrate along the axial direction, then the connection is realized through relative circumferential rotation, the installation locking direction of the head disassembly and assembly component and the tail disassembly and assembly component is set to be the same-direction turnover, the disassembly process is facilitated to be simplified, and the process that the guide hole and the instrument rod sliding hole are penetrated through by the instrument rod respectively is facilitated.

In one possible solution, one end of the outer locking element is detachably connected to the outer sheath, and the other end is provided with a rotation stop surface which is capable of cooperating with a stop element for locking the surgical instrument in the assembled state and for limiting a circumferential rotation of the outer locking element relative to the stop element. In the surgical robot matched with the surgical instrument, the circumferential rotation of the limiting element is limited, the limiting element is matched with the rotation stopping blocking surface on the outer locking part to limit the circumferential rotation of the outer locking part, the unnecessary circumferential rotation of the surgical instrument in an assembly state can be synchronously limited, and the connection relation of all positions of the surgical instrument is more reliable.

In one possible embodiment, one end of the outer locking element is detachably connected to the outer sheath, and the other end of the outer locking element is provided with a locking groove, into which a limiting element for locking the surgical instrument can be snapped, in order to lock the surgical instrument in the assembled state. When the surgical instrument is in an assembly state, the outer locking part and other positions of the surgical instrument cannot be detached, and the locking of the surgical instrument can be reliably and conveniently realized by matching the locking groove on the outer locking part with the limiting element.

In a possible embodiment, the two instrument rods are provided, and the surgical tool comprises a pair of swinging members rotatably connected to one end side of the head dismounting assembly, each instrument rod is in driving connection with one swinging member, and the sliding of the instrument rods in the outer sheath can respectively and independently drive the corresponding swinging members to swing.

In one possible embodiment, the surgical instrument further comprises two connecting rods, each connecting rod having one end pivotally connected to one of the swinging members and the other end pivotally connected to one of the instrument rods.

In a possible solution, one of each swinging member and each instrument rod is provided with a sliding groove, the other is provided with a connecting portion in sliding fit with the sliding groove, and the instrument rods can drive the corresponding swinging members to swing through the sliding fit of the connecting portion and the sliding groove.

Through two apparatus poles respectively independent drive operation instrument one swinging member in the swing, compare the form of single apparatus pole drive, the degree of freedom of operation instrument is bigger.

The second aspect of the embodiment of the present invention also provides an actuator including the surgical instrument.

In one possible solution, the actuator further comprises: the base is used for being connected with the surgical instrument in a sliding mode; the sheath limiting component is arranged on the base and comprises a limiting element which can move along the direction vertical to the sliding direction of the surgical instrument relative to the base, and the limiting element is used for locking or unlocking the sheath component of the surgical instrument; an instrument rod stop assembly comprising an instrument rod locking sleeve for locking/unlocking the instrument rod; a disassembly and assembly manipulation assembly including a joint unlocking member movable relative to the instrument shaft locking sleeve to unlock the instrument shaft and engaged with the stop member to unlock the outer sheath assembly. The combined unlocking piece in the dismounting control assembly moves relative to the base, so that the instrument rod can be unlocked, and the outer sheath assembly except the instrument rod in the surgical instrument can be unlocked.

In a possible solution, the housing has a sliding travel space perpendicular to the sheath sliding direction, and the limiting element is slidably connected to the sliding travel space; the stop element has an unlocking receptacle, the joint unlocking member includes an insertion portion insertable into the unlocking receptacle, and insertion of the insertion portion into the unlocking receptacle drives the stop element to gradually slide within the sliding stroke space to a position unlocking the sheath assembly.

In one possible embodiment, the insertion portion has an obliquely arranged insertion guide slope that can cooperate with a hole wall of the unlocking insertion hole to drive the stopper element to slide gradually in the sliding stroke space. The obliquely arranged insertion guide inclined plane is matched with the unlocking insertion hole on the limiting element so that: along with different depths of the insertion part inserted into the unlocking insertion hole, the limiting element gradually slides to the position of the unlocking outer sheath component in the sliding stroke space, so that the unlocking process of the surgical instrument is more stable and smooth.

In a possible solution, the sheath limiting assembly further comprises a gap adjusting member, and the gap adjusting member is clamped between the sheath assembly and the base to adjust a gap between the limiting element and the side wall of the sliding stroke space along the axial direction of the instrument rod. In order to make the limiting element slide smoothly in the sliding stroke space, a certain gap needs to be reserved between the limiting element and the side wall of the sliding stroke space, however, when the surgical instrument acts, the gap may cause the axial movement of the surgical instrument to have shaking or movement errors, and the gap is compensated by the gap adjusting piece, so that the surgical instrument is not influenced by the gap.

In one possible solution, the disassembly manipulation assembly further comprises a first resilient member, the resilient force of which causes the joint unlocking member to have a tendency to keep locking the instrument bar.

In a feasible scheme, the disassembly and assembly operation assembly further comprises a limiting seat, and the limiting seat is fixedly arranged on the base and can limit the limit movement amount of the combined unlocking piece to the direction of locking the instrument rod.

In a possible scheme, the surgical instrument further comprises a tail disassembling and assembling component, the tail disassembling and assembling component comprises an outer locking part which is detachably connected to the outer sheath, and a rotation stopping stop surface is arranged on the outer locking part; the limiting element is provided with a rotation stopping insertion hole into which the outer locking piece can be inserted, and the hole edge of the rotation stopping insertion hole can be abutted against the rotation stopping blocking surface so as to limit the rotation of the outer locking piece relative to the base.

