CN114848047A

CN114848047A - Manual minimally invasive surgical instrument with deflection self-locking and decoupling functions

Info

Publication number: CN114848047A
Application number: CN202210633513.0A
Authority: CN
Inventors: 冯美; 苏恒跃; 卢秀泉; 公言磊; 李永康; 李金辉; 王超; 李成国; 刘士杰; 黄康永
Original assignee: Jilin Jinbohong Intelligent Technology Co ltd
Current assignee: Jilin Jinbohong Intelligent Technology Co ltd
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2022-08-05

Abstract

A manual-control minimally invasive surgical instrument with deflection self-locking and decoupling functions relates to the field of medical equipment for pleuroperitoneal cavity minimally invasive surgery, and comprises an end effector, an operating rod, an opening and closing motion driving mechanism, an opening and closing motion guide wheel set, a deflection motion driving mechanism with a self-locking function and an instrument box. The end effector is arranged at the front end of the operating rod, the instrument box is arranged at the rear end of the operating rod, the opening and closing motion driving mechanism is respectively connected with the end effector and the instrument box, and the opening and closing motion guide wheel set and the deflection motion driving mechanism with the self-locking function are arranged in the instrument box. The invention has the advantages of convenient operation, strong flexibility, self-locking and the like, improves the degree of freedom of the end effector and simultaneously improves the working space of the surgical instrument; the end effector of the invention adopts a double-guide-wheel structure and a unique cross winding mode to realize the decoupling function; the invention has small volume, can be operated by a doctor with one hand and is comfortable and convenient to operate; the system of the invention has high precision and good dynamic performance.

Description

Manual minimally invasive surgical instrument with deflection self-locking and decoupling functions

Technical Field

The invention relates to the technical field of medical equipment for a pleuroperitoneal cavity minimally invasive surgery, in particular to a manual-control minimally invasive surgery instrument with deflection self-locking and decoupling functions.

Background

Minimally invasive surgery is honored as one of the important contributions of medical science in the 20 th century to human civilization. Minimally invasive surgery refers to a surgeon treating a lesion of a patient with the aid of surgical instruments and an endoscope by making a small hole in the body surface of the patient. Compared with the traditional operation, the minimally invasive operation has the advantages of small incision, no secondary damage to the body surface of a patient, short recovery time and the like. At present, minimally invasive surgery is widely applied to a plurality of medical fields such as thoracoabdominal surgery, gynecology and urology surgery.

The surgical instrument is used as an executing tool in a minimally invasive surgical process, and a surgeon needs to complete surgical operations such as cutting, clamping, suturing, lifting, dissociating and the like on visceral organs by using the surgical instrument. In the operation process, the surgical instrument directly interacts with the operation tissue, so the specific structure and performance index of the surgical instrument have direct influence on the operation quality and the operation safety. Therefore, in the process of minimally invasive surgery, in order to reduce the execution difficulty of surgeons and improve the flexibility and comfort of operation, the development of a set of surgical instrument for minimally invasive surgery with good performance is crucial to the improvement of the surgery quality.

Limited by the popularization of surgical robots, the minimally invasive surgical operations in most hospitals in China are still operated by doctors holding surgical instruments, and the surgical instruments are mainly manual minimally invasive surgical instruments. For example, the patent publication No. CN102271596A discloses a surgical instrument, a surgical instrument handle and a surgical instrument system, in which an end effector of the surgical instrument can only realize two degrees of freedom, resulting in a small range of surgical operation space, and the surgical instrument is mainly rigidly connected, resulting in a reduced operation flexibility and increased difficulty in surgical operation for a surgeon. For example, the invention patent with the publication number of CN103237504A discloses a minimally invasive surgical instrument, which mainly comprises an end effector, a hollow rod, a handle, a gear mechanism, an electric drive unit and the like, wherein the hollow rod is used for routing a metal wire, the gear mechanism is mounted at a wrist, and the end effector can be driven to complete pitching motion and yawing motion through the interaction between the electric drive unit, the gear mechanism and the metal wire, but the actual yawing motion angle of the end effector of the surgical instrument is smaller, so that the surgical operation space range is smaller, the flexibility is not high, and the yawing motion of the end effector of the surgical instrument does not have self-locking capability, thereby improving the operation difficulty of the operation of a surgeon.

Disclosure of Invention

The invention provides a manual control type minimally invasive surgical instrument with deflection self-locking and decoupling functions, which aims to solve the problems that the existing minimally invasive surgical instrument is inconvenient to operate, low in flexibility, incapable of fixing deflection positions due to the fact that deflection motion does not have self-locking characteristics and motion coupling exists.

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

the invention discloses a manual-control minimally invasive surgical instrument with deflection self-locking and decoupling functions, which comprises:

an operating lever;

an end effector mounted at one end of the operating rod;

the instrument box is arranged at the other end of the operating rod;

an opening and closing motion driving mechanism connected with the end effector and the instrument box;

an opening and closing motion guide wheel set and a deflection motion driving mechanism which are both arranged in the instrument box; the opening and closing motion guide wheel group drives the end effector to complete opening and closing motion; the deflection motion driving mechanism drives the end effector to complete deflection motion; the deflection motion driving mechanism is used for completing deflection self-locking;

the yaw motion drive mechanism includes: the worm-gear mechanism comprises a worm-gear shaft, a worm wheel sleeved and fixed on the worm-gear shaft, a third bearing and a fourth bearing which are sleeved on the worm-gear shaft and are respectively positioned at two sides of the worm wheel, a worm shaft, a worm sleeved and fixed on the worm shaft, a fifth bearing and a sixth bearing which are sleeved on the worm shaft and are respectively positioned at two sides of the worm, a shifting wheel sleeved and fixed at one end of the worm shaft, 2 large wire wheels sleeved and fixed on the worm-gear shaft, 2 second guide-gear shafts, 2 guide wheels sleeved on the 2 second guide-gear shafts in a one-to-one correspondence mode, 2 guide-gear shaft bearings sleeved at two ends of the second guide-gear shafts, and fixing clamp springs respectively arranged at two ends of the worm-gear shaft, the worm shaft and the second guide-gear shaft; and the third bearing, the fourth bearing, the fifth bearing, the sixth bearing and the guide wheel shaft bearing are all connected with the instrument box.

Further, the end effector includes: the wrist-mounted type robot comprises a wrist supporting piece, a first tail-end small claw and a second tail-end small claw which are connected with the wrist supporting piece through a tail-end small claw rotating shaft, a first guide wheel shaft, a wrist rotating shaft, an end effector connecting piece connected with the wrist supporting piece through a first small guide wheel and the wrist rotating shaft, clamp springs installed at the end parts of the upper end and the lower end of the first guide wheel shaft, and 2 first small guide wheels are respectively arranged at the upper end and the lower end of the first guide wheel shaft.

Furthermore, the front end of the wrist support piece body is provided with an opening, the upper end and the lower end of the opening are respectively provided with a first through hole, the middle and the rear end of the wrist support piece body are respectively provided with a second through hole and a third through hole, and the side surface of the rear end of the wrist support piece body is provided with a first wire groove and a first step hole of which the hole is positioned in the first wire groove; the front end and the rear end of the first tail end small claw body are respectively provided with a first sawtooth and a fourth through hole, and the side surface of the rear end of the first tail end small claw body is provided with a second wire groove and a second step hole positioned in the second wire groove; the front end and the rear end of the second tail end small claw body are respectively provided with a second sawtooth and a fifth through hole, the first sawtooth is meshed with the second sawtooth, and the side face of the rear end of the second tail end small claw body is provided with a third wire groove and a third stepped hole positioned in the third wire groove; the first wire groove, the first stepped hole, the second wire groove, the second stepped hole, the third wire groove and the third stepped hole are used for fixing the winding up and the lengthening of two deflection motion steel wire ropes and the steel wire ropes;

after the rear ends of the first tail end small claw and the second tail end small claw are arranged up and down, the first tail end small claw and the second tail end small claw are inserted into the front end opening of the wrist support, and a tail end small claw rotating shaft sequentially penetrates through a first through hole at the upper end of the front end opening of the wrist support, a fourth through hole of the first tail end small claw, a fifth through hole of the second tail end small claw and a first through hole at the lower end of the front end opening of the wrist support; the first guide wheel shaft penetrates through a second through hole in the middle of the wrist support piece body; an inner hole is formed in the center of the first small guide wheel, and a fourth groove for four opening and closing movement steel wire ropes to run is formed in the side wall of the outer ring of the first small guide wheel;

the rear end of the end effector connecting piece body is provided with a first step shaft shoulder used for being connected with the operating rod, the front end of the end effector connecting piece body is provided with an opening, the upper end and the lower end of the opening are provided with connecting holes, the rear side wall of the opening is respectively provided with 2 sixth through holes, 2 seventh through holes and 2 eighth through holes for four opening and closing movement steel wire ropes and two deflection movement steel wire ropes to be wired, and the 2 sixth through holes are symmetrically arranged on two sides of the first step shaft shoulder; the 2 seventh through holes are symmetrically arranged at two sides of the first step shaft shoulder; the 2 eighth through holes are symmetrically arranged at two sides of the first step shaft shoulder; the rear end of the wrist support piece is inserted into an opening at the front end of the end effector connecting piece, 2 first small guide wheels are respectively installed on the upper surface and the lower surface of the rear end of the wrist support piece, and the wrist rotating shaft sequentially penetrates through a connecting hole at the upper end of the opening at the front end of the end effector connecting piece, 2 first small guide wheels on the upper surface of the rear end of the wrist support piece, a third through hole at the rear end of the wrist support piece body, 2 first small guide wheels on the lower surface of the rear end of the wrist support piece and a connecting hole at the lower end of the opening at the front end of the end effector connecting piece.

