CN115040255A

CN115040255A - Front end actuator and method thereof, manipulator device and surgical operation instrument

Info

Publication number: CN115040255A
Application number: CN202210692079.3A
Authority: CN
Inventors: 王树新
Original assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Current assignee: Institute Of Medical Robot And Intelligent System Tianjin University
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-09-13
Also published as: CN115040249A; CN115040248A; CN115040257A; CN112494143B; CN115040251A; CN114848156A; CN115040254A; CN115040256A; CN115040250A; CN115040252A; CN112494143A; CN115040253A

Abstract

A front end actuator, a method thereof, a manipulator device and a surgical operation instrument. The present disclosure provides a front-end execution device, including: the cross shaft comprises a first cross shaft and a second cross shaft which are mutually and vertically crossed and is used for rotating around the first cross shaft and/or the second cross shaft under the driving of a driving device so as to realize the driving of two degrees of freedom of pitching and deflecting of the front end executing device, wherein the two degrees of freedom comprise a first degree of freedom and a second degree of freedom; and the front end actuator is fixed at two ends of the first cross shaft or the second cross shaft of the cross shaft.

Description

Front end actuator and method thereof, manipulator device and surgical operation instrument

The invention relates to a front end actuator, a method thereof, a manipulator device and a surgical operation instrument, in particular to a split application of an invention patent application with the application number of 202011368299.8 and the application date of 2020, 11 and 30.

Technical Field

The present disclosure relates to the field of manipulators, and in particular, to a front end effector, a method thereof, a manipulator device, and a surgical instrument.

Background

At present, the application of a manipulator structure with a front end actuator in the surgical operation or the machining and manufacturing industry is more and more extensive, and the manipulator structure has stricter requirements on the size and the response speed of the front end actuator aiming at the fields of a robot-assisted minimally invasive surgery system or precision manufacturing and the like. In addition, the front end actuator needs to move in multiple degrees of freedom, the driving wires are generally distributed in the outer tube in the circumferential direction, when the front end actuator performs autorotation movement, the driving wires distributed in the circumferential direction can be intertwined, the intertwined driving wires not only can enable the movements of the front end actuator to be coupled, but also can enable the friction force generated by the driving wires to be far greater than the friction force of the driving wires on the guide wheel and the wire wheel, so that the movement precision and the load capacity of the front end actuator are seriously reduced.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides a front end effector, a method thereof, a manipulator device and a surgical instrument to at least partially solve the technical problems set forth above.

(II) technical scheme

According to an aspect of the present disclosure, there is provided a front-end execution apparatus including:

a first slide rail rotatable about a first axis;

a second slide rail capable of rotating about a second axis, the second axis intersecting the first axis at a point; and

and the sliding block is connected between the first sliding rail and the second sliding rail in a sliding manner and is connected with an execution assembly of the front-end actuator.

According to another aspect of the present disclosure, there is provided a front-end execution apparatus, comprising:

a dual-axle steering arm rotatable about a first axle; and

the single-shaft steering arm is hinged to the second shaft at a first end, and the second end is connected with an execution assembly of the front-end execution device, wherein the first shaft and the second shaft are intersected at one point.

a circular arc slide rail rotatable about a first axis; and

the sliding block is connected to the arc-shaped sliding rail in a sliding mode, can rotate around a second shaft and is connected to an execution assembly of a front end execution device, and the first shaft and the second shaft are intersected at one point.

a first drive arm rotatable about a first axis; and

the second driving arm can rotate around the second shaft and is connected with the actuating assembly;

the first shaft and the second shaft are perpendicular to each other and intersect at a point, so that the front end execution device can move in two freedom degree directions.

the cross shaft comprises a first cross shaft and a second cross shaft which are mutually and vertically crossed and is used for rotating around the first cross shaft and/or the second cross shaft under the driving of a driving device so as to realize the driving of two degrees of freedom of pitching and deflecting of the front end executing device, wherein the two degrees of freedom comprise a first degree of freedom and a second degree of freedom;

the front end actuator is fixed at two ends of one of the first cross shaft and the second cross shaft of the cross shaft; and

the guide wheels are arranged at two ends of the other of the first cross shaft and the second cross shaft to reverse the driving wire for driving the first degree of freedom to rotate to the same side as the driving wire for driving the second degree of freedom to rotate, so that wire penetrating holes of the driving wires on the connecting seat are linearly arranged, and the linear direction is parallel to the rotating shaft of the second degree of freedom.

the crisscross shafts comprise a first crisscross shaft and a second crisscross shaft which are mutually perpendicularly crossed and are used for rotating around the first crisscross shaft and/or the second crisscross shaft under the driving of a driving device so as to realize the driving of the front end execution device with two degrees of freedom of pitching and deflecting, wherein the two degrees of freedom comprise a first degree of freedom and a second degree of freedom;

the front end actuator is fixed at two ends of one of the first cross shaft and the second cross shaft of the cross shaft;

the double-row guide wheels are arranged at two ends of the other one of the first cross shaft and the second cross shaft; and

the four guide wheels are uniformly arranged on the side wall above the crossed shaft to drive the first-degree-of-freedom-degree rotating driving wire to be reversed to the same side as the second-degree-of-freedom-degree rotating driving wire, so that wire penetrating holes of the driving wire on the connecting seat are linearly arranged, and the linear direction is parallel to the rotating shaft of the second degree of freedom.

the two guide wheels are symmetrically arranged on the side wall above the crossed shaft to reverse the driving wire for driving the first-degree-of-freedom rotation to the same side as the driving wire for driving the second-degree-of-freedom rotation, so that wire penetrating holes of the driving wire on the connecting seat are linearly arranged, and the linear direction is parallel to the rotating shaft of the second degree of freedom.