In a possible scheme, the instrument rod limiting assembly further comprises a locking piece, and one end of the instrument rod is inserted into the instrument rod locking sleeve; the locking piece is movably arranged in the locking hole of the push rod locking sleeve and can be pushed to the position for locking the instrument rod by the combined unlocking piece.

In one possible embodiment, there are two instrument rods, and each instrument rod corresponds to one instrument rod locking sleeve; the actuating mechanism further comprises two groups of instrument rod driving assemblies corresponding to the instrument rods respectively, each group of instrument rod driving assemblies comprises a linear driving device, and the linear driving devices are directly arranged on the machine base.

The third aspect of the embodiments of the present invention also provides a surgical robot, including the above-mentioned actuator.

Drawings

FIG. 1 is a schematic structural diagram of an actuator according to an embodiment of the present invention;

FIG. 2 is a schematic view of the actuator shown in FIG. 1 with a housing removed;

FIG. 3 is an exploded view of the actuator shown in FIG. 2;

FIG. 4 is a perspective view of the actuator shown in FIG. 2 in a half-section, with the instrument bar drive assembly omitted;

FIG. 5 is a schematic view of the structure of FIG. 4 with the removable steering assembly removed, showing the sheath stop assembly mounted relative to the housing;

FIG. 6 is an enlarged view of portion A of the structure shown in FIG. 5;

FIG. 7 is a schematic perspective view of a half-section of a housing according to an embodiment of the present invention;

FIG. 8 is a perspective view of a housing according to one embodiment of the present invention;

FIG. 9 is another perspective view of a housing according to an embodiment of the present invention;

FIG. 10 is an exploded view of the actuator portion in linkage relationship;

FIG. 11 is an exploded view of the instrument stem stop assembly and associated unlocking member;

FIG. 12 is a schematic view of the combination unlocking member shown in FIG. 11;

FIG. 13 is a schematic view of the sheath assembly in a locked rotational relationship with the housing;

FIG. 14 is a schematic structural view of an instrument rod locking sleeve according to one embodiment of the present invention;

FIG. 15 is a schematic view of a surgical instrument according to an embodiment of the present invention;

FIG. 16 is an exploded view of the surgical device illustrated in FIG. 15;

FIG. 17 is a schematic structural view of a head connector according to an embodiment of the present invention;

FIG. 18a is a schematic structural view of an outer locking element according to an embodiment of the present invention;

FIG. 18b is a schematic structural view of an outer locking element according to another embodiment of the present invention;

FIG. 19 is a schematic structural view of a head structure of a surgical instrument according to an embodiment of the present invention;

FIG. 20 is a schematic structural view of a head structure of a surgical instrument according to another embodiment of the present invention;

fig. 21 is a schematic structural view of a surgical robot according to an embodiment of the present invention.

100. An actuator; 200. a telecentric control mechanism; 300. a preoperative positioning mechanism; 400. a frame; 500. a base;

11. disassembling and assembling the control assembly; 111. a joint unlocking member; 1111. a sliding sleeve; 11111. unlocking the hole section; 11112. a locking hole section; 1112. a deflector rod; 1113. a connecting portion; 1114. an insertion portion; 11141. inserting the guide slope; 112. a first elastic member; 113. a limiting seat;

12. a sheath limiting component; 121. a spacing element; 1211. unlocking the jack; 1212. a rotation stopping jack; 122. a second elastic member; 123. a baffle plate; 124. a gap adjuster;

13. an instrument rod limit assembly; 131. an instrument rod locking sleeve; 1311. a drive connection end; 1312. a locking aperture; 1313. a guide slide hole; 1314. an instrument stem receptacle; 132. a locking member;

14. a surgical instrument; 141. an outer sheath; 142. an instrument stem; 1421. a locking groove; 143. a swinging member; 1431. a chute; 144. a connecting rod; 145. a connecting portion; 146. a central rotating shaft; 147. a head disassembly assembly; 1471. a locking block; 1472. a head connector; 14721. a first locking groove; 14722. a rotation support; 14723. an instrument bar slide hole; 148. the tail part dismounting component; 1481. an outer locking member; 14811. a second locking groove; 14812. a rotation stopping surface; 14813. a locking groove; 14814. pressing the surface; 14815. a guide hole; 1482. an inner locking member; 14821. a locking projection;

15. an instrument rod drive assembly; 151. a linear motor; 152. a guide member;

16. a machine base; 161. a base; 1611. a first lumen; 1612. an access hole; 1613. a first communication hole; 162. a support portion; 1621. a second lumen; 1622. unlocking the slide way; 1623. a third lumen; 1624. a second communication hole; 1625. a sliding stroke space; 1626. a rotation stopping groove; 1627. a first slide hole; 1628. penetrating through the groove;

17. a housing; 171. a second slide hole; 18. a base plate; 19. a torque sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

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

The surgical instrument according to the first aspect of the present invention is adapted to the front end, also referred to as the distal end, of a surgical robot. The head of the surgical instrument needs to extend into the focus position through the wound on the body of the patient so as to complete the preset operation action at the position, and in order to avoid the surgical instrument carrying viruses, bacteria and the like, the surgical instrument needs to be thoroughly cleaned and sterilized before being installed.

Referring to fig. 15 and 16, a surgical instrument 14 according to one embodiment of the present invention includes an outer sheath 141, an instrument shaft 142, a surgical tool, a head detachment assembly 147, and a tail detachment assembly 148. Wherein: the instrument shaft 142 is configured as a rigid shaft and is slidable in a slidable chamber formed within the outer sheath 141; the surgical tool comprises a pair of swinging pieces 143, and the pair of swinging pieces 143 are rotatably connected to a head dismounting assembly 147 through a central rotating shaft 146; one end of the instrument rod 142 is connected to the surgical tool in a driving manner so as to drive the surgical tool to complete a preset surgical action; the head and tail disassembly and assembly assemblies 147 and 148 are used to disassemble the head and tail structures of the surgical instrument 14, so that the surgical instrument 14 can be disassembled into a plurality of discrete structures for cleaning and disinfection.