Further, the opening and closing movement driving mechanism includes: the fixed handle who links to each other with the apparatus box, the handle axis of rotation that links to each other with the apparatus box, 2 first steamboat wheels, handle driving lever and 2 second steamboat wheels that link to each other with the handle axis of rotation, the suit is at handle axis of rotation both ends tip and install the little bearing in the apparatus box, the movable handle who links to each other with the handle driving lever.

Furthermore, a fourth stepped hole is formed in the upper end surface of the fixed handle and used for being connected with the instrument box; a fifth stepped hole is formed in the inner side of the upper end of the movable handle and used for being connected with a handle driving lever; the centers of the first small wire wheel and the second small wire wheel are respectively provided with a first inner hole and a third inner hole, the side walls of the outer rings of the first small wire wheel and the second small wire wheel are respectively provided with a sixth stepped hole and a twelfth stepped hole for fixing four opening and closing movement steel wire ropes, the side walls of the outer rings of the first small wire wheel and the second small wire wheel are respectively provided with a first threaded hole and a sixth threaded hole, and the surfaces of the first small wire wheel and the second small wire wheel are respectively provided with a first opening and a third opening; a second inner hole is formed in the center of the upper end of the handle deflector rod, a second opening is formed in the surface of the upper end of the handle deflector rod, and a second threaded hole is formed in the side wall of the outer ring of the handle deflector rod; the handle rotating shaft sequentially passes through a first inner hole of a first small wire wheel, a third inner hole of a first second small wire wheel, a second inner hole of the handle shifting rod, a first inner hole of a second first small wire wheel and a third inner hole of a second small wire wheel; screws are arranged in the first threaded hole of the first small wire wheel and the sixth threaded hole of the second small wire wheel, the screws are screwed to reduce the first gap and the second gap, and the inner hole of the small wire wheel and the second inner hole of the handle deflector rod are fixed on the handle rotating shaft after being deformed; the movable handle and the fixed handle are pinched or opened, the movable handle drives the handle deflector rod, and simultaneously, the handle rotating shaft and the small wire wheel move along with the movable handle, so that the winding and the lengthening of the four opening and closing movement steel wire ropes are realized, the opening and the closing of the first tail end small claw and the second tail end small claw are driven, and the opening and closing movement is realized.

Further, the opening and closing motion guide wheel set comprises: 2 short guide wheel shafts and 4 long guide wheel shafts which are connected with the instrument box; each short guide wheel shaft is sleeved with 2 second small guide wheels, 4 third clamp springs, 2 first bearings and 2 fourth clamp springs, the 2 first bearings and the 2 second small guide wheels are respectively and symmetrically arranged on the short guide wheel shaft, the third clamp springs are arranged between the adjacent second small guide wheels and the first bearings, and the 2 third clamp springs are arranged between the 2 second small guide wheels; every is equipped with 2 little guide pulleys of third, 4 fifth jump rings, 2 second bearings and 2 sixth jump rings all on the long guide pulley shaft, and 2 sixth jump rings, 2 second bearings, 2 little guide pulleys of third are symmetry respectively and are installed on long guide pulley shaft, all install the fifth jump ring between adjacent little guide pulley of third and the second bearing, install 2 fifth jump rings between 2 little guide pulleys of third.

Furthermore, the first tail end small claw is connected with two opening and closing movement steel wire ropes, and the second tail end small claw is connected with the other two opening and closing movement steel wire ropes; one end of each of two opening and closing movement steel wire ropes is tied and buried in a second stepped hole of a small claw at the first tail end, the other end of each of the two opening and closing movement steel wire ropes penetrates out of a second wire groove, each of the left and right opening and closing movement steel wire ropes extends downwards, each of the two opening and closing movement steel wire ropes winds a fourth wire groove of 2 first small guide wheels at the upper end of a first guide wheel shaft, each of the two opening and closing movement steel wire ropes winds a fourth wire groove of 2 first small guide wheels at the upper end of a wrist rotating shaft after crossing, each of the two opening and closing movement steel wire ropes continues to extend downwards, each of the two opening and closing movement steel wire ropes penetrates into a hollow cavity of an operating rod after penetrating through 2 seventh through holes in a connecting piece of the end effector and then reaches an instrument box after penetrating out of the hollow cavity of the operating rod, each of the two opening and closing movement steel wire ropes winds a third small guide wheel in an opening and closing movement guide wheel group, one opening and closing movement steel wire rope extends downwards and closing movement steel wire rope penetrates into a twelfth stepped hole of a first small wire wheel at the left side of a handle rotating shaft from the lower side of the worm wheel, and the two opening and closing movement driving mechanisms reach a sixth stepped hole and a tenth stepped hole of a small wire wheel Knotting and fixing the two stepped holes; the routing arrangement of the two opening and closing movement steel wire ropes corresponding to the first tail end small claw is mirror symmetry with the routing arrangement of the two opening and closing movement steel wire ropes corresponding to the second tail end small claw.

Furthermore, a first plane, a second step shaft shoulder and a third clamp spring groove are processed on the worm wheel shaft, the worm wheel props against the second step shaft shoulder, the worm wheel is fixed through matching of a jackscrew and the first plane, and a fixed clamp spring is installed in the third clamp spring groove and used for limiting the position of the worm wheel; a second plane, a third step shaft shoulder and a fourth clamp spring groove are processed on the worm shaft, the worm props against the third step shaft shoulder, the worm is fixed through matching of a jackscrew and the second plane, and a fixing clamp spring is installed in the fourth clamp spring groove and used for limiting the position of the worm; a D-shaped shaft is machined below the worm shaft, a D-shaped hole is formed in the center of the thumb wheel, and the D-shaped shaft is inserted into the D-shaped hole; and a fourth inner hole for a worm wheel shaft to pass through, a fifth wire groove for a deflection motion steel wire rope to run, and a seventh stepped hole for fixing the deflection motion steel wire rope and a third threaded hole are machined in the large wire wheel.

Furthermore, one ends of two deflection motion steel wire ropes are tied and then embedded into a first stepped hole of the wrist supporting piece, respectively penetrate through first wire grooves on the left side and the right side of the wrist supporting piece and a sixth through hole of a connecting piece of the end effector until penetrating out of a hollow cavity of the operating rod, pass through 2 guide wheels of the deflection motion driving mechanism, then wind a fifth wire groove of the large wire wheel, penetrate out of a seventh stepped hole, and are tied and fixed; the worm is driven to rotate by rotating the thumb wheel, the worm wheel drives the large wire wheel to rotate, the two deflection motion steel wire ropes are respectively tensioned and loosened to drive the end effector to realize deflection motion, and after the end effector reaches a designated position, self-locking after deflection is realized through the deflection motion driving mechanism.

Further, the instrument cartridge includes: the plastic plug comprises a front cover plate supporting piece, a main shell, an upper cover plate and a plurality of plastic plugs; two rectangular protruding structures are arranged on the inner side of the front cover plate supporting piece, 4 stepped holes are formed in the two rectangular protruding structures, and two ends of 2 short guide wheel shafts and two ends of 2 second guide wheel shafts are installed in the corresponding stepped holes through bearings to be connected with the front cover plate supporting piece; a ninth through hole is formed in the center of the front cover plate supporting piece, a fourth threaded hole is formed in the ninth through hole, the other end of the operating rod is installed in the center through hole of the front cover plate supporting piece, and a jackscrew is screwed into the fourth threaded hole to fix the operating rod; the rear end of the main shell is provided with two connecting lugs, each connecting lug is provided with a tenth through hole for mounting a small bearing of the handle rotating shaft, and the first small wire wheel, the second small wire wheel and the handle deflector rod are connected with the two connecting lugs at the rear end of the main shell through the handle rotating shaft and the small bearings; the upper surface of each connecting lug is provided with a fifth threaded hole for connecting with the fixed handle; the rear end of the main shell is provided with a rectangular through hole for routing four opening and closing motion steel wire ropes; the front end of the main shell is provided with an opening, the lower bottom surface of the front end of the main shell is provided with a sixth stepped hole used for installing a sixth bearing of the worm shaft, and the worm shaft is connected with the main shell through the sixth bearing and the sixth stepped hole; a fifth bearing at the upper end of the worm shaft is arranged in a blind hole of the upper cover plate; two side walls at the front end of the main shell are provided with first to fifth stepped holes, two ends of the worm wheel shaft are respectively connected with the main shell through a third bearing, a fourth bearing and two third stepped holes, and two ends of the long guide wheel shaft are respectively connected with the main shell through a second bearing and the first to fifth stepped holes; the plastic plugs are arranged outside the first step hole to the sixth step hole.