a crisscross shaft including a first cross shaft and a second cross shaft that intersect perpendicularly with each other;

the U-shaped frame is provided with an upward opening, two front ends of the U-shaped frame are connected to two ends of the first cross shaft, and the bottom of the outer surface of the U-shaped frame is provided with a circular arc-shaped wire guide groove for arranging a second driving wire, and the circular arc-shaped wire guide groove is used for rotating around the second cross shaft under the driving of the second driving wire so as to realize the driving of a second degree of freedom of the front end execution device;

the front end actuator is fixed at two ends of the first cross shaft, is coaxially connected with the U-shaped frame, and is used for rotating around the first cross shaft under the driving of a first driving wire so as to realize the driving of a first degree of freedom of the front end actuator; and

the guide wheels are arranged at two ends of the first crossed shaft and used for guiding the second driving wire, so that wire penetrating holes of the first driving wire and the second driving wire on the connecting seat are linearly arranged, and the linear direction is parallel to the first crossed shaft or the second crossed shaft.

the cross shaft comprises a first cross shaft and a second cross shaft which are mutually vertically crossed, and two rows of guide wheels are respectively arranged at two ends of the second cross shaft;

the U-shaped frame is provided with an upward opening, two front ends of the U-shaped frame are connected to two ends of the first cross shaft, and the bottom of the outer surface of the U-shaped frame is provided with a circular arc-shaped wire guide groove for arranging a second driving wire, and the circular arc-shaped wire guide groove is used for rotating around the second cross shaft under the driving of the second driving wire so as to realize the driving of the second degree of freedom of the front end execution device;

the two guide wheels are symmetrically arranged on the side wall above the crossed shaft, so that the wire penetrating holes of the first driving wire and the second driving wire on the connecting seat are linearly arranged, and the linear direction is parallel to the first crossed shaft or the second crossed shaft.

the cross shaft comprises a first cross shaft and a second cross shaft which are mutually and vertically crossed, first wire wheels are arranged at two ends of the first cross shaft, second wire wheels are arranged at two ends of the second cross shaft and are used for rotating around the first cross shaft and/or the second cross shaft under the driving of a driving device so as to realize the driving of two degrees of freedom of pitching and deflection of the front end execution device, and the two degrees of freedom comprise a first degree of freedom and a second degree of freedom; and

the guide wheel is arranged on the crossed shaft and is coaxially arranged with the first wire wheel or the second wire wheel so as to change the driving wire for driving the first freedom degree to rotate to the same side of the driving wire for driving the second freedom degree to rotate, so that the wire penetrating holes of the driving wire on the connecting seat are linearly arranged, and the linear direction is parallel to the rotating shaft of the second freedom degree.

the cross shaft comprises a first cross shaft and a second cross shaft which are mutually and vertically crossed and is used for rotating around the first cross shaft and/or the second cross shaft under the driving of a driving device so as to realize the driving of two degrees of freedom of pitching and deflecting of the front end executing device, wherein the two degrees of freedom comprise a first degree of freedom and a second degree of freedom; and

the front end actuator is fixed at two ends of the first cross shaft or the second cross shaft of the cross shaft.

the U-shaped frame is provided with an upward opening, and two front ends of the U-shaped frame are connected to two ends of the first cross shaft, connected with a connecting seat of the front end actuator and used for rotating around the second cross shaft under the driving of a driving assembly so as to realize the driving of the front end actuator with a second degree of freedom; and

the front end actuator is fixed at two ends of the first crossed shaft, is coaxially connected with the U-shaped frame, and is used for rotating around the first crossed shaft under the driving of the driving assembly so as to realize the driving of the first degree of freedom of the front end actuator.

According to another aspect of the present disclosure, there is provided a surgical instrument comprising a front-end effector as described above.

According to another aspect of the present disclosure, there is provided a robot apparatus, comprising:

a joint assembly comprising a front end effector as previously described.

According to an embodiment of the present disclosure, the front end effector is provided in the joint unit of a slave manipulator in a manipulator device, wherein an operation command of the slave manipulator is transmitted from a master manipulator.

(III) advantageous effects

According to the technical scheme, the front-end actuator, the method thereof, the manipulator device and the surgical operation instrument have at least one of the following beneficial effects:

(1) the deflection axis, the pitching axis and the rotation axis of the front-end actuator are intersected at one point, namely the front-end actuator has the characteristic that the three axes are intersected with one center, and compared with a structure that the non-three axes are intersected with one center, under the condition of realizing the same movement angle, the structure has smaller movement radius of gyration under the scale and higher movement flexibility;

(2) the front-end actuator disclosed by the invention has the advantages that the three axes are intersected with the one-heart structure, the pose separation calculation is easy to realize in the aspect of kinematics, especially for a multi-freedom (six-freedom or seven-freedom) mechanical arm, the inverse solution process of the kinematics of the mechanical arm is easier, and an analytic solution can be obtained, so that the operand of a robot controller is reduced, and the motion control response speed of the robot is improved;

(3) according to the front-end actuator, the wire feeding holes of the driving wires are distributed linearly, so that the driving wires in the outer pipe can be prevented from being wound with each other during rotation, and the motion coupling degree is reduced;

(4) the front-end executing device adopting wire-wheel transmission in the embodiment of the disclosure is provided with two arc-shaped sliding rails which are staggered with each other, and a sliding block is supported by the two sliding rails which are orthogonal to each other along two axes, so that the structure has higher supporting rigidity, and the front-end executing device 301 is ensured not to generate deformation or reverse driving phenomenon when keeping a certain posture under load; in addition, the pressure angle of the slide rail to the slide block in the driving process is always 90 degrees, the theoretical value of the motion transmission efficiency of the part is 100 percent, and the extremely high transmission efficiency can still be kept in the motion process of the slide block in consideration of the influence of the friction force between the slide block and the slide rail;

(5) in the front-end execution device structure of the embodiment, the guide rail sliding block structure is used for replacing a part of arrangement mode of the driving wire guide wheels, so that the number of the guide wheels on a driving wire transmission path is reduced on the premise of meeting all motion characteristics, and the driving force transmitted by the driving wire can be increased; the wrap angle of the driving wire in the front end execution device is only 3 pi/2 (each initial position), and the deflection motion load and the pitching motion load of the front end execution device in the initial pose can reach 28N;