Referring to fig. 16 and 17, head mount assembly 147 may include a locking block 1471 and a head connector 1472, wherein: the locking block 1471 is fixedly disposed in the outer sheath 141, and the head connector 1472 can be engaged with the locking block 1471 to be mounted/dismounted with the outer sheath 141. In the illustrated embodiment, the head attachment 1472 is provided with a first locking groove 14721, the first locking groove 14721 includes a sliding-in section and a locking section which are communicated with each other, when the head attachment 1472 is connected to the outer sheath 141, firstly, the sliding-in section opening of the first locking groove 14721 needs to be aligned with the locking block 1471, the locking block 1471 slides to the locking section relatively by the axial relative movement of the outer sheath 141 and the head attachment 1472, and thereafter, the locking block 1471 slides to the locking position of the first locking groove 14721 by the circumferential relative rotation of the outer sheath 141 and the head attachment 1472, and at this time, the outer sheath 141 and the head attachment 1472 are locked. It will be appreciated that upon detachment of head attachment element 1472 from outer sheath 141, the action of head attachment element 1472 may be reversed to slide locking block 1471 back out of first locking slot 14721. In addition, the number of the locking blocks 1471 may be configured to be one, two or more, and when there are two or more locking blocks 1471, the two or more locking blocks 1471 are fixed in the outer sheath 141 at intervals along the circumferential direction, and correspondingly, the number and positions of the first locking grooves 14721 are correspondingly arranged.

Since the head attachment 1472 can be separated from the outer sheath 141 in the aforementioned manner, the surgical tool mounted thereon can also be separated from the outer sheath 141 together with the head attachment 1472, since the head attachment 1472 is mounted on the head attachment 1472. The head attachment 1472 may include a pair of rotation support portions 14722 circumferentially spaced apart from each other, and the central rotation shaft 146 for rotatably connecting the pair of swing members 143 is inserted through the pair of rotation support portions 14722. The head attachment 1472 may further include an instrument rod sliding hole 14723, and one end of the instrument rod 142 passes through the instrument rod sliding hole 14723 and is drivingly connected to the surgical tool, so as to drive the surgical tool to perform a predetermined surgical operation.

Referring to fig. 16, 18a and 18b, the tail disassembly assembly 148 may include an outer locking element 1481 and an inner locking element 1482, wherein: the inner locking member 1482 is fixed to the outer sheath 141 by interference fit, welding, bonding, etc., and the outer locking member 1481 is detachably connected to the inner locking member 1482. In the illustrated embodiment, the inner locking device 1482 has one end thereof fixed to the outer sheath 141 and the other end thereof having an insertion section with a locking protrusion 14821 thereon; the outer locking piece 1481 is formed with a hole into which the insertion section of the inner locking piece 1482 can be inserted, and the hole wall of the hole is formed with a second locking groove 14811 in which the locking protrusion 14821 can slide. Similar to the first locking groove 14721 of the first locking groove 14721, the second locking groove 14811 also includes a sliding-in section and a locking section, in the process of locking the outer locking element 1481 to the inner locking element 1482, the locking protrusion 14821 is first aligned with the opening of the sliding-in section of the second locking groove 14811, then the outer locking element 1481 and the inner locking element 1482 are moved axially relative to each other, and when the locking protrusion 14821 slides to the locking section, the inner and outer locking elements are rotated relative to each other to complete the locking process of the outer locking element 1481 and the inner locking element 1482. Similarly, the disassembly of the outer locking member 1481 can be accomplished by reversing the above-described process. The number of the locking protrusions 14821 and the second locking grooves 14811 may be two or more, and is not limited to one shown in the figure, and two or more locking protrusions 14821 may be arranged at intervals in the circumferential direction, and the number and the position of the second locking grooves 14811 may correspond thereto.

The outer locking member 1481 is further formed with a guide aperture 14815, and the instrument stem 142 extends through the guide aperture 14815. As mentioned above, the head attachment 1472 is provided with the instrument rod sliding hole 14723, and the guide hole 14815, similar to the function thereof, is used for guiding the axial sliding movement of the instrument rod 142 relative to the outer sheath 141. When the two are combined, the axial direction of the instrument rod 142 is supported by two sliding positions, and the axial sliding precision of the instrument rod 142 is higher. In particular, since the surgical instrument 14 is adapted to a surgical robot for performing minimally invasive surgery and has a limited radial dimension, the shape of the instrument rod 142 may form a long and thin rod structure, and the two-point supporting manner is beneficial to avoiding the instrument rod 142 from bending and deforming due to an excessively large supporting span, which affects the axial movement precision thereof. Of course, in other embodiments, the holes for guiding the head attachment 1472 or the outer locking element 1481 may be eliminated as a set, which does not interfere with the functioning of the surgical instrument.

Referring to fig. 15 and 16, the disassembly action of the head attachment 1472 and the outer locking element 1481 includes axial sliding and rotation relative to the outer sheath 141. to facilitate the disassembly and assembly of the two from the outer sheath 141, the locking block 1471 and the locking protrusion 14821 are simultaneously slid to the locking positions of the first locking groove 14721 and the second locking groove 14811 by designing the first locking groove 14721 and the second locking groove 14811 such that the outer sheath 141 rotates in one direction through a predetermined angle.