The invention has the beneficial effects that:

1. the deflection motion driving mechanism designed by the invention has a simple structural design and has a self-locking characteristic, can realize deflection motion by virtue of the self-locking characteristic of the deflection motion driving mechanism in the process of using a surgical instrument for clamping operation, can prevent a doctor from spending more energy to fix the deflection angle of the surgical instrument end effector, can adjust the posture of the surgical instrument end effector at any time so as not to be fixed and fixed along with the change of external force, and provides convenience for the doctor in operation, so that the deflection motion driving mechanism has the advantages of convenience in operation, strong flexibility, self-locking and the like.

2. The wrist support piece is adopted in the invention, so that the end effector can work at any position within 180 degrees (90 degrees respectively left and right), and the working space of the surgical instrument is improved while the degree of freedom of the end effector is improved.

3. At present, due to the introduction of the human-like wrist joint, the end effector has the problems of kinematic coupling and the like, so that the end effector skillfully adopts a double-guide-wheel structure and a unique crossed winding mode, the problem of kinematic coupling of the end effector of the traditional wire transmission instrument is perfectly solved, and the decoupling function is realized.

4. According to the invention, through the optimized design of the whole structure of the surgical instrument, the diameter of the excircle of the operating rod of the manual control type rigid minimally invasive surgical instrument is set to be 8mm, the surgical instrument is small in size, and a doctor can operate with one hand and operate comfortably.

5. The steel wire rope precision transmission mode adopted by the invention has the advantages of low noise, no backlash, high rigidity, small inertia, stable transmission, lower maintenance cost and the like. The steel wire rope precision transmission is adopted, the cost performance is high, the steel wire rope transmission is a non-sliding power transmission, the mechanism is stable in stress, the movement accuracy is high, the steel wire rope and all main parts can be subjected to stress analysis, the length of the steel wire can be continuously adjusted according to the fatigue of the steel wire, and the flexibility is high.

6. According to the invention, the two small end claws can realize opening and closing movement of +/-90 degrees (namely 180 degrees) to the maximum, the end actuator can realize deflection movement of +/-90 degrees to the maximum, the working space realized by the movement angle meets the actual requirements of the minimally invasive thoracic and abdominal surgery, and the minimally invasive thoracic and abdominal surgery robot has the advantages of large effective operation space range, high system precision, good dynamic performance and the like.

Drawings

FIG. 1 is an isometric view of a manual minimally invasive surgical instrument with yaw self-locking and decoupling functionality in accordance with the present invention.

Fig. 2 is a schematic view of the overall structure of the end effector.

Fig. 3 is an exploded view of the end effector.

Fig. 4 is a schematic structural view of the wrist support.

Figure 5 is a schematic view of the first end gripper and the second end gripper.

Fig. 6 is a schematic view of the overall structure of the opening and closing movement driving mechanism.

Fig. 7 is an exploded view of the opening and closing motion driving mechanism.

Fig. 8 is an exploded view of the opening and closing motion guide pulley set.

Fig. 9 is a schematic view of the overall structure of the yaw movement driving mechanism.

Fig. 10 is an exploded view of the yaw drive mechanism.

Fig. 11 is a schematic view of the overall structure of the device housing.

Fig. 12 is an exploded view of the instrument housing.

Fig. 13 is a schematic diagram of routing of a steel wire rope for yaw movement.

Figure 14 is a schematic view of the routing of the first end gripper on the end effector portion.

Figure 15 is a schematic view of the routing of the first end gripper within the opening and closing motion drive mechanism and instrument cartridge.

In the figure, 1, an end effector, 1-1, a wrist supporting piece, 1-2, a first end small claw, 1-3, a second end small claw, 1-4, an end small claw rotating shaft, 1-5, a first guide wheel shaft, 1-6, a first small guide wheel, 1-7, a wrist rotating shaft, 1-8, an end effector connecting piece, 1-9, a first clamp spring, 1-10 and a second clamp spring are arranged;

2. an operating lever;

3. the device comprises an opening and closing movement driving mechanism 3-1, a fixed handle 3-2, a movable handle 3-3, a handle rotating shaft 3-4, a first small wire wheel 3-5, a handle deflector rod 3-6, a small bearing 3-7 and a second small wire wheel;

4. an opening and closing motion guide wheel group 4-1, a short guide wheel shaft 4-2 and a long guide wheel shaft;

5. the device comprises a yaw motion driving mechanism, 5-1 parts of a worm wheel shaft, 5-2 parts of a worm shaft, 5-3 parts of a worm wheel, 5-4 parts of a worm, 5-5 parts of a worm, 5-6 parts of a third bearing, 5-7 parts of a fourth bearing, 5-8 parts of a fifth bearing, 5-9 parts of a sixth bearing, 5-10 parts of a shifting wheel, 5-11 parts of a second guide wheel shaft, 5-12 parts of a guide wheel, 5-13 parts of a guide wheel shaft bearing, 5-14 parts of a large wheel and a fixed clamp spring;

6. the device comprises an instrument box 6-1, a front cover plate supporting piece 6-2, a main shell 6-3, an upper cover plate 6-4 and a plastic plug.

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the detailed description below:

the invention combines the characteristics of the robot minimally invasive surgery technology and the traditional minimally invasive surgery technology to research the seriation of minimally invasive surgery instruments for the pleuroperitoneal cavity and design a set of manual control type minimally invasive surgery instruments with multiple degrees of freedom and the functions of deflection self-locking and decoupling.

As shown in fig. 1, the manual minimally invasive surgical instrument with the functions of self-locking and decoupling of deflection of the invention mainly comprises: the device comprises an end effector 1, an operating rod 2, an opening and closing motion driving mechanism 3, an opening and closing motion guide wheel group 4, a deflection motion driving mechanism 5 with a self-locking function and an instrument box 6. The end effector 1 is installed at the front end of the operating rod 2, the instrument box 6 is installed at the rear end of the operating rod 2, the opening and closing motion driving mechanism 3 is connected with the end effector 1, the opening and closing motion driving mechanism 3 is connected with the instrument box 6, and the opening and closing motion guide wheel set 4 and the deflection motion driving mechanism 5 with the self-locking function are installed in the instrument box 6. The opening and closing motion guide wheel group 4 is used for driving the end effector 1 to realize opening and closing motion; the deflection motion driving mechanism 5 is used for driving the end effector 1 to realize deflection motion; the yaw motion driving mechanism 5 is used for completing a self-locking function.

As shown in fig. 2 and 3, the end effector 1 mainly includes: the wrist-end manipulator comprises a wrist-end support part 1-1, 2 tail-end small claws (a first tail-end small claw 1-2 and a second tail-end small claw 1-3), a tail-end small claw rotating shaft 1-4, a first guide wheel shaft 1-5, 8 first small guide wheels 1-6, a wrist rotating shaft 1-7, a tail-end manipulator connecting part 1-8 and 2 clamp springs (a first clamp spring 1-9 and a second clamp spring 1-10). The first end gripper 1-2 and the second end gripper 1-3 are connected to the wrist support 1-1 via an end gripper rotation axis 1-4. The wrist support part 1-1 is connected with the wrist support part 1-6 through a first guide wheel shaft 1-5, wherein the 4 first small guide wheels 1-6 are symmetrically arranged, namely 2 first small guide wheels 1-6 are respectively arranged at the upper end and the lower end of the first guide wheel shaft 1-5, and a first clamp spring 1-9 and a second clamp spring 1-10 are respectively arranged at the upper end and the lower end of the first guide wheel shaft 1-5. The end effector connecting piece 1-8 is connected with the wrist supporting piece 1-1 through another 4 first small guide wheels 1-6 and a wrist rotating shaft 1-7, wherein the 4 first small guide wheels 1-6 are symmetrically arranged, namely 2 first small guide wheels 1-6 are respectively arranged at the upper end and the lower end of the wrist rotating shaft 1-7.