(6) the sliding block, the sliding rail and other tiny parts are usually made of medical metal materials, and the surfaces of the sliding block, the sliding rail and other parts are plated with fluorine-containing material films, so that the friction coefficient among the parts is further reduced, and the parts after film plating are easier to clean after operation;

(7) in the motion process of each part of the front-end driving device in the embodiment of the disclosure, the position of the wire wheel is kept fixed, namely the length of the driving wire between the driving wire wheel and the wire wheel is not changed, and the driving wire can be accurately driven after being installed and pre-tensioned;

(8) the double-shaft steering arm and the single-shaft steering arm are arranged in series to form a group of serial mechanical arm mechanisms, so that a kinematics positive solution is easily obtained; in addition, because the included angle of 30 degrees is formed between the double-shaft steering arm and the upper end face of the connecting seat, the one-way deflection angle of the deflection motion of the double-shaft steering arm can reach 150 degrees, and the operation flexibility of the surgical tool can be greatly improved;

(9) the front end execution device of the embodiment is provided with the arc-shaped double-sliding-rail structure, the sliding block can only do sliding movement on the sliding rails, and the arc-shaped sliding rails adopt a virtual constraint form of the double-sliding-rail structure, so that the rigidity of the front end execution device in a load state can be improved, and meanwhile, the influence of a sliding gap on a movement error can be reduced; in addition, under the limitation of the limiting groove, the direction of the tension of the driving wire on the sliding block is always the same as the tangential direction of the movement of the sliding block, the influence of friction force is ignored, the tension of the driving wire is completely acted on the sliding block, and the driving force of the driving mode is far greater than that of a wire wheel driving mode;

(10) the parts used by the front-end executing device in the embodiment of the disclosure are usually tiny parts or thin-wall parts, and because the load direction of the front-end executing device is different from the elastic deformation sensitive direction, the structure of the front-end executing device has better rigidity under load;

(11) the rotation axis of the opening and closing action of the front end execution device clamp page is overlapped with the deflection motion axis, so that the size of the wrist of the front end execution device can be further reduced, the structure is compact, the turning radius of deflection motion and pitching motion is shortened, and the load capacity is improved; meanwhile, in terms of kinematics, after the two axes are superposed, a kinematics model of the front end execution device can be simplified, the kinematics calculation amount of a control program is reduced, the control precision and the operation real-time performance of the system are improved, and the operation quality is ensured; in addition, the outer diameter of the surgical tool is 8-10mm, a part with the length of 8mm can occupy a large part of image area, the axial size of the front end execution device can be reduced by 8mm through the arrangement, and the visual field shielding of the surgical tool can be reduced to a great extent;

(12) the four guide wheels are uniformly distributed on the side wall above the cross shaft of the front end execution device in the embodiment of the invention, and the guide wheels are arranged above the cross shaft, so that the space occupied below the cross shaft can be reduced, and the rotation angle of pitching motion can be increased;

(13) the front end execution device of the embodiment of the disclosure has the structure of the Z shape, so that no part which can generate motion interference with the clamp page is arranged in the rotation direction of the clamp page, and the deflection angle of deflection motion can reach +/-125 degrees.

Drawings

Fig. 1 is a schematic structural view of a main hand end of a robot-assisted minimally invasive surgery system according to an embodiment of the disclosure.

Fig. 2 is a schematic view of a robot-assisted minimally invasive surgical system according to an embodiment of the disclosure from a hand end.

FIG. 3a is a schematic diagram of an instrument arm according to an embodiment of the disclosure.

FIG. 3b is a schematic representation of the movement of an instrument arm according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural view of a surgical tool according to an embodiment of the present disclosure.

Fig. 5a is a schematic structural diagram of a rear-end driving device according to an embodiment of the disclosure.

Fig. 5b is a schematic view of an arrangement of the driving wire wheels according to the embodiment of the disclosure.

Fig. 6 is a schematic structural view of an outer tube according to an embodiment of the present disclosure.

FIG. 7 is a schematic view of the relationship of a drive wire and an outer tube according to an embodiment of the disclosure.

Fig. 8 is a schematic structural view of a flexible outer tube according to an embodiment of the present disclosure.

Fig. 9 is a partially enlarged schematic view of a flexible outer tube according to an embodiment of the disclosure.

FIG. 10 is a cross-sectional view of a flexible outer tube of an embodiment of the present disclosure along an axis.

Fig. 11 is a schematic view of a drive wire in a flexible outer tube for length compensation according to an embodiment of the disclosure.

FIG. 12 is a schematic diagram of a transition ring of an apparatus for adjusting the position of a lumen within a multi-lumen tube according to an embodiment of the present disclosure.

Fig. 13 is a schematic view of a relative position change of a driving wire in a bending direction in a flexible outer tube according to an embodiment of the disclosure.

Fig. 14 is a schematic structural view of a flexible outer tube according to yet another embodiment of the present disclosure.

FIG. 15 is a schematic diagram of the movement of a front end effector according to one embodiment.

FIG. 16 is a diagram illustrating an internal structure of a front-end execution device according to an embodiment.

FIG. 17 is a schematic diagram illustrating an arrangement of drive wires of the front end effector.

FIG. 18 is a schematic diagram of the movement of a front end effector according to one embodiment.

Fig. 19 is a schematic structural diagram of a front-end execution device according to yet another embodiment.

Fig. 20 is a schematic view of a deflector seat of a front end effector according to yet another embodiment.

FIG. 21 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment.

Fig. 22 is a schematic view of a pitch motion of a front end effector according to yet another embodiment.

Fig. 23 is a schematic view of the deflection and opening and closing movement of the front end effector of yet another embodiment.

FIG. 24 is a schematic diagram of the arrangement of the drive wires for pitch movement of the front end effector in accordance with yet another embodiment.

FIG. 25 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with yet another embodiment.

FIG. 26 is a schematic view of the arrangement of the driving wires on the pitching wheel of the front end effector according to yet another embodiment.

Fig. 27 is a schematic structural diagram of a front-end execution device according to yet another embodiment.