In order to facilitate the installation of the surgical instrument to the surgical robot as shown in fig. 18a and 18b, the outer locking member 1481 may also be provided with a pair of stop surfaces 14812 and a radially inwardly concave locking groove 14813 as shown in fig. 18b, which will be described in detail below with respect to the operation of the actuator 100 in connection with the operation of the two structures. It will be appreciated that the surgical instrument may be mounted to the surgical robot in any other manner, and therefore, the rotation stop surfaces 14812 and the locking recesses 14813 may be omitted as shown in fig. 18a, and the mounting limitation may be achieved by other fitting structures.

Referring to fig. 19 and 20, the surgical instrument 14 has two instrument rods 142, and the two instrument rods 142 are each configured as a rigid rod, so that compared to the conventional surgical robot in which a steel cable is used as a surgical tool driving member and the rigid rod is used as a surgical tool driving member, the problems of elongation and creep of the steel cable can be overcome, and the movement accuracy of the surgical tool is higher. And the two instrument rods 142 are adopted to respectively drive one swinging piece 143 in the surgical tool, so that the motion flexibility of the surgical tool is higher compared with the driving mode of connecting a single rigid rod with a parallelogram mechanism. An embodiment of the instrument lever 142 drive link pendulum 143 is shown in figures 19 and 20.

Referring first to fig. 19, the instrument rod 142 is connected to the swinging members 143 through the connecting rods 144, one end of each connecting rod 144 is rotatably connected to the instrument rod 142, the other end of each connecting rod 144 is rotatably connected to the swinging members 143 through the connecting portions 145, the pair of swinging members 143 are rotatably connected to the head connecting member 1472 through the central rotating shaft 146, and the rotating connection of the connecting portions 145 is staggered from the penetrating portion of the central rotating shaft 146. Thus, when the instrument rod 142 slides in the sheath 141 along its axis, the connecting rod 144 can be driven to slide and/or deflect relative to the instrument rod 142, so that the connecting rod 144 can drive the swinging member 143 to rotate around the central rotating shaft 146 by a preset angle through the connecting portion 145.

The two ends of the connecting rod 144 are respectively rotatably connected with the instrument rod 142 and the swinging member 143, so that compared with the case that the instrument rod 142 is directly rotatably connected with the swinging member 143, the degree of freedom of the whole motion mechanism is increased, the motion of the swinging member 143 is more flexible, and the motion range is larger.

Referring to fig. 20, in contrast to the embodiment shown in fig. 19, the surgical instrument in fig. 20 does not have the connecting rod 144, but a connecting portion 145 is provided at an end of the instrument rod 142, and a slide groove 1431 slidably connected to the connecting portion 145 is opened in the swinging member 143. When the instrument rod 142 slides in the sheath 141 along its axial direction, the position of the connecting portion 145 mounted on the instrument rod 142 changes, and the connecting portion 145 is slidably engaged with the slide groove 1431, so as to drive the swinging member 143 to swing around the central rotating shaft 146.

The structure in fig. 19 and 20 can realize the driving connection between the instrument rod 142 and the swinging member 143, the connection structure formed by the connection part 145 and the sliding groove 1431 in fig. 20 can be regarded as a kinematic high pair, and the connection structure at the rotary connection position of the two ends of the connecting rod 144 in fig. 19 is a kinematic low pair, so that the structure in fig. 20 is more compact and the transmission precision is higher compared with the form of the connection of the whole connecting rod structure in fig. 19.

In addition, the swinging range of the swinging member 143 in fig. 20 depends on the length of the sliding groove 1431, and the size of the swinging member 143 itself cannot be designed to be large, so that the length of the sliding groove 1431 has a certain range, and the structure shown in fig. 19 has no such limitation, so that the swinging member 143 in the structure of fig. 19 can obtain a larger swinging range. Other equivalent alternatives may be used instead to achieve the same or similar law of motion of the oscillating member in the actual design of the surgical device 14, based on the structures shown in fig. 19 and 20.

Referring to fig. 1 to 14, a second aspect of the embodiment of the present invention further provides an actuator 100, including the surgical instrument 14 of any one of the above embodiments, where the actuator 100 further includes a plurality of components selected from a detachable steering assembly 11, an outer sheath limiting assembly 12, an instrument rod limiting assembly 13, an instrument rod driving assembly 15, a base 16, a housing 17, a bottom plate 18, and a torque sensor 19, where: the disassembly and assembly manipulation assembly 11 is used for realizing the disassembly of the whole surgical instrument 14 and the base 16, and the sheath limiting assembly 12 and the instrument rod limiting assembly 13 are respectively used for locking/unlocking the sheath assembly and the instrument rod 142, wherein the sheath assembly is referred to as a sheath 141 and a tail disassembly and assembly 148 connected with the sheath 141. When the sheath 141 is a single piece, the sheath assembly refers to the single piece.

Referring to fig. 1 to 3, the surgical instrument 14 is slidably connected to the base 16, and a torque sensor 19 is disposed on a side of the base 16 away from the side to which the surgical instrument 14 is slidably connected, for sensing an environmental torque applied to the actuator 100, so that a doctor at the manipulation end can sense a force applied to the surgical tool in a human body.

The housing 16 is covered by a casing 17, and the surgical instrument 14 extends out of the casing 17. The housing 17 is used to protect the housing 16 and the components mounted thereon from exposure. As mentioned above, in order to enable the pair of swing elements 143 in the surgical tool to be driven to perform a predetermined surgical action, the instrument rod 142 needs to slide along its own axial direction, and in order to achieve the axial driving of the instrument rod 142, the actuating mechanism 100 is provided with the instrument rod limiting assembly 13 and the instrument rod driving assembly 15, wherein: instrument rod stop assembly 13 is used to drivingly connect instrument rod 142 to instrument rod drive assembly 15.