The specific structure and connection relationship of each component in the end effector 1 are as follows:

as shown in FIG. 4, the front end of the body of the wrist supporting member 1-1 is provided with an opening, the upper and lower ends of the opening at the front end of the body of the wrist supporting member 1-1 are provided with first through holes 1-1-1, the middle of the body of the wrist supporting member 1-1 is provided with second through holes 1-1-2, the rear end of the body of the wrist supporting member 1-1 is provided with third through holes 1-1-3, the rear end side of the body of the wrist supporting member 1-1 is provided with first wire slots 1-1-5, the rear end side of the body of the wrist supporting member 1-1 is provided with first step holes 1-1-4, the first step holes 1-1-4 are positioned in the first wire slots 1-1-5, the first wire groove 1-1-5 and the first stepped hole 1-1-4 are used for fixing the deflection motion steel wire ropes (two steel wire ropes) and the winding and lengthening of the steel wire ropes.

As shown in FIG. 5, the first end tab 1-2 and the second end tab 1-3 are identical in structural composition. The inner side of the front end of the body of the first tail end small claw 1-2 is provided with a first sawtooth 1-2-4, the rear end of the body of the first tail end small claw 1-2 is provided with a fourth through hole 1-2-1, the side surface of the rear end of the body of the first tail end small claw 1-2 is provided with a second wire groove 1-2-3, the side surface of the rear end of the body of the first tail end small claw 1-2 is provided with a second stepped hole 1-2-2, the second stepped hole 1-2-2 is positioned in the second wire groove 1-2-3, and the second wire groove 1-2-3 and the second stepped hole 1-2-2 are used for fixing the opening and closing movement steel wire rope (four) and winding and lengthening of the steel wire rope. The inner side of the front end of the body of the second tail end small claw 1-3 is provided with a second sawtooth 1-3-4, the first sawtooth 1-2-4 is meshed with the second sawtooth 1-3-4, the rear end of the body of the second tail end small claw 1-3 is provided with a fifth through hole 1-3-1, the side surface of the rear end of the body of the second tail end small claw 1-3 is provided with a third wire slot 1-3-3, the side surface of the rear end of the body of the second tail end small claw 1-2 is provided with a third stepped hole 1-3-2, the third stepped hole 1-3-2 is positioned in the third wire slot 1-3-3, and the third wire slot 1-3-3 and the third stepped hole 1-3-2 are used for fixing the opening and closing movement steel wire rope (four) and the winding and the lengthening of the steel wire rope.

The upper end and the lower end of the first guide wheel shaft 1-5 are respectively provided with a first clamp spring groove 1-5-1 and a second clamp spring groove 1-5-2.

An inner hole 1-6-1 is formed in the center of the first small guide wheel 1-6, and a fourth wire groove 1-6-2 is formed in the side wall of the outer ring of the first small guide wheel 1-6. The fourth wire groove 1-6-2 is used for the wiring of the opening and closing movement steel wire rope (four).

The rear end of the body of the end effector connecting piece 1-8 is provided with a first step shaft shoulder 1-8-4 used for being connected with the operating rod 2, the front end of the body of the end effector connecting piece 1-8 is provided with an opening, the upper end and the lower end of the opening of the front end of the body of the end effector connecting piece 1-8 are provided with connecting holes 1-8-5, the rear side wall of the opening of the front end of the body of the end effector connecting piece 1-8 is provided with a sixth through hole 1-8-1, a seventh through hole 1-8-2 and an eighth through hole 1-8-3 respectively, the number of the sixth through holes 1-8-1 is 2, 2 sixth through holes 1-8-1 are respectively positioned at the left side and the right side of the first stepped shaft shoulder 1-8-4, and the 2 sixth through holes 1-8-1 are bilaterally symmetrical with the central shaft of the first stepped shaft shoulder 1-8-4; the number of the seventh through holes 1-8-2 is 2, 2 seventh through holes 1-8-2 are respectively positioned at the left side and the right side of the first stepped shaft shoulder 1-8-4, and the 2 seventh through holes 1-8-2 are bilaterally symmetrical with the central shaft of the first stepped shaft shoulder 1-8-4; the number of the eighth through holes 1-8-3 is 2, the eighth through holes 1-8-3 are respectively positioned at the left side and the right side of the first stepped shaft shoulder 1-8-4, and the number of the eighth through holes 1-8-3 is bilaterally symmetrical with the central axis of the first stepped shaft shoulder 1-8-4. The sixth through hole 1-8-1, the seventh through hole 1-8-2 and the eighth through hole 1-8-3 are used for the opening and closing movement steel wire ropes (four) and the deflection movement steel wire ropes (two) to pass through.

The rear ends of the first tail end small claw 1-2 and the second tail end small claw 1-3 are arranged and inserted into the front end opening of the wrist supporting piece 1-1 from top to bottom, and then the tail end small claw rotating shaft 1-4 sequentially penetrates through the first through hole 1-1-1 at the upper end of the front end opening of the wrist supporting piece 1-1, the fourth through hole 1-2-1 of the first tail end small claw 1-2, the fifth through hole 1-3-1 of the second tail end small claw 1-3 and the first through hole 1-1-1 at the lower end of the front end opening of the wrist supporting piece 1-1 from top to bottom, so that the wrist supporting piece 1-1, the first tail end small claw 1-2 and the second tail end small claw 1-3 are connected together.

The first guide wheel shaft 1-5 penetrates through a second through hole 1-1-2 in the middle of the wrist supporting piece 1-1 body, 2 first small guide wheels 1-6 are sleeved on the upper end of the first guide wheel shaft 1-5, 2 first small guide wheels 1-6 are sleeved on the lower end of the first guide wheel shaft 1-5, then the first clamp spring 1-9 is installed in a first clamp spring groove 1-5-1 of the first guide wheel shaft 1-5, the second clamp spring 1-10 is installed in a second clamp spring groove 1-5-2 of the first guide wheel shaft 1-5, and the first small guide wheels 1-6 can be prevented from falling off through the first clamp spring 1-9 and the second clamp spring 1-10.

Inserting the back end of a wrist supporting piece 1-1 and 4 first small guide wheels 1-6 into an opening at the front end of a connecting piece 1-8 of an end effector, wherein 2 first small guide wheels 1-6 are arranged on the upper surface of the back end of the wrist supporting piece 1-1, 2 first small guide wheels 1-6 are arranged on the lower surface of the back end of the wrist supporting piece 1-1, then a wrist rotating shaft 1-7 sequentially penetrates through a connecting hole 1-8-5 at the upper end of the opening at the front end of the connecting piece 1-8 of the end effector, 2 first small guide wheels 1-6 on the upper surface of the back end of the wrist supporting piece 1-1, a third through hole 1-1-3 at the back end of a body of the wrist supporting piece 1-1, 2 first small guide wheels 1-6 on the lower surface of the back end of the wrist supporting piece 1-1, and a connecting hole 1-8-5 at the lower end of the opening of the connecting piece 1-8 of the end effector, therefore, the wrist supporting piece 1-1, the wrist rotating shaft 1-7 and the end effector connecting piece 1-8 are connected together.

The operating rod 2 is made of stainless steel tubes, one end of the operating rod 2 is connected with a first step shaft shoulder 1-8-4 bolt of the end effector connecting piece 1-8, and the other end of the operating rod 2 is connected with the instrument box 6.

As shown in fig. 6 and 7, the opening/closing motion driving mechanism 3 mainly includes: 3-1 parts of a fixed handle, 3-2 parts of a movable handle, 3-3 parts of a handle rotating shaft, 3-4 parts of 2 first small wire wheels, 3-5 parts of a handle driving lever, 3-6 parts of 2 small bearings and 3-7 parts of 2 second small wire wheels. The 2 first small wire wheels 3-4 and the 2 second small wire wheels 3-7 are similar in structure, and the difference is that the directions of wire grooves, stepped holes and threaded fixing holes on the wire wheels are different. The fixed handle 3-1 is connected with the instrument box 6, the 2 first small wire wheels 3-4 and the 2 second small wire wheels 3-7 are connected with the handle driving lever 3-5 through the handle rotating shaft 3-3, the first small wire wheels 3-4, the second small wire wheels 3-7 and the handle driving lever 3-5 enable deformation inner holes of the wire wheels to be reduced through screwing screws so as to hold the handle rotating shaft 3-3 tightly and fixedly connected with the handle rotating shaft 3-3, small bearings 3-6 are additionally arranged at the end parts of the two ends of the handle rotating shaft 3-3, and the movable handle 3-2 is connected with the handle driving lever 3-5 through bolts and fixedly connected with the bolts.