Fig. 28 is a schematic diagram of an internal structure of a front-end execution device according to still another embodiment.

Fig. 29 is a schematic view of a deflector seat of a front-end actuator according to yet another embodiment.

FIG. 30 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment.

Fig. 31 is a schematic diagram of the pitch motion of the front end effector in accordance with still another embodiment.

Fig. 32 is a schematic view of the deflection and opening and closing movement of the front end effector of still another embodiment.

FIG. 33 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector in accordance with yet another embodiment.

FIG. 34 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with still another embodiment.

FIG. 35 is a schematic diagram of the arrangement of the drive wires on the pitch wire wheels of the front end effector in accordance with yet another embodiment.

FIG. 36 is a schematic diagram of a front-end execution device according to yet another embodiment.

Fig. 37 is an exploded view of a front-end effector in accordance with yet another embodiment.

Fig. 38 is a schematic view of a connection seat structure of a front end actuator according to yet another embodiment.

FIG. 39 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment.

Fig. 40 is a schematic view of the pitch motion of the front end effector in accordance with still another embodiment.

FIG. 41 is a schematic view of the deflection and opening and closing movement of the front end effector of yet another embodiment.

FIG. 42 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector in accordance with still another embodiment.

FIG. 43 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with yet another embodiment.

FIG. 44 is a schematic diagram of the arrangement of the drive wires on the pitch wire wheels of the front end effector in accordance with yet another embodiment.

Fig. 45 is a schematic structural diagram of a front-end execution device according to yet another embodiment.

Fig. 46 is an exploded view of a front-end effector of yet another embodiment.

FIG. 47 is a schematic view of the deflection motion of the front end effector in accordance with yet another embodiment.

FIG. 48 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment.

Fig. 49 is a schematic view showing the pitch and opening/closing movement of the front end effector in accordance with still another embodiment.

FIG. 50 is a schematic diagram of a front-end execution apparatus according to yet another embodiment.

Fig. 51 is a three-degree-of-freedom motion diagram of a front-end actuator according to yet another embodiment.

FIG. 52 is a graph showing the change in the deflection angle displacement of each rotating shaft when the front end effector 231 simulates the "needle-holding suture" operation.

FIG. 53 is a graph showing the change in the deflection angle displacement of each rotating shaft when the front end effector 232 simulates the "needle-holding suturing" operation.

FIG. 54 is a schematic view of the arrangement of the drive wires for the deflection motion of the front end effector in accordance with yet another embodiment.

FIG. 55 is a schematic view of the arrangement of the driving wires in the autorotation of the front end effector according to still another embodiment.

FIG. 56 is a schematic diagram of a front-end execution device according to yet another embodiment.

Fig. 57 is a schematic diagram illustrating three-degree-of-freedom motion of a front-end actuator according to still another embodiment.

Fig. 58 is an exploded view of a front-end effector of yet another embodiment.

FIG. 59 is a schematic view of a deflector mount of a front end effector according to still another embodiment.

Fig. 60 is a schematic structural view illustrating the mounting of the front end effector from the rotary base according to yet another embodiment.

FIG. 61 is a schematic diagram illustrating a front end effector page mount configuration according to yet another embodiment.

FIG. 62 is a block diagram of a front end effector page mount from another perspective in accordance with an embodiment.

FIG. 63 is a schematic diagram of a front-end execution device according to yet another embodiment.

Fig. 64 is an exploded view of a front-end effector in accordance with yet another embodiment.

FIG. 65 is a cross-shaft configuration diagram of a front end effector in accordance with yet another embodiment.

FIG. 66 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment.

FIG. 67 is a schematic view of another embodiment of a driving wire arrangement of a front end effector at another viewing angle.

FIG. 68 is a schematic view of a variation in the length of a driving wire of a front end effector according to yet another embodiment.

Fig. 69 is a schematic structural diagram of a front-end execution device according to an embodiment of the disclosure.

FIG. 70 is an enlarged view of a portion of a front end effector of an embodiment of the present disclosure.

Fig. 71 is a schematic structural view of a circular arc slide rail of a front end actuator according to an embodiment of the disclosure.

Fig. 72 is a schematic structural diagram of a front end effector slider according to an embodiment of the present disclosure.

Fig. 73 is a schematic view of an arrangement of drive wires of the front end effector of the present disclosure.

Fig. 74 is a schematic view of the slide rail driven by the driving wire of the front end actuator according to the embodiment of the disclosure.

Fig. 75 is a schematic structural diagram of another front-end execution device according to an embodiment of the present disclosure.

Fig. 76 is a schematic view showing a serial robot arm mechanism structure of a front end actuator according to still another embodiment of the present disclosure.

Fig. 77 is a schematic structural view of a biaxial knuckle arm of a front end actuator according to yet another embodiment of the present disclosure.

Fig. 78 is a schematic structural view of a single-shaft steering arm of a front end effector according to still another embodiment of the present disclosure.

FIG. 79 is a schematic view of a front end effector arrangement of drive wires according to yet another embodiment of the present disclosure.

FIG. 80 is a schematic view of the arrangement of drive wires on a dual-axis steering arm according to yet another embodiment of the present disclosure.

FIG. 81 is a schematic view of the arrangement of drive wires on a single-axle steering arm according to yet another embodiment of the present disclosure.

Fig. 82 is a schematic view of a slide rail driven by a driving wire of a front end actuator according to yet another embodiment of the disclosure.

Fig. 83 is a diagram illustrating a relationship between a rotation angle of a slide rail driven by a driving wire of a front end actuator according to still another embodiment of the present disclosure.

Fig. 84 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 85 is a schematic structural view of a dual-slide structure of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 86 is a schematic view of a slider connection structure of a front end effector according to still another embodiment of the present disclosure.

Fig. 87 is a schematic view of a front end effector driving filament arrangement according to yet another embodiment of the present disclosure.

Fig. 88 is a schematic view illustrating an arrangement of driving wires of a dual slide rail according to still another embodiment of the present disclosure.