Referring to fig. 2 and 3, each instrument rod 142 corresponds to a respective set of instrument rod drive assemblies 15, each set of instrument rod drive assemblies 15 including a linear motor 151 and a guide 152. The linear motor 151 is generally constructed to include at least a general stepping or servo motor for outputting a rotational motion and a screw nut pair for converting the rotational motion into a linear motion, and a ball screw nut may be used as a motion converting mechanism in order to increase the transmission accuracy. The guide 152 is fixedly installed on the base 16 and is used for limiting the rotation of the linear motor 151, so that the linear motor can only output linear motion outwards to pull the instrument rod 142 to slide axially.

The base 16 may include two large portions, a base 161 and a support portion 162, a first inner cavity 1611 is formed on a side of the base 161 near the torque sensor 19, and the instrument bar restraining assembly 13 is drivingly connected to the linear motor 151 in the first inner cavity 1611. As further shown in fig. 7 to 9, the base 161 further has an extending hole 1612 connected to the first inner cavity 1611, and the motion output end of the linear motor 151 passes through the extending hole 1612 to be drivingly connected to the instrument bar limiting assembly 13. The linear motor 151 is directly installed on the surface of the base 161, which is opposite to the side surface of the first inner cavity 1611, and in the direct installation mode, the surface of the base 161 is used as a positioning surface of the linear motor 151, so that the coaxiality error of the linear motor 151 and the instrument rod limiting assembly 13 during installation can be reduced.

As shown in fig. 10, 11 and 14 in conjunction with fig. 3, instrument rod stop assembly 13 includes an instrument rod locking sleeve 131 and a locking member 132, wherein: the instrument rod locking sleeve 131 is provided with an instrument rod insertion hole 1314 arranged along the axial direction, and the end part of the instrument rod 142 is inserted into the instrument rod insertion hole 1314 and can be locked by the locking piece 132. The end of the instrument shaft locking sleeve 131 opposite to the end opening the instrument shaft insertion hole 1314 has a driving connection end 1311, and the driving connection end 1311 is provided with a guide sliding hole 1313 for the guide 152 described above to pass through. The instrument rod locking sleeve 131 is connected to the linear motor 151 through the driving connection end 1311 and guided by the guide 152, so that the linear motor 151 can drive the instrument rod 142 fixed in the instrument rod insertion hole 1314 to slide axially by driving the instrument rod locking sleeve 131 to move linearly.

Instrument rod locking sleeve 131 is further formed with a locking channel 1312 that communicates with instrument rod receptacle 1314, locking member 132 is disposed within locking channel 1312, and instrument rod 142 is securely locked to instrument rod locking sleeve 131 when external force pushes locking member 132 along locking channel 1312 to move partially out of locking channel 1312 and into locking groove 1421 (labeled in fig. 15) of instrument rod 142.

Referring to figures 4, 5 and 10, the sheath restraining assembly 12 may include a restraining element 121, a second resilient member 122, and a flap 123, wherein: a sliding stroke space 1625 is provided on the support portion 162 of the base 16 in a direction perpendicular to the sliding direction of the instrument bar 142, and the stopper member 121 is slidably provided in the sliding stroke space 1625. The position-limiting element 121 has an unlocking receptacle 1211 and a rotation-stopping receptacle 1212, and as mentioned above, the outer locking element 1481 of the surgical instrument is provided with a pair of rotation-stopping stop surfaces 14812, the rotation-stopping stop surfaces 14812 cooperate with the edges of the rotation-stopping receptacle 1212, so that the rotation of the other structure of the surgical instrument in the assembled state with the outer locking element 1481 relative to the position-limiting element 121 is limited by limiting the relative rotation of the outer locking element 1481 and the position-limiting element 121, and the position-limiting element 121 relative to the base 16 can only slide along the sliding stroke space 1625 without rotating, so that the surgical instrument 14 and the base 16 will not rotate relative to each other.

In addition, the blocking plate 123 is fixed on the base 16, and the second elastic member 122 is disposed between the blocking plate 123 and the position-limiting element 121 and is used for keeping the position-limiting element 121 in the position of the locking sheath assembly. As also described above, the outer locking member 1481 of the sheath assembly has locking grooves 14813, and the position-limiting element 121 is held by the elastic force of the second elastic member 122 at the position where the edge of the rotation-stopping insertion hole 1212 is inserted into the locking groove 14813, so that the position-limiting element 121 is held at the position where the sheath assembly is locked without an external force against the elastic force of the second elastic member 122.

As shown in fig. 5 and 6, in order to smoothly slide the check member 121 in the sliding stroke space 1625, a certain gap needs to be left between the check member 121 and an inner wall of the sliding stroke space 1625. However, the gap may cause the surgical instrument 14 to shake during the axial movement, and therefore, the sheath limiting assembly 12 may further include a gap adjusting member 124, and the base 16 is formed with a groove for receiving the gap adjusting member 124, and the gap adjusting member 124 is fixed on the base 16 through the groove and elastically pushes against the pressing surface 14814 (marked in fig. 18 b) of the outer locking member 1481.

When the surgical instrument 14 is replaced, the surgical instrument 14 needs to be detached from the base 16, and the surgical instrument 14 and the other positions of the actuator 100 are connected at two positions: the connection between instrument rod 142 and instrument rod locking sleeve 131; and the connection between the sheath assembly and the sheath stop assembly 12. To enable the surgical device 14 to be easily removed, the actuator 100 may further include a detachable steering assembly 11.