The specific structure and connection relationship of each component in the opening and closing motion driving mechanism 3 are as follows:

the upper end surface of the fixed handle 3-1 is provided with a fourth stepped hole 3-1-1 for connecting with the instrument box 6. The inner side of the upper end of the movable handle 3-2 is provided with a fifth step hole 3-2-1. The centers of the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first inner hole 3-4-1 and a third inner hole 3-7-1, the side walls of the outer rings of the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a sixth stepped hole 3-4-2 and a twelfth stepped hole 3-7-2 for fixing an opening and closing movement steel wire rope (four steel wire ropes), the side walls of the outer rings of the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first threaded hole 3-4-3 and a sixth threaded hole 3-7-3, and the surfaces of the first small wire wheel 3-4 and the second small wire wheel 3-7 are respectively provided with a first notch 3-4-4 and a third notch 3-7-4. The center of the upper end of the handle driving lever 3-5 is provided with a second inner hole 3-5-1, the surface of the upper end of the handle driving lever 3-5 is provided with a second opening 3-5-2, the lower end of the handle driving lever 3-5 is provided with a cuboid 3-5-3, and the side wall of the outer ring of the handle driving lever 3-5 is provided with a second threaded hole.

The handle rotating shaft 3-3 sequentially passes through a first inner hole 3-4-1 of the first small wire wheel 3-4, a third inner hole 3-7-1 of the first second small wire wheel 3-7, a second inner hole 3-5-1 of the handle driving lever 3-5, a first inner hole 3-4-1 of the second first small wire wheel 3-4 and a third inner hole 3-7-1 of the second small wire wheel 3-7, then small bearings 3-6 are sleeved at the end parts of the two ends of the handle rotating shaft 3-3, and the small bearings 3-6 are installed in the instrument box 6. Screws are respectively arranged in the first threaded hole 3-4-3 of the first small wire wheel 3-4 and the sixth threaded hole 3-7-3 of the second small wire wheel 3-7, and the first gap 3-4-4 and the third gap 3-7-4 can be reduced by screwing the screws, so that the first inner hole 3-4-1 of the first small wire wheel 3-4 and the third inner hole 3-7-1 of the second small wire wheel 3-7 are held and fixed on the handle rotating shaft 3-3 after being reduced and deformed. A screw is arranged in a second threaded hole of the handle deflector rod 3-5, and a second gap 3-5-2 can be reduced by screwing the screw tightly, so that a second inner hole 3-5-1 of the handle deflector rod 3-5 is fixed on the handle rotating shaft 3-3 after being deformed. The second small wire wheel 3-7 and the first small wire wheel 3-4 which are arranged at the inner side and are close to the left side and the right side of the handle driving lever 3-5 are used for driving the first tail end small claw 1-2 and the second tail end small claw 1-3 to move in a combined manner; the first small wire wheel 3-4 and the second small wire wheel 3-7 on the outer side are used for driving the first end small claw 1-2 and the second end small claw 1-3 to move in an opening mode. The movable handle 3-2 is sleeved on the cuboid 3-5-3 of the handle deflector rod 3-5, and the fifth stepped hole 3-2-1 of the movable handle 3-2 is fixedly connected with the cuboid 3-5-3 through a screw.

When the device is operated, only the movable handle 3-2 and the fixed handle 3-1 are required to be pinched or opened, the movable handle 3-2 moves to drive the handle deflector rod 3-5, the handle rotating shaft 3-3, the first small wire wheel 3-4 and the second small wire wheel 3-7 move along with the movable handle, winding and lengthening of the opening and closing movement steel wire rope (four) are realized, and therefore the first tail end small claw 1-2 and the second tail end small claw 1-3 are driven to be opened and closed, and opening and closing movement is realized.

As shown in fig. 8, the opening/closing movement guide pulley group 4 mainly includes: 2 short idler shafts 4-1 and 4 long idler shafts 4-2; the 2 short idler shafts 4-1 and the 4 long idler shafts 4-2 are connected with the instrument box 6. Each short guide wheel shaft 4-1 is sleeved with 2 second small guide wheels 4-7, 4 third snap springs 4-9, 2 first bearings 4-10 and 2 fourth snap springs 4-8, wherein the 2 fourth snap springs 4-8, the 2 first bearings 4-10 and the 2 second small guide wheels 4-7 are symmetrically arranged on the short guide wheel shaft 4-1, a third snap spring 4-9 is arranged between each adjacent second small guide wheel 4-7 and the first bearing 4-10, 2 third snap springs 4-9 are arranged between the 2 second small guide wheels 4-7, the whole body is fixed through the third snap springs 4-9 at the two ends, and the positions of the first bearings 4-10 are limited through the fourth snap springs 4-8. Each long guide wheel shaft 4-2 is sleeved with 2 third small guide wheels 4-6, 4 fifth snap springs 4-5, 2 second bearings 4-3 and 2 sixth snap springs 4-4, wherein the 2 sixth snap springs 4-4, the 2 second bearings 4-3 and the 2 third small guide wheels 4-6 are symmetrically arranged on the long guide wheel shaft 4-2, a fifth snap spring 4-5 is arranged between the adjacent third small guide wheels 4-6 and the second bearings 4-3, 2 fifth snap springs 4-5 are arranged between the 2 third small guide wheels 4-6, the whole body is fixed through the sixth snap springs 4-4 at the two ends, and the position of the second bearing 4-3 is limited through the sixth snap springs 4-4.

As shown in fig. 9 and 10, the yaw movement driving mechanism 5 has a self-locking function, and mainly includes: 5-1 of a worm wheel shaft, 5-2 of a worm shaft, 5-3 of a worm wheel, 5-4 of a worm, 4 bearings (5-5 of a third bearing, 5-6 of a fourth bearing, 5-7 of a fifth bearing and 5-8 of a sixth bearing), 5-9 of a thumb wheel, 5-10 of 2 second guide wheel shafts, 5-11 of 2 guide wheels, 5-12 of 4 guide wheel shaft bearings, 5-13 of 2 large-diameter wheels and 5-14 of a plurality of fixed clamp springs; the worm wheel 5-3 is sleeved on the worm wheel shaft 5-1 and fixed by a jackscrew, the position of the worm wheel 5-3 is limited by two ends of the worm wheel 5-3 through a fixing clamp spring 5-14 and a shaft shoulder of the worm wheel shaft 5-1, and two ends of the worm wheel shaft 5-1 are respectively connected with the instrument box 6 through a third bearing 5-5 and a fourth bearing 5-6; the worm 5-4 is sleeved on the worm shaft 5-2 and fixed by a jackscrew, the position of the worm 5-4 is limited at the two ends of the worm shaft 5-2 through the fixing clamp springs 5-14 and the shaft shoulder of the worm shaft 5-2, and the fifth bearing 5-7 and the sixth bearing 5-8 are sleeved on the worm shaft 5-2. The upper end of the worm shaft 5-2 is connected with the instrument box 6 through a fifth bearing 5-7, and the lower end of the worm shaft 5-2 is connected with the instrument box 6 through a sixth bearing 5-8. The dial wheel 5-9 is sleeved at one protruding end of the worm shaft 5-2 and fixedly connected with the protruding end of the worm shaft 5-2 through a screw, 2 large wire wheels 5-13 are all sleeved on the worm wheel shaft 5-1 and fixedly connected with the worm wheel shaft through screws, 2 guide wheels 5-11 are respectively sleeved on 2 second guide wheel shafts 5-10 in a one-to-one correspondence mode, two ends of each second guide wheel shaft 5-10 limit the position of the guide wheel 5-11 through fixing clamp springs 5-14, two ends of each second guide wheel shaft 5-10 are all sleeved with 2 guide wheel shaft bearings 5-12, two end portions of each second guide wheel shaft 5-10 are connected with the instrument box 6 through the guide wheel shaft bearings 5-12, and two end portions of each second guide wheel shaft 5-10 limit the position of each guide wheel shaft bearing 5-12 through fixing clamp springs 5-14.