Fig. 89 is a schematic view of a front end effector driven by a driving wire according to yet another embodiment of the present disclosure.

Fig. 90 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 91 is a schematic diagram of two driving arms of a front end effector according to yet another embodiment of the present disclosure.

FIG. 92 is a schematic view of a lower driving arm structure of a front end effector in accordance with yet another embodiment of the present disclosure.

Fig. 93 is a schematic view of an upper driving arm of a front end effector in accordance with still another embodiment of the present disclosure.

Fig. 94 is a schematic coordinate system diagram of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 95 is a schematic view of a front end effector driving filament arrangement according to yet another embodiment of the present disclosure.

Fig. 96 is a schematic view of the arrangement of the driving wire on the wire wheel of the front end effector according to still another embodiment of the present disclosure.

Fig. 97 is a schematic view of a drive wire driving a drive arm of a front end effector of yet another embodiment of the present disclosure.

Fig. 98 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 99 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 100 is a cross-shaft of a front end effector assembly according to yet another embodiment of the present disclosure.

Fig. 101 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 102 is a schematic view of a driving wire of a front end effector of the present disclosure arranged on a cross shaft according to still another embodiment of the present disclosure.

Fig. 103 is a schematic view of an arrangement of the driving wire cross shaft of the front end actuator at another view angle according to yet another embodiment of the present disclosure.

Fig. 104 is a schematic view of a front end effector performing a pitching motion according to yet another embodiment of the disclosure.

Fig. 105 is a schematic view of the arrangement of the driving wires on the deflecting wire wheel of the front end effector according to still another embodiment of the present disclosure.

Fig. 106 is a schematic view of the arrangement of the driving wires of the front end effector on the deflecting wire wheel from another perspective of the present disclosure.

Fig. 107 is a schematic view of a front end effector performing a deflecting motion according to yet another embodiment of the present disclosure.

FIG. 108 is a schematic view of the arrangement of threading holes of a front end effector according to yet another embodiment of the present disclosure.

Fig. 109 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 110 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

Fig. 111 is a schematic structural view of an electric hook base of a front end actuator according to yet another embodiment of the disclosure.

Fig. 112 is a schematic diagram of a driving wire arrangement of a front end effector 310 according to yet another embodiment of the present disclosure.

Fig. 113 is a schematic view of the arrangement of the driving wires on the pitching wire wheels of the front end actuator according to still another embodiment of the present disclosure.

Fig. 114 is a schematic view of a front end effector performing a pitching motion according to yet another embodiment of the present disclosure.

Fig. 115 is a schematic view of the arrangement of the driving wires on the deflecting wire wheel of the front end effector according to still another embodiment of the present disclosure.

Fig. 116 is a schematic view of the arrangement of the driving wires of the front end effector on the deflecting wire wheel from another perspective of the present disclosure.

Fig. 117 is a schematic view of a front end effector performing a deflecting motion according to still another embodiment of the present disclosure.

Fig. 118 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 119 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 120 is a diagram illustrating a front-end execution device page clamp configuration according to yet another embodiment of the present disclosure.

Fig. 121 is a schematic view of a pitch angle of a front-end actuator according to still another embodiment of the disclosure.

Fig. 122 is a schematic view illustrating an arrangement of driving wires of a front-end actuator according to still another embodiment of the present disclosure.

Fig. 123 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector of the present disclosure on the cross shaft.

Fig. 124 is a schematic view of a front end effector performing a pitching motion according to yet another embodiment of the present disclosure.

Fig. 125 is a schematic view of the arrangement of the driving wires for the deflection movement and the opening and closing movement of the front end actuator on the cross shaft according to still another embodiment of the present disclosure.

FIG. 126 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector of the present disclosure on the lead.

Fig. 127 is a schematic view of the front end effector performing deflection and opening/closing movements according to yet another embodiment of the present disclosure.

Fig. 128 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 129 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 130 is a diagram illustrating a front-end execution device structure page according to yet another embodiment of the present disclosure.

Fig. 131 is a schematic view of a driving wire arrangement of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 132 is a schematic view of the arrangement of the driving wires of the front end effector on the pitch wire wheel according to still another embodiment of the present disclosure.

Fig. 133 is a schematic diagram of a front end effector performing a pitching motion according to yet another embodiment of the present disclosure.

FIG. 134 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector on the cross shaft according to yet another embodiment of the present disclosure.

FIG. 135 is a schematic view of the arrangement of the driving wires for the yaw movement and the opening and closing movement of the front end actuator on the cross shaft from another perspective of the present disclosure.

FIG. 136 is a schematic view of the arrangement of the drive wires for the deflection motion and the opening and closing motion of the front end effector of the present disclosure on a jawbone.

Fig. 137 is a schematic view of the front end effector performing deflection and opening/closing movements according to still another embodiment of the present disclosure.

Fig. 138 is a schematic diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 139 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 140 is a cross-shaft configuration diagram of a front end effector assembly according to yet another embodiment of the present disclosure.

FIG. 141 is a schematic diagram illustrating an arrangement of drive wires of a front end effector according to yet another embodiment of the present disclosure.

FIG. 142 is a schematic view of the arrangement of the driving wires of the front end effector on the cross-shaft according to yet another embodiment of the present disclosure.

Fig. 143 is a schematic view of a front end effector performing a pitching motion according to yet another embodiment of the present disclosure.

FIG. 144 is a schematic view of the arrangement of the driving wires for the deflecting and opening and closing movements of the front end effector of the present disclosure on the guide wheels.

FIG. 145 is a schematic view of the arrangement of the drive wires for the deflection motion and the opening and closing motion of the front end effector of the present disclosure on a jawbone.

FIG. 146 is a schematic view of a front end effector performing deflection and opening/closing movements according to yet another embodiment of the present disclosure.

Fig. 147 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the disclosure.

FIG. 148 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 149 is a cross-shaft of a front end effector in accordance with yet another embodiment of the present disclosure.

FIG. 150 is a diagram illustrating a front-end execution device page clamp configuration according to yet another embodiment of the present disclosure.