Referring to fig. 1, fig. 4, and fig. 10, the dismounting operation assembly 11 includes a joint unlocking member 111, a first elastic member 112, and a limiting seat 113, wherein: the joint unlocking member 111 includes a sliding sleeve 1111 and an insertion portion 1114 installed or integrally installed on the sliding sleeve 1111. The first elastic element 112 is disposed between the sliding sleeve 1111 and the limiting seat 113, and the limiting seat 113 is fixedly mounted on the base 16. The first elastic member 112 can elastically push the sliding sleeve 1111 in the direction of the limiting seat 113, and the limiting seat 113 is used for limiting the limit movement amount of the combined unlocking member 111 moving in the direction of the locking device rod 142.

Referring to fig. 10 to 12, the sliding sleeve 1111 is slidably disposed outside the instrument rod locking sleeve 131 and can push the locking member 132 to move toward the direction of being inserted into the locking groove 1421. The inner bore of the sliding sleeve 1111 includes an unlocking bore segment 11111 and a locking bore segment 11112, wherein: the radial dimension of the locking bore section 11112 is smaller than the radial dimension of the unlocking bore section 11111, so that when the locking bore section 11112 faces the outside of the instrument rod locking sleeve 131, the inner bore wall of the locking bore section 11112 can push the locking member 132 into engagement with the locking recess 1421; when the unlocking hole segment 11111 faces the outside of the instrument rod locking sleeve 131, a gap remains between the inner hole wall of the unlocking hole segment 11111 and the outer wall of the instrument rod locking sleeve 131, and the locking member 132 can move outward along the locking hole 1312 to release the connection between the instrument rod 142 and the instrument rod locking sleeve 131, and at this time, the instrument rod 142 can be pulled out of the instrument rod insertion hole 1314. The sliding sleeve 1111 has a tendency to remain in a position where the locking bore segment 11112 faces the instrument rod locking sleeve 131 under the elastic force of the first elastic member 112.

As shown in fig. 10 to 12, the sliding sleeve 1111 is further provided with a connecting portion 1113 at the outside thereof, and the inserting portion 1114 is fixedly connected with the sliding sleeve 1111 through the connecting portion 1113. The insertion portion 1114 can be gradually inserted into the unlocking insertion hole 1211 as the sliding sleeve 1111 slides toward the stopper element 121.

The insertion portion 1114 has an insertion guiding slant 11141 disposed obliquely, in the non-unlocking state, the end of the insertion portion 1114 can maintain the state of being inserted into the unlocking insertion hole 1211, except that the insertion guiding slant 11141 does not drive the limiting element 121 to move to the unlocking position, and when the sliding sleeve 1111 is moved thereafter, the insertion guiding slant 11141 on the insertion portion 1114 slides relative to the hole wall of the unlocking insertion hole 1211, so as to gradually drive the limiting element 121 to slide in the sliding stroke space 1625 until the hole wall of the rotation stopping insertion hole 1212 exits from the locking groove 14813, at which time, since the limiting element 121 no longer interferes with the axial detachment of the surgical instrument 14.

In addition, as shown in fig. 1, in order to facilitate a user to operate the sliding sleeve 1111 outside the housing 17, the sliding sleeve 1111 is connected to a shift lever 1112, and the housing 17 is correspondingly provided with a second sliding hole 171 for receiving the shift lever 1112 to extend into. Since the sliding sleeve 1111 needs to slide along the rod 1112 during unlocking the surgical instrument 14, the second sliding hole 171 is a kidney-shaped hole extending along the sliding direction of the sliding sleeve 1111.

As can be seen from the foregoing description of the dismounting handling assembly 11: the sliding of the sliding sleeve 1111 of the combined unlocking member 111 along the axial direction of the instrument rod 142 can simultaneously unlock the locking of the instrument rod locking sleeve 131 to the instrument rod 142 and the locking of the outer locking member 1481 of the outer sheath assembly by the unlocking limiting element 121. It should be noted that the term "simultaneously unlocked" as referred to herein does not necessarily mean consistent in time, but means: one action of the sliding sleeve 1111 can complete the release of the two locking relationships, and whether the timing sequence exists or not can be designed by those skilled in the art as required, for example, the change of the unlocking time of the sheath assembly can be realized by changing the inclination angle of the insertion guide slope 11141, changing the radial depth of the locking groove 14813, and the like; the timing of unlocking the instrument rod can be changed by changing the length ratio between the unlocking hole segment 11111 and the locking hole segment 11112, changing the opening position of the locking hole 1312 on the instrument rod locking sleeve 131, and the like.

In addition, referring to fig. 5 and 7, the present invention provides a structure of the housing 16 of an embodiment in order to fit the installation of each partial structure in the actuator 100. The base 16 mainly includes two portions, i.e., a base 161 and a support 162, in the axial direction with the axial direction and the radial direction of the instrument bar 142 as reference directions. Wherein: as can be seen from the foregoing description, the base 161 defines a first inner cavity 1611, and the first inner cavity 1611 is used for accommodating the instrument bar driving assembly 15 and the instrument bar limiting assembly 13 in the first inner cavity 1611.

Along the axial, roughly seted up two sections inner chambers that the diameter is different in the supporting part 162: a second inner cavity 1621 and a third inner cavity 1623, and the first inner cavity 1611 communicates with the second inner cavity 1621 through a first communication hole 1613 opened at the center of the base 161, and the second inner cavity 1621 communicates with the third inner cavity 1623 through a second communication hole 1624.