The specific structure and connection relationship of each component in the yaw motion driving mechanism 5 are as follows:

the worm wheel shaft 5-1 is provided with a first plane 5-1-1, a second step shaft shoulder 5-1-2 and a third clamp spring groove 5-1-3, the worm wheel 5-3 can be fixed by a jackscrew through the first plane 5-1-1, one end of the worm wheel 5-3 props against the second step shaft shoulder 5-1-2, a fixed clamp spring 5-14 is arranged in the third clamp spring groove 5-1-3, and the fixed clamp spring 5-14 is used for limiting the position of the worm wheel 5-3. The second plane 5-2-1, the third step shaft shoulder 5-2-2 and the fourth clamp spring groove 5-2-3 are machined in the worm shaft 5-2, the worm 5-4 can be fixed through a jackscrew through the second plane 5-2-1, one end of the worm 5-4 abuts against the third step shaft shoulder 5-2-2, the fixing clamp spring 5-14 is installed in the fourth clamp spring groove 5-2-3, and the fixing clamp spring 5-14 is used for limiting the position of the worm 5-4. The big wire wheel 5-13 is provided with a fourth inner hole 5-13-1, a fifth wire groove 5-13-2, a seventh stepped hole 5-13-3 and a third threaded hole 5-13-4, the worm wheel shaft 5-1 can conveniently penetrate through the fourth inner hole 5-13-1, the fifth wire groove 5-13-2 is used for routing a wire rope for yawing motion, and the seventh stepped hole 5-13-3 is used for fixing the wire rope for yawing motion. Two large wire wheels 5-13 are respectively provided with two deflection motion steel wire ropes, a screw is arranged in a third threaded hole 5-13-4, and when the screw is screwed, a fourth inner hole 5-13-1 of the large wire wheel 5-13 deforms and shrinks, and a worm wheel shaft 5-1 is firmly embraced. A D-shaped shaft 5-2-4 is processed below the worm shaft 5-2, a D-shaped hole 5-9-1 is formed in the center of the shifting wheel 5-9, the D-shaped shaft 5-2-4 at the lower end of the worm shaft 5-2 is mounted with the D-shaped hole 5-9-1 in the center of the shifting wheel 5-9, and the shifting wheel 5-9 is fixed through a screw to prevent the shifting wheel 5-9 from falling off.

As shown in fig. 11 and 12, the instrument box 6 mainly includes: the device comprises a front cover plate support member 6-1, a main shell 6-2, an upper cover plate 6-3 and a plurality of plastic plugs 6-4; the front cover plate supporting piece 6-1 is connected with the operating rod 2, the front cover plate supporting piece 6-1 is installed at the front end of the main shell 6-2, the upper cover plate 6-3 is installed at the upper end of the main shell 6-2, and the plastic plugs 6-4 are all installed on the main shell 6-2. The front cover plate support piece 6-1, the main shell 6-2 and the upper cover plate 6-3 are all made of aluminum alloy materials.

The specific structure and connection relation of each component in the instrument box 6 are as follows:

the inner side of the front cover plate supporting piece 6-1 is provided with two rectangular protruding structures, the two rectangular protruding structures are respectively provided with 4 stepped holes (an eighth stepped hole 6-1-1, a ninth stepped hole 6-1-2, a tenth stepped hole 6-1-3 and an eleventh stepped hole 6-1-4), the eighth stepped hole 6-1-1 and the ninth stepped hole 6-1-2 are used for installing a first bearing 4-10 of 2 short guide wheel shafts 4-1 in the opening and closing movement guide wheel group 4, two ends of 1 short guide wheel shaft 4-1 are respectively installed in the eighth stepped hole 6-1-1 through the first bearing 4-10 to be connected with the front cover plate supporting piece 6-1, two ends of the other 1 short guide wheel shaft 4-1 are respectively installed in the ninth stepped hole 6-1-2 through the first bearing 4-10 to be connected with the front cover plate supporting piece 6-1 Connecting; the tenth stepped hole 6-1-3 and the eleventh stepped hole 6-1-4 are used for installing 4 guide wheel shaft bearings 5-12 in the yaw movement driving mechanism 5, two ends of 1 second guide wheel shaft 5-10 are respectively installed in the tenth stepped hole 6-1-3 through the guide wheel shaft bearings 5-12 to be connected with the front cover plate support member 6-1, and two ends of the other 1 second guide wheel shaft 5-10 are respectively installed in the eleventh stepped hole 6-1-4 through the guide wheel shaft bearings 5-12 to be connected with the front cover plate support member 6-1. The center of the front cover plate supporting piece 6-1 is provided with a ninth through hole 6-1-5, a fourth threaded hole 6-1-6 is formed in the ninth through hole 6-1-5, the other end of the operating rod 2 is installed in the ninth through hole 6-1-5 in the center of the front cover plate supporting piece 6-1, and then a jackscrew is screwed into the fourth threaded hole 6-1-6 to fix the operating rod 2.

The main shell 6-2 is integrally set to be a cuboid structure, two connecting lugs are arranged at the rear end of the main shell 6-2, each connecting lug is provided with a tenth through hole 6-2-1, the tenth through hole 6-2-1 is used for installing a small bearing 3-6 of a handle rotating shaft 3-3, and the first small wire wheel 3-4, the second small wire wheel 3-7 and a handle deflector rod 3-5 are connected with the two connecting lugs at the rear end of the main shell 6-2 through the handle rotating shaft 3-3 and the small bearing 3-6; the upper surface of each connecting lug is provided with a fifth threaded hole 6-2-9, the fifth threaded hole 6-2-9 is used for being connected with a fixed handle 3-1, and the fixed handle 3-1 is connected with the two connecting lugs at the rear end of the main shell 6-2 through a bolt and fixedly connected through a screw; the rear end of the main shell 6-2 is provided with a rectangular through hole 6-2-8, the rectangular through hole 6-2-8 is used for opening and closing the running wire of a moving steel wire rope (four running wires), the front end of the main shell 6-2 is provided with an opening, the lower bottom surface of the front end of the main shell 6-2 is provided with a step hole six 6-2-7, the step hole six 6-2-7 is used for installing a sixth bearing 5-8 at the lower end of the worm shaft 5-2, the worm shaft 5-2 is connected with the main shell 6-2 through the sixth bearing 5-8 and the step hole six 6-2-7, two side walls at the front end of the main shell 6-2 are respectively provided with a step hole I6-2-2, a step hole II 6-2-3, a step hole III 6-2-4, a step hole IV 6-2-5, A group of stepped holes five 6-2-6, the largest group of stepped holes three 6-2-4 in the five groups of stepped holes is used for mounting a third bearing 5-5 and a fourth bearing 5-6 at two ends of a worm wheel shaft 5-1, two ends of the worm wheel shaft 5-1 are respectively connected with a main shell 6-2 through the third bearing 5-5 and the fourth bearing 5-6 and two stepped holes three 6-2-4, the stepped hole one 6-2-2, the stepped hole two 6-2-3, the stepped hole four 6-2-5 and the stepped hole five 6-2-6 are used for mounting second bearings 4-3 on 4 long guide wheel shafts 4-2, two ends of the long guide wheel shafts 4-2 are respectively connected with the main shell 6-2 through the second bearings 4-3, and the 4 long guide wheel shafts 4-2 are respectively connected with the stepped holes one 6-2-2, The second stepped hole 6-2-3, the fourth stepped hole 6-2-5 and the fifth stepped hole 6-2-6 are correspondingly arranged one by one. And plastic plugs 6-4 are arranged outside all the first stepped hole 6-2-2, the second stepped hole 6-2-3, the third stepped hole 6-2-4, the fourth stepped hole 6-2-5, the fifth stepped hole 6-2-6 and the sixth stepped hole 6-2-7 to ensure the neat appearance. A fifth bearing 5-7 at the upper end of the worm shaft 5-2 is arranged in a blind hole of the upper cover plate 6-3. Therefore, the front cover plate supporting piece 6-1, the main shell 6-2, the upper cover plate 6-3 and the plurality of plastic plugs 6-4 form a closed space with a neat appearance, the opening and closing movement guide wheel set 4 and the deflection movement driving mechanism 5 are sealed in the instrument box 6, and only the thumb wheel 5-9 is exposed so as to operate surgical instruments.

The manual control type minimally invasive surgical instrument with the deflection self-locking and decoupling functions is mainly realized by the self-locking characteristic of the deflection motion driving mechanism 5, and the specific realization process is as follows:

as shown in fig. 13, the routing flow of the yawing movement steel wire rope is as follows (the inside of the operation rod 2 is omitted): the wrist-end actuator comprises two deflection motion steel wire ropes, one ends of the deflection motion steel wire ropes are tied and then embedded into first step holes 1-1-4 of a wrist supporting piece 1-1, the deflection motion steel wire ropes respectively penetrate through first wire grooves 1-1-5 on the left side and the right side of the wrist supporting piece 1-1, then the deflection motion steel wire ropes penetrate through a sixth through hole 1-8-1 of a connecting piece 1-8 of the end actuator until the deflection motion steel wire ropes penetrate out of a hollow cavity of an operating rod 2, then the deflection motion steel wire ropes are wound on a fifth wire groove 5-13-2 of a large wire wheel 5-13 after passing through 2 guide wheels 5-11 of a deflection motion driving mechanism 5, then the fifth wire grooves penetrate out of a seventh step hole 5-13-3, and are tied and fixed. When the end effector 1 reaches a designated position, the deflection motion driving mechanism 5 can realize self-locking after deflection without any other operation because the deflection motion driving mechanism 5 has a self-locking function.