Fig. 151 is a schematic diagram illustrating an arrangement of drive wires of a front end effector according to yet another embodiment of the present disclosure.

FIG. 152 is a cross-sectional view of a front end effector drive wire disposed on a cross-member, in accordance with yet another embodiment of the present disclosure.

Fig. 153 is a schematic view of a front end effector performing a pitching motion according to yet another embodiment of the present disclosure.

Fig. 154 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector according to still another embodiment of the present disclosure.

Fig. 155 is a schematic view of an arrangement of driving wires for deflection and opening/closing movements of a front end actuator according to another perspective of the present disclosure.

FIG. 156 is a schematic view of the arrangement of the drive wires for the deflection motion and the opening and closing motion of the front end effector on the lead page according to yet another embodiment of the present disclosure.

Fig. 157 is a schematic view of the front end effector performing deflection and opening/closing movements according to yet another embodiment of the present disclosure.

Fig. 158 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 159 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 160 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 161 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure.

Fig. 162 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the disclosure.

FIG. 163 is a schematic view of the arrangement of the drive wires for the deflection and opening and closing movements of the front end effector of yet another embodiment of the present disclosure.

Fig. 164 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 165 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 166 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 167 is a schematic diagram of an arrangement of driving wires of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 168 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the present disclosure.

FIG. 169 is a schematic view of the arrangement of the driving wires for the deflection and opening/closing movement of the front end effector according to still another embodiment of the present disclosure.

Fig. 170 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 171 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

Fig. 172 is a schematic view of a page clamping structure of a front-end execution device according to yet another embodiment of the disclosure.

FIG. 173 is a schematic view of an arrangement of driving wires for a front-end actuator according to yet another embodiment of the disclosure.

Fig. 174 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the present disclosure.

FIG. 175 is a schematic view of the wire arrangement for deflection and opening/closing movement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 176 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 177 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 178 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 179 is a schematic view of a deflecting driving wheel of a front-end actuator according to yet another embodiment of the present disclosure.

Fig. 180 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure.

Fig. 181 is a schematic diagram of a driving wire arrangement for the pitch motion of a front end effector according to still another embodiment of the present disclosure.

FIG. 182 is a schematic view of the arrangement of the drive wires for the deflection and opening/closing movement of the front end effector of yet another embodiment of the present disclosure.

Fig. 183 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 184 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

FIG. 185 is a schematic diagram of a page clamping structure of a front-end execution device according to yet another embodiment of the disclosure.

Fig. 186 is a schematic view of a deflection driving rack of a front end actuator according to still another embodiment of the present disclosure.

Fig. 187 is a schematic view of an arrangement of drive wires of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 188 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the disclosure.

FIG. 189 is a schematic view of the arrangement of the drive wires for the deflection and opening and closing movements of the front end effector according to yet another embodiment of the present disclosure.

Fig. 190 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure.

FIG. 191 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure.

Fig. 192 is a cross-shaft structure diagram of a front end effector according to yet another embodiment of the present disclosure.

FIG. 193 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure.

Fig. 194 is a schematic view of a driving wire arrangement of a front-end actuator according to yet another embodiment of the disclosure.

Fig. 195 is a schematic view of an arrangement of drive wires for pitch motion of a front end effector in accordance with yet another embodiment of the present disclosure.

FIG. 196 is a schematic view of the drive wire arrangement for the deflection and opening and closing motions of a front end effector of yet another embodiment of the present disclosure.

Fig. 197 is a schematic structural diagram of a flexible front-end actuator according to an embodiment of the disclosure.

FIG. 198 is a schematic view of a flexible front end effector articulation with deflection motion within a V-shaped slot according to an embodiment of the present disclosure.

Fig. 199 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure.

FIG. 200 is a schematic view of a joint structure of a flexible front end effector according to yet another embodiment of the present disclosure.

FIG. 201 is a cross-sectional view of an articulation configuration of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 202 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the present disclosure.

Fig. 203 is a schematic view of a bending angle of a flexible front end effector according to yet another embodiment of the present disclosure.

FIG. 204 is a schematic diagram of a flexible front end effector with variable stiffness capabilities according to an embodiment of the present disclosure.

FIG. 205 is a schematic diagram of the internal structure of a flexible front end effector having variable stiffness properties according to an embodiment of the present disclosure.

Fig. 206 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the present disclosure.

FIG. 207 is a schematic view of a flexible hinge connection of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 208 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the present disclosure.

FIG. 209 is a schematic view of an articulating structure of a flexible front end effector of yet another embodiment of the present disclosure.

FIG. 210 is a schematic view of discrete articulation of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 211 is a sectional view in the cutting direction shown in fig. 208.

FIG. 212 is a schematic view of a thickened discrete joint of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 213 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the disclosure.

Fig. 214 is a schematic structural diagram of a main body of a flexible front-end actuator according to still another embodiment of the present disclosure.

Fig. 215 is a schematic structural diagram of a driving unit of a flexible front-end actuator according to still another embodiment of the disclosure.

Fig. 216 is a side view of a drive unit of a flexible front end effector of yet another embodiment of the present disclosure.

Fig. 217 is a schematic view of torque generated when an outer tube of a driving unit of a flexible front end effector is bent according to still another embodiment of the present disclosure.

FIG. 218 is a schematic view of the cutting direction of the outer tube and the inner tube of a flexible front end effector according to yet another embodiment of the present disclosure.

Fig. 219 is a schematic structural diagram of a front-end execution device according to an embodiment of the present disclosure.

Fig. 220 is a schematic view of an internal structure of a rotary joint of a front end effector according to an embodiment of the present disclosure.

Fig. 221 is a schematic view of the deflection motion of the front end effector according to the embodiment of the disclosure.

Fig. 222 is a schematic view of a driving manner of each swing joint of the front end effector according to the embodiment of the present disclosure.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.