The second interior cavity 1621 has a slightly larger bore than the third interior cavity 1623, and may be used to accommodate some or all of the structure of the detachment and attachment manipulation assembly 11. The third lumen 1623 primarily receives the caudal detachment assembly 148 of the surgical device 14. As shown in fig. 9 in combination with fig. 5 and fig. 7, since the tail dismounting assembly 148 is accommodated in the third inner cavity 1623, a rotation stopping groove 1626 is further formed on the wall of the third inner cavity 1623. In the assembled state, the locking protrusion 14821 on the inner locking element 1482 is engaged in the rotation stopping groove 1626, so that the circumferential rotation of the inner locking element 1482 is limited in the surgical instrument 14, and thus the relative rotation between the outer sheath 141 and the inner locking element 1482, and between the outer locking element 1481 and the head dismounting assembly 147 is limited, and the separation of the internal components of the surgical instrument 14 due to the relative circumferential rotation is avoided in the working state.

With continued reference to figures 5 and 7, the stop element 121 of the sheath stop assembly 12 is in stop-fit engagement with the outer locking element 1481 of the surgical device 14 such that a sliding travel space 1625 on the housing 16 for allowing the stop element 121 to slide is open to and in communication with the third lumen 1623.

With reference to fig. 4 and 9, a through groove 1628 formed by a strip-shaped hole is formed in the wall of the second inner cavity 1621, and the connecting portion 1113 and the inserting portion 1114 of the combined unlocking member 111 extend out of the second inner cavity 1621 from the through groove 1628 and can slide along the extending direction of the through groove 1628.

Referring to fig. 8, a first sliding hole 1627 having the same shape and corresponding position as the second sliding hole 171 of the housing 17 is formed on the other side wall of the second inner cavity 1621, and the shift rod 1112 extends out of the second inner cavity 1621 from the first sliding hole 1627 and can slide along the extending direction of the first sliding hole 1627.

Referring to fig. 4, 5 and 7, the supporting portion 162 is further formed with an unlocking slide 1622, and the unlocking slide 1622 is used for receiving the insertion portion 1114 of the unlocking member 111 to extend into. As described above, in order to allow the insertion portion 1114 to accurately penetrate the unlocking insertion hole 1211 of the stopper element 121, the end of the insertion portion 1114 penetrates the unlocking insertion hole 1211 at the initial position (i.e., the position where the surgical instrument 14 is maintained in the assembled connection with the housing 16 without being unlocked). In the embodiment in which the unlocking slide 1622 is opened, the end of the insertion portion 1114 passing through the unlocking insertion hole 1211 may extend into the unlocking slide 1622, and thereafter, when the sliding sleeve 1111 slides through the shift rod 1112, the end of the insertion portion 1114 is gradually inserted deeper into the unlocking slide 1622, so that the sliding stroke of the insertion portion 1114 may be supported by the unlocking slide 1622, and the displacement accuracy is higher.

Referring to fig. 21, the third aspect of the present invention further provides a surgical robot including the actuator 100 of the previous embodiment, and a telecentric steering mechanism 200, a preoperative positioning mechanism 300, a frame 400 and a base 500. The base 500 is configured with a plurality of frames 400, and each frame 400 is correspondingly configured with a set of preoperative positioning mechanism 300, telecentric control mechanism 200 and actuator 100.

One possible implementation of the telecentric control mechanism 200 comprises a movable platform, a static platform and a plurality of telescopic units, wherein two ends of each telescopic unit are respectively and rotatably connected to the movable platform and the static platform, and the plurality of telescopic units are cooperatively telescopic to control the movable platform to move relative to the static platform;

the actuator 100 is disposed on the movable platform, and the surgical instrument 14 has a preset telecentric fixed point, and the deflection of the movable platform can drive the surgical instrument 14 to swing around the telecentric fixed point. When a minimally invasive surgery is performed, the actuator 100 is controlled by the preoperative positioning mechanism 300, so that the telecentric motionless point on the surgical instrument 14 coincides with a tiny wound on the body of a patient, and thus, in the subsequent surgery process, the surgical instrument 14 does not pull the wound because the surgical instrument 14 performs spatial swing by taking the telecentric motionless point as a fixed point.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims (25)

1. A surgical instrument comprising an outer sheath, an instrument shaft, a surgical tool, a head disassembly assembly, wherein:

the head dismounting component is arranged at one end of the outer sheath;

the surgical tool is arranged on the head disassembling and assembling component and can be disassembled from one end of the outer sheath through the head disassembling and assembling component;

the instrument shaft is slidably disposed within the sliding chamber of the outer sheath and has one end drivingly connected to the surgical tool.

2. The surgical instrument of claim 1, wherein the head assembly and disassembly assembly comprises a head connector, a locking block is fixedly arranged in the outer sheath, the head connector can be matched with the locking block to lock or unlock with the outer sheath, and the surgical tool is arranged on the head connector.

3. The surgical instrument as claimed in claim 2, wherein the head connector is provided with a first locking groove, and the first locking groove comprises a sliding-in section and a locking section which are communicated with each other;

the locking block can slide in the sliding-in section along with the axial relative movement of the outer sheath and the head connecting piece and slide in the locking section along with the circumferential relative movement of the outer sheath and the head connecting piece so as to lock the outer sheath and the head connecting piece.

4. The surgical instrument according to claim 3, wherein the locking blocks are provided in two or more numbers, the two or more locking blocks are arranged at intervals along the circumferential direction, and the number and the positions of the first locking grooves correspond to those of the locking blocks.

5. A surgical instrument as recited in claim 2, wherein the head connector defines an instrument bar slide aperture for slidably supporting the instrument bar.