When a person manually dials the thumb wheel 5-9, the worm wheel shaft 5-1 and the large wire wheel 5-13 rotate along with the thumb wheel, a deflection motion steel wire rope is pulled, the deflection motion steel wire rope drives the wrist support 1-1 to deflect left and right along with the wrist support, namely a deflection driving process for adjusting the posture, and meanwhile, when the worm wheel shaft 5-1 and the large wire wheel 5-13 rotate mutually, the deflection motion steel wire rope can be tensioned and then screwed in a screw for fixing, so that transmission failure caused by looseness of the deflection motion steel wire rope is prevented; when the posture is adjusted to be proper, the hand leaves the thumb wheel 5-9, and self-locking can be formed without any operation due to the self-locking characteristic of the deflection motion driving mechanism 5, so that the deflection posture of the surgical instrument end effector is not influenced by external force to change.

The invention discloses a manual control type minimally invasive surgical instrument with deflection self-locking and decoupling functions, wherein the opening and closing movement of a small claw at the tail end is mainly realized by the combined action of an opening and closing movement driving mechanism 3, an opening and closing movement guide wheel group 4 and an instrument box 6, and the specific realization process is as follows:

as shown in fig. 14 and 15, the routing process of the opening and closing movement wire rope is as follows (the inside of the operation rod 2 is omitted): the four opening and closing movement steel wire ropes are provided, the first tail end small claw 1-2 is connected with the two opening and closing movement steel wire ropes, the second tail end small claw 1-3 is connected with the two opening and closing movement steel wire ropes, and the four opening and closing movement steel wire ropes respectively control the opening and closing movement of the tail end small claw. The routing arrangement of the two opening and closing movement steel wire ropes corresponding to the first tail end small claw 1-2 and the routing arrangement of the two opening and closing movement steel wire ropes corresponding to the second tail end small claw 1-3 are mirror symmetry, so that the routing process of the two opening and closing movement steel wire ropes corresponding to one tail end small claw is only described below. One end of each of two opening and closing movement steel wire ropes is respectively knotted and embedded into a second stepped hole 1-2-2 of the first tail end small claw 1-2, the other end of each of the two opening and closing movement steel wire ropes penetrates out of a second wire groove 1-2-3, the left and right opening and closing movement steel wire ropes respectively extend downwards, the two opening and closing movement steel wire ropes are respectively wound around fourth wire grooves 1-6-2 of 2 first small guide wheels 1-6 at the upper end of a first guide wheel shaft 1-5 (the two opening and closing movement steel wire ropes corresponding to the second tail end small claw 1-3 are respectively wound around fourth wire grooves 1-6-2 of 2 first small guide wheels 1-6 at the lower end of the first guide wheel shaft 1-5), the two opening and closing movement steel wire ropes are crossed and then wound around fourth wire grooves 1-6-2 of 2 first small guide wheels 1-6 at the upper end of a wrist rotating shaft 1-7 (the two opening and closing movement steel wire ropes corresponding to the second tail end small claw 1-3 are respectively wound around the wrist rotating shaft 1-1 7, the two opening and closing movement steel wire ropes extend downwards and penetrate through 2 seventh through holes 1-8-2 on a connecting piece 1-8 of the end effector (the two opening and closing movement steel wire ropes corresponding to the second end small claws 1-3 penetrate through the eighth through holes 1-8-3), then enter a hollow cavity of the operating rod 2 and penetrate out, and then penetrate into the instrument box 6 and go up to a third small guide wheel 4-6 in the opening and closing movement guide wheel set 4, wherein one opening and closing movement steel wire rope extends upwards and penetrates through the upper part of the worm wheel shaft 5-1 to the sixth stepped hole 3-4-2 of the first small wire wheel 3-4 on the left side of the handle rotating shaft 3-3, and the other opening and closing movement steel wire rope extends downwards and penetrates through the lower part of the worm wheel shaft 5-1 to the lower part of the third stepped hole 3-4 of the first small wire wheel 3-7 on the right side of the handle rotating shaft 3-3 In the twelve stepped holes 3-7-2, the two opening and closing movement steel wire ropes can avoid the deflection movement driving mechanism 5 and reach the sixth stepped hole 3-4-2 of the first small wire wheel 3-4 and the twelfth stepped hole 3-7-2 of the second small wire wheel 3-7, and then are respectively fixed in the corresponding stepped holes in a knotting and fixing mode.

The opening and closing movement of the small claw of the end effector is controlled by kneading the movable handle 3-2 with fingers, when the movable handle 3-2 is opened, the movable handle drives the handle deflector rod 3-5, the first small wire wheel 3-4 and the second small wire wheel 3-7 to rotate simultaneously, so that the opening and closing movement of the outer side of the small claw at the tail end drives the opened steel wire rope to pull back, and the small claw at the tail end is pulled to perform opening movement; when the movable handle 3-2 is closed, the first small wire wheel 3-4 and the second small wire wheel 3-7 rotate along with the movable handle in opposite directions, and the small claw at the tail end is closed.

The invention discloses a manual control type minimally invasive surgical instrument with deflection self-locking and decoupling functions, which has the following specific implementation process of the terminal decoupling function:

when the surgical instrument is operated to realize the deflection motion of the end effector 1 and the movable handle 3-2 is kept still, because the upper and lower groups of first small guide wheels 1-6 and the unique wire rope winding mode thereof exist on the wrist supporting piece 1-1, the length change of the wire rope can not cause the coupling motion of the tail end small claw in the vertical direction when the wrist supporting piece 1-1 deflects left and right, thereby solving the coupling motion problem of the traditional wire transmission minimally invasive surgical instrument and realizing the decoupling function.

The manual control type minimally invasive surgical instrument with the deflection self-locking and decoupling functions has certain self-locking capacity, and the posture of the end effector 1 can be kept unchanged under the action of external force; according to the invention, the degree of freedom of the end effector 1 is improved, the working space of the surgical instrument is increased, the problem of coupling of the deflection motion and the opening and closing motion can be effectively avoided through the deflection motion driving mechanism 5, the problem of motion coupling of the traditional wire transmission minimally invasive surgical instrument is solved, and the convenience of minimally invasive surgery is realized.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the scope of the present invention.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Manual mode minimal access surgery apparatus with beat auto-lock and decoupling function, its characterized in that includes:

an operating lever;

an end effector mounted at one end of the operating rod;

the instrument box is arranged at the other end of the operating rod;

2. The hand-operated minimally invasive surgical instrument with yaw self-locking and decoupling functionality according to claim 1, wherein the end effector comprises: the wrist-mounted type robot comprises a wrist supporting piece, a first tail-end small claw and a second tail-end small claw which are connected with the wrist supporting piece through a tail-end small claw rotating shaft, a first guide wheel shaft, a wrist rotating shaft, an end effector connecting piece connected with the wrist supporting piece through a first small guide wheel and the wrist rotating shaft, clamp springs installed at the end parts of the upper end and the lower end of the first guide wheel shaft, and 2 first small guide wheels are respectively arranged at the upper end and the lower end of the first guide wheel shaft.

3. The hand-operated minimally invasive surgical instrument with the functions of self-locking and decoupling of yaw as claimed in claim 2, wherein the wrist support body is provided with an opening at the front end, the upper end and the lower end of the opening are provided with first through holes, the middle part and the rear end of the wrist support body are respectively provided with a second through hole and a third through hole, and the rear end side surface of the wrist support body is provided with a first slot and a first step hole with a hole in the first slot; the front end and the rear end of the first tail end small claw body are respectively provided with a first sawtooth and a fourth through hole, and the side surface of the rear end of the first tail end small claw body is provided with a second wire groove and a second step hole positioned in the second wire groove; the front end and the rear end of the second tail small claw body are respectively provided with a second sawtooth and a fifth through hole, the first sawtooth is meshed with the second sawtooth, and the side surface of the rear end of the second tail small claw body is provided with a third wire groove and a third step hole positioned in the third wire groove; the first wire groove, the first stepped hole, the second wire groove, the second stepped hole, the third wire groove and the third stepped hole are used for fixing the winding up and the lengthening of two deflection motion steel wire ropes and the steel wire ropes;

the rear ends of the first tail end small claw and the second tail end small claw are arranged up and down and then inserted into the front end opening of the wrist supporting piece, and a tail end small claw rotating shaft sequentially penetrates through a first through hole at the upper end of the front end opening of the wrist supporting piece, a fourth through hole of the first tail end small claw, a fifth through hole of the second tail end small claw and a first through hole at the lower end of the front end opening of the wrist supporting piece; the first guide wheel shaft penetrates through a second through hole in the middle of the wrist support piece body; an inner hole is formed in the center of the first small guide wheel, and a fourth groove for four opening and closing movement steel wire ropes to run is formed in the side wall of the outer ring of the first small guide wheel;

4. The hand-operated minimally invasive surgical instrument with yaw self-locking and decoupling function according to claim 3, wherein the opening and closing motion driving mechanism comprises: the fixed handle who links to each other with the apparatus box, the handle axis of rotation that links to each other with the apparatus box, 2 first steamboat wheels, handle driving lever and 2 second steamboat wheels that link to each other with the handle axis of rotation, the suit is at handle axis of rotation both ends tip and install the little bearing in the apparatus box, the movable handle who links to each other with the handle driving lever.