In one exemplary embodiment of the present disclosure, a front-end execution apparatus is provided. The front end executing device is used for a surgical instrument structure of a robot-assisted minimally invasive surgery system, the surgical instrument structure can be configured for a multi-hole minimally invasive surgery robot and a single-hole minimally invasive surgery robot, and the surgical instrument structure can be used as a common multi-degree-of-freedom minimally invasive surgery instrument or a handheld electrically-driven minimally invasive surgery instrument by adjusting the driving mode and the control method of the instrument.

It should be noted that the application of the front-end actuator of the present disclosure is not limited thereto, and the front-end actuator of the present disclosure may also be used in other technical fields such as manufacturing, warehouse logistics, and the like.

Fig. 1 is a schematic structural view of a main hand end of a robot-assisted minimally invasive surgery system according to an embodiment of the disclosure. Fig. 2 is a schematic view of a robot-assisted minimally invasive surgical system according to an embodiment of the disclosure from a hand end. As shown in fig. 1 and 2, the robot-assisted minimally invasive surgery system comprises a master hand end 01, a slave hand end 02 and a three-dimensional image display system 03. The master hand end 01 is provided with a master manipulator 11 and a three-dimensional image system 03, and the master manipulator 11 is used for controlling an instrument arm 12 and a surgical tool 13 which are arranged on the slave means 02. The slave hand end 02 is provided with a plurality of instrument arms 12, and each instrument arm 12 is to be provided with a surgical tool 13 with different functions, such as a tissue clamp, a needle holder, an energy tool, an ultrasonic knife, etc., during surgery, so as to meet the surgical needs of different surgeries. One of the plurality of instrument arms 12 is mounted with an endoscope 14 for intra-operative image transmission.

During operation, the instrument arm 12 with the endoscope 14 mounted thereon performs positioning and orientation of the endoscope 14 by attitude adjustment. The endoscope 14 enters the inside of a human body after passing through a minimally invasive incision (poking card), can acquire three-dimensional images of operation implementation parts and synchronously transmit the three-dimensional images of focus parts to a three-dimensional image system 03 arranged on a main hand end 01, and doctors perform operation by watching the three-dimensional images, namely, the doctors watch synchronous images of focus parts on the three-dimensional image system 03 at the main hand end 01, and simultaneously operate the main operating hand 11, and control the poses and actions of a plurality of mechanical arms 12 and operation tools 13 on a slave hand end 02 by adjusting the pose of the main operating hand 11 so as to complete operation. Fig. 3a is a schematic structural view of an instrument arm according to an embodiment of the present disclosure. FIG. 3b is a schematic representation of the movement of an instrument arm according to an embodiment of the present disclosure. As shown in fig. 3a and 3b, the surgical tool 13 is driven by the robot arm 12 to perform spatial 3-degree-of-freedom motions P1, P1, and P2, where P1 is a linear motion passing through the stationary point O, and P1 and P2 are deflection motions around the stationary point O.

The master hand end 01 and the slave hand end 02 can be arranged in the same operating room to carry out robot-assisted minimally invasive surgery, or the master hand end 01 and the slave hand end 02 can be respectively arranged in different areas, and the robot-assisted remote minimally invasive surgery can be completed through signal transmission of a commercial broadband or 5G mobile network.

Fig. 4 is a schematic structural view of a surgical tool according to an embodiment of the present disclosure. As shown in fig. 4, the surgical tool 13 includes a rear end driving device 21, an outer tube 22, and a front end executing device 23. The surgical tool 13 is usually driven by a wire drive to realize the transmission of the remote driving force in the narrow channel, thereby meeting the operation requirements of different types of minimally invasive surgery.

Fig. 5a is a schematic structural diagram of a rear-end driving device according to an embodiment of the disclosure. As shown in fig. 5a, the main structure of the device includes a driving wire wheel 21a and a guide wheel 21b, and the number of the driving wire wheels 21a is determined by the degree of freedom of the actual structure of the front end actuator 23, and is not limited to a specific number. One end of the driving wire is wound on the driving wire wheel 21a, the other end of the driving wire bypasses the guide wheel and extends from the interior of the outer tube 22 to the front end execution device 23, and the driving wire can be pulled to move by the rotation of the driving wire wheel 21a, so that all parts of the front end execution device 23 are driven to move.

The arrangement of the driving wire wheel 21a on the rear end driving device 21 is generally as follows: the axis of rotation of the drive wire wheel 21a is arranged parallel to the axis of the outer tube 22. Such an arrangement facilitates mounting of the surgical tool 13 on the arm 12. In the process of performing the robot-assisted minimally invasive surgery, the surgical tools 13 with different functions are frequently replaced on the instrument arm 12, and the surgical tools 13 adopting the arrangement mode have shorter replacement time, thereby being beneficial to reducing the risk of surgical infection. In addition, with the surgical tool 13 of this arrangement, the drive wire length between the different drive wire pulleys 21a and the front end effector 23 is substantially the same. Because the driving wire can creep and stretch in the whole service life after being installed and tensioned, the driving wire in the surgical tool 13 with the arrangement mode has basically the same relaxation amount in the use process, and accurate driving of the surgical tool 13 is facilitated.

For the surgical tools 13 with a large number of degrees of freedom, such as a single-hole robot surgical tool and a natural cavity robot surgical tool, the rear end driving device 21 adopts a structure that the rotation axis of the driving wire wheel 21a is arranged perpendicular to the axis of the outer tube 22. Fig. 5b is a schematic view of an arrangement of the driving wire wheels according to the embodiment of the disclosure. As shown in fig. 5b, the driving wire wheels 21a are more numerous, so that the tangential size of the surgical tool 13 can be reduced by adopting the arrangement, the size of the robot from the hand end 02 can be further reduced, and the moving space of the driving arm 12 can be further increased.

In the implementation process of the robot-assisted minimally invasive surgery, the surgical tool 13 is installed at a surgical tool interface on the instrument arm 12, a driving motor is arranged at the interface, and the driving motor can drive a driving wire wheel 21a in the rear end driving device 21 to rotate so as to control the movement of the front end execution device 23. Namely, in the operation process, the doctor operates the main manipulator 11 to precisely control the movement of the instrument arm 12 and the front end executing device 23 of the operation tool 13, thereby completing the operation.