6. The surgical instrument of claim 1, further comprising a tail assembly and disassembly assembly, the tail assembly and disassembly assembly comprising an outer locking member removably attached to the outer sheath, the outer locking member defining a guide aperture for slidably supporting the instrument shaft.

7. The surgical instrument as claimed in claim 6, wherein an inner locking member is fixed on the outer sheath, one of the outer locking member and the inner locking member is provided with a second locking groove, the other one of the outer locking member and the inner locking member is provided with a locking protrusion, and the second locking groove comprises a sliding-in section and a locking section which are communicated with each other;

the locking protrusion can slide in the sliding-in section along with the axial relative movement of the outer locking piece and the inner locking piece and slide in the locking section along with the circumferential relative movement of the outer locking piece and the inner locking piece so as to lock the outer locking piece and the inner locking piece.

8. The surgical instrument of claim 7, wherein the inner locking member is secured to the outer sheath and has an insertion section adapted to extend into the outer locking member, and the locking protrusion is secured to the insertion section.

9. The surgical instrument of claim 6, wherein the nose assembly and the tail assembly are both assembled and disassembled by sliding axially and rotating circumferentially relative to the outer sheath, and wherein the outer sheath is rotatable in a common direction through a predetermined angle to enable simultaneous assembly and disassembly of the nose assembly and the tail assembly.

10. A surgical instrument as recited in claim 6, wherein the outer locking element has one end removably coupled to the outer sheath and an opposite end provided with a rotation stop surface engageable with a stop element for locking the surgical instrument in the assembled state and for limiting circumferential rotation of the outer locking element relative to the stop element.

11. A surgical instrument as claimed in claim 6, wherein the outer locking element is detachably connected at one end to the outer sheath and is provided at the other end with a locking recess into which a stop element for locking the surgical instrument can be snapped to lock the surgical instrument in an assembled state.

12. A surgical instrument as claimed in any one of claims 1 to 11, wherein there are two instrument rods, and the surgical tool includes a pair of pivotal members pivotally connected to one end of the head assembly and disassembly assembly, each instrument rod being drivingly connected to one of the pivotal members, the sliding movement of the instrument rods within the outer sheath independently driving the pivotal members to pivot.

13. A surgical instrument as recited in claim 12, further comprising two links, each link having one end pivotally connected to one of the oscillating members and another end pivotally connected to one of the instrument rods.

14. A surgical instrument as recited in claim 12, wherein each of the oscillating members and each of the instrument rods has a slot disposed on one of the oscillating members and a connecting portion slidably engaged with the slot, the instrument rods each being capable of oscillating the corresponding oscillating member via the sliding engagement of the connecting portion and the slot.

15. An actuator comprising the surgical instrument of any one of claims 1-14.

16. The actuator of claim 15, further comprising:

the base is used for being connected with the surgical instrument in a sliding mode and is provided with a sliding stroke space perpendicular to the sliding connection direction of the surgical instrument;

the sheath limiting component is arranged on the base and comprises a limiting element which can slide in the sliding stroke space to lock/unlock the sheath of the surgical instrument;

an instrument rod stop assembly comprising an instrument rod locking sleeve for locking/unlocking the instrument rod;

a disassembly and assembly manipulation assembly including a joint unlocking member movable relative to the instrument shaft locking sleeve to unlock the instrument shaft and engaged with the stop member to unlock the outer sheath assembly.

17. The actuator of claim 16, wherein said stop element has an unlocking receptacle, said joint unlocking member includes an insertion portion insertable into said unlocking receptacle, and insertion of said insertion portion into said unlocking receptacle drives progressive sliding of said stop element within said sliding travel space to a position to unlock said outer sheath assembly.

18. The actuator of claim 17, wherein the insertion portion has an obliquely disposed insertion guide slope engageable with a hole wall of the unlocking insertion hole to drive the stopper member to slide gradually within the sliding stroke space.

19. The actuator of claim 17, wherein the sheath stop assembly further comprises a gap adjustment member interposed between the sheath assembly and the housing to adjust a gap between the stop element and the side wall of the sliding travel space in an axial direction of the instrument shaft.

20. The actuator of claim 16, wherein the disassembly manipulation assembly further comprises a first resilient member, the resilient force of the first resilient member causing the joint unlocking member to have a tendency to remain locked to the instrument stem.

21. The actuator of claim 20, wherein said disassembly and assembly manipulation assembly further comprises a limiting seat secured to said housing and capable of limiting the amount of extreme movement of said joint unlocking element in a direction locking said instrument stem.

22. The actuator of claim 16, wherein the surgical instrument further comprises a tail assembly and disassembly assembly, the tail assembly and disassembly assembly comprising an outer locking element removably attached to the outer sheath, the outer locking element having a stop surface thereon;

the limiting element is provided with a rotation stopping insertion hole into which the outer locking piece can be inserted, and the hole edge of the rotation stopping insertion hole can be abutted against the rotation stopping blocking surface so as to limit the rotation of the outer locking piece relative to the base.

23. The actuator of claim 16, wherein said instrument rod limit assembly further comprises a locking member, one end of said instrument rod being inserted into said instrument rod locking sleeve;

the locking piece is movably arranged in the locking hole of the instrument rod locking sleeve and can be pushed to the position for locking the instrument rod by the combined unlocking piece.

24. The actuator of claim 16, wherein there are two of said instrument rods, one instrument rod locking sleeve for each of said instrument rods;

the actuating mechanism further comprises two groups of instrument rod driving assemblies corresponding to the instrument rods respectively, each group of instrument rod driving assemblies comprises a linear driving device, and the linear driving devices are directly arranged on the machine base.

25. A surgical robot comprising an actuator according to any of claims 15-24.

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