5. The manual minimally invasive surgical instrument with the functions of deflecting, self-locking and decoupling according to claim 4, wherein the upper end surface of the fixed handle is provided with a fourth stepped hole for connecting with an instrument box; a fifth stepped hole is formed in the inner side of the upper end of the movable handle and used for being connected with a handle driving lever; the centers of the first small wire wheel and the second small wire wheel are respectively provided with a first inner hole and a third inner hole, the side walls of the outer rings of the first small wire wheel and the second small wire wheel are respectively provided with a sixth stepped hole and a twelfth stepped hole for fixing four opening and closing movement steel wire ropes, the side walls of the outer rings of the first small wire wheel and the second small wire wheel are respectively provided with a first threaded hole and a sixth threaded hole, and the surfaces of the first small wire wheel and the second small wire wheel are respectively provided with a first opening and a third opening; a second inner hole is formed in the center of the upper end of the handle deflector rod, a second opening is formed in the surface of the upper end of the handle deflector rod, and a second threaded hole is formed in the side wall of the outer ring of the handle deflector rod; the handle rotating shaft sequentially passes through a first inner hole of a first small wire wheel, a third inner hole of a first second small wire wheel, a second inner hole of the handle shifting lever, a first inner hole of a second first small wire wheel and a third inner hole of a second small wire wheel; screws are arranged in the first threaded hole of the first small wire wheel and the sixth threaded hole of the second small wire wheel, the screws are screwed to reduce the first gap and the second gap, and the inner hole of the small wire wheel and the second inner hole of the handle deflector rod are fixed on the handle rotating shaft after being deformed; the movable handle and the fixed handle are pinched or opened, the movable handle drives the handle deflector rod, and simultaneously, the handle rotating shaft and the small wire wheel move along with the movable handle, so that the winding and the lengthening of the four opening and closing movement steel wire ropes are realized, the opening and the closing of the first tail end small claw and the second tail end small claw are driven, and the opening and closing movement is realized.

6. The hand-operated minimally invasive surgical instrument with yaw self-locking and decoupling function according to claim 5, wherein the opening and closing motion guide wheel set comprises: 2 short guide wheel shafts and 4 long guide wheel shafts which are connected with the instrument box; each short guide wheel shaft is sleeved with 2 second small guide wheels, 4 third clamp springs, 2 first bearings and 2 fourth clamp springs, the 2 first bearings and the 2 second small guide wheels are respectively and symmetrically arranged on the short guide wheel shaft, the third clamp springs are arranged between the adjacent second small guide wheels and the first bearings, and the 2 third clamp springs are arranged between the 2 second small guide wheels; every is equipped with 2 little guide pulleys of third, 4 fifth jump rings, 2 second bearings and 2 sixth jump rings all on the long guide pulley shaft, and 2 sixth jump rings, 2 second bearings, 2 little guide pulleys of third are symmetry respectively and are installed on long guide pulley shaft, all install the fifth jump ring between adjacent little guide pulley of third and the second bearing, install 2 fifth jump rings between 2 little guide pulleys of third.

7. The hand-controlled minimally invasive surgical instrument with the functions of deflection self-locking and decoupling according to claim 6, characterized in that the first small end claw is connected with two opening and closing motion steel wire ropes, and the second small end claw is connected with the other two opening and closing motion steel wire ropes; one end of each of two opening and closing movement steel wire ropes is respectively knotted and embedded into a second stepped hole of a first tail end small claw, the other end of each of the two opening and closing movement steel wire ropes penetrates out of a second linear groove, each of the two opening and closing movement steel wire ropes extends downwards, each of the two opening and closing movement steel wire ropes winds a fourth linear groove of 2 first small guide wheels at the upper end of a first guide wheel shaft, each of the two opening and closing movement steel wire ropes winds a fourth linear groove of 2 first small guide wheels at the upper end of an upper wrist rotating shaft after crossing, and continues to extend downwards, the two opening and closing movement steel wire ropes penetrate into a sixth stepped hole of a first small wire wheel at the left side of a handle rotating shaft from the upper part of a worm wheel shaft, each of the two opening and closing movement steel wire ropes penetrates into a twelfth stepped hole of a first small wire wheel at the right side of the handle rotating shaft from the lower part of the worm wheel shaft, and the two opening and closing movement steel wire ropes avoid a yawing movement driving mechanism to reach the sixth stepped hole and the tenth stepped hole of the small wire wheel Knotting and fixing the two stepped holes; the routing arrangement of the two opening and closing movement steel wire ropes corresponding to the first tail end small claw is mirror symmetry with the routing arrangement of the two opening and closing movement steel wire ropes corresponding to the second tail end small claw.

8. The manual minimally invasive surgical instrument with the functions of self-locking and decoupling of yawing according to claim 7, wherein a first plane, a second step shaft shoulder and a third clamp spring groove are machined on the worm gear shaft, the worm gear abuts against the second step shaft shoulder, the worm gear is fixed by matching a top thread with the first plane, and a fixing clamp spring is installed in the third clamp spring groove and used for limiting the position of the worm gear; a second plane, a third step shaft shoulder and a fourth clamp spring groove are processed on the worm shaft, the worm props against the third step shaft shoulder, the worm is fixed through matching of a jackscrew and the second plane, and a fixing clamp spring is installed in the fourth clamp spring groove and used for limiting the position of the worm; a D-shaped shaft is machined below the worm shaft, a D-shaped hole is formed in the center of the thumb wheel, and the D-shaped shaft is inserted into the D-shaped hole; and a fourth inner hole for a worm wheel shaft to pass through, a fifth wire groove for a deflection motion steel wire rope to run, and a seventh stepped hole for fixing the deflection motion steel wire rope and a third threaded hole are machined in the large wire wheel.

9. The hand-operated minimally invasive surgical instrument with the functions of self-locking and decoupling of yawing according to claim 8, wherein one ends of two yawing steel wire ropes are tied and then embedded into the first stepped hole of the wrist support, respectively pass through the first wire grooves on the left side and the right side of the wrist support, pass through the sixth through hole of the end effector connecting piece until passing through the hollow cavity of the operating rod, pass through 2 guide wheels of the yawing motion driving mechanism, wind the fifth wire groove of the large wire wheel, pass through the seventh stepped hole, and are tied and fixed; the worm is driven to rotate by rotating the dial wheel, the worm wheel drives the large wire wheel to rotate, the two deflection motion steel wire ropes are respectively tensioned and loosened to drive the end effector to realize deflection motion, and the end effector realizes self-locking after deflection through the deflection motion driving mechanism after reaching a designated position.

10. The hand-held minimally invasive surgical instrument with yaw self-locking and decoupling function of claim 9, wherein the instrument cartridge comprises: the plastic plug comprises a front cover plate supporting piece, a main shell, an upper cover plate and a plurality of plastic plugs; two rectangular protruding structures are arranged on the inner side of the front cover plate supporting piece, 4 stepped holes are formed in the two rectangular protruding structures, and two ends of 2 short guide wheel shafts and two ends of 2 second guide wheel shafts are installed in the corresponding stepped holes through bearings to be connected with the front cover plate supporting piece; a ninth through hole is formed in the center of the front cover plate supporting piece, a fourth threaded hole is formed in the ninth through hole, the other end of the operating rod is installed in the center through hole of the front cover plate supporting piece, and a jackscrew is screwed into the fourth threaded hole to fix the operating rod; the rear end of the main shell is provided with two connecting lugs, each connecting lug is provided with a tenth through hole for mounting a small bearing of the handle rotating shaft, and the first small wire wheel, the second small wire wheel and the handle deflector rod are connected with the two connecting lugs at the rear end of the main shell through the handle rotating shaft and the small bearing; the upper surface of each connecting lug is provided with a fifth threaded hole for connecting with the fixed handle; the rear end of the main shell is provided with a rectangular through hole for routing four opening and closing motion steel wire ropes; the front end of the main shell is provided with an opening, the lower bottom surface of the front end of the main shell is provided with a sixth stepped hole used for installing a sixth bearing of the worm shaft, and the worm shaft is connected with the main shell through the sixth bearing and the sixth stepped hole; a fifth bearing at the upper end of the worm shaft is arranged in a blind hole of the upper cover plate; two side walls at the front end of the main shell are provided with first to fifth stepped holes, two ends of the worm wheel shaft are respectively connected with the main shell through a third bearing, a fourth bearing and two third stepped holes, and two ends of the long guide wheel shaft are respectively connected with the main shell through a second bearing and the first to fifth stepped holes; the plastic plugs are arranged outside the first step hole to the sixth step hole.