The outer tube 22 shown in fig. 4 is an elongated tube structure, both ends of which are respectively connected to the rear end driving device 21 and the front end executing device 21, and for the surgical tools 13 with different functions, the outer diameter of the outer tube 22 is usually set to several specifications, such as 10mm, 9.5mm, 8mm, 5mm, etc., and the outer shape is not limited to a straight rod form, and the outer tube 22 with an "S" shape and an "L" shape is used in some specific surgical procedures.

Fig. 6 is a schematic structural view of an outer tube according to an embodiment of the present disclosure. As shown in FIG. 6, the overtube 22 is not limited to a rigid structure, such as in endoscopic procedures, natural orifice procedures, which require the use of a surgical tool 13 having a flexible overtube 22. In order to achieve precise driving of the front-end actuator 23, a certain amount of pretension is applied to the drive wire during the production and assembly of the surgical tool 13. When the outer tube 22 is a flexible tubular structure, the bending of the flexible outer tube 22 will cause the driving wire to slacken, so that the front end actuator 23 cannot be precisely driven. FIG. 7 is a schematic view of the relationship of a drive wire and an outer tube according to an embodiment of the disclosure. As shown in fig. 7, when the flexible outer tube 22 is bent and a driving force is applied to the driving wire, the driving wire will be tensioned again by seeking the shortest path in the outer tube 22, and the movement of the front end actuator 23 will not be controlled. For surgical tools 13 using flexible outer tubes 22, the drive means is a wire sheath drive.

Fig. 8 is a schematic structural view of a flexible outer tube according to an embodiment of the present disclosure. As shown in fig. 8, the outer tube 22 is a multi-lumen tube structure made of a flexible material with a low coefficient of friction, such as LDPE, HDPE, etc. A plurality of cavities with circular sections for the driving wires 22a to pass through are distributed in the outer tube 22, the axis of each cavity is parallel to the axis of the outer tube 22, and the cavities penetrate through the whole outer tube 22. The inner diameter of the cavity is slightly larger than the outer diameter of the driving wire 22a, the radial movement of the driving wire can be limited, the driving wire can always move along the axis of the driving wire when being pulled by the driving force, and the driving wire 22a and the cavity form a wire sheath transmission system.

The cavity is formed in one piece with the outer tube 22. Fig. 9 is a partially enlarged schematic view of a flexible outer tube according to an embodiment of the disclosure. Referring to fig. 9, a plurality of cavities may be provided within the outer tube 22, wherein the number of threading cavities 22b for the passage of the drive wires 22a is the same as the number of drive wires 22 a. Depending on the application of the surgical tool 13, one or more functional cavities 22c may be provided in the outer tube 22 for passing through other components besides the driving wire, such as a conducting wire for supplying power, an optical fiber for data transmission, a catheter for negative pressure suction, a hypotube for improving bending resilience and axial compression resistance of the outer tube 22, a bundle tube, a spring, etc. The sectional size and shape of the functional cavity 22c may be set according to the type of components passing through the inside thereof, and is not limited to a specific specification.

The surgical tool 13 with the flexible outer tube 22 is mostly used for internal diameter surgery or natural orifice surgery, and during the implementation of the surgery, the surgical tool 13 can pass through natural orifices of human bodies such as esophagus, intestinal tract and urethra. FIG. 10 is a cross-sectional view of a flexible outer tube of an embodiment of the present disclosure along an axis. When the surgical tool 13 passes through the natural orifice, the flexible outer tube 22 bends, and the theoretical length values of the two driving wires 22a inside and outside the bending direction change, and the length difference of the two driving wires 22a is a θ pi/180. Fig. 11 is a schematic view of a drive wire in a flexible outer tube for length compensation according to an embodiment of the disclosure. If the drive wire length compensation is not taken, the initial attitude of the front end effector 23 and thus the operation of the surgical tool 13 is affected.

The flexible outer tube 22 of the multi-lumen tube structure is manufactured by extrusion molding, and the radial position of each cavity in the whole tube remains fixed, so that the length compensation of the driving wire cannot be realized by changing the position or shape of the cavity.

FIG. 12 is a schematic diagram of a transition ring of an apparatus for adjusting the position of a lumen within a multi-lumen tube according to an embodiment of the present disclosure. The device transition ring 22g is internally provided with wire feeding cavities 22b with a spiral structure, the number of the wire feeding cavities is the same as that of the flexible outer tubes 22, and the outlet positions of the wire feeding cavities 22b on the two end faces of the transition ring 22g are axially different by 180 degrees. The transition ring 22g may be formed by injection molding or 3D printing, and both ends of the transition ring are bonded or welded to the flexible outer tube 22.

Fig. 13 is a schematic view of a relative position of a drive wire in a flexible outer tube varying in a bending direction according to an embodiment of the disclosure. As shown in fig. 13, after the driving wire 22a in the flexible outer tube 22 passes through the transition ring 22g, the relative position of the driving wire 22a in the bending direction changes, the positions of the inner driving wire 22a and the outer driving wire 22a in the bending direction are exchanged, the lengths of the driving wires at the two ends of the transition ring 22g compensate each other, and the initial pose of the front end driving device 23 is not affected any more. Depending on the length of the surgical tool 13, the flexible outer tube 22 may be provided with a plurality of transition rings 22g, the number of which is 2n-1, where n is 1, 2, 3 …

Fig. 14 is a schematic structural view of a flexible outer tube according to yet another embodiment of the present disclosure. The main structure of the flexible outer tube 22 is in the form of a flexible metal tube 22d covered with an insulating film 22 e. The flexible metal tube 22d may be a braided steel wire (ribbon) tube, a hypotube, a spring tube, etc., which may provide the outer tube 22 with a high torsional stiffness. A plurality of wire bundling pipes 22f are fixed on the inner wall of the flexible metal pipe 22d, and the axial lines of the wire bundling pipes 22f are parallel to the axial line of the flexible metal pipe 22. The bundle tube 22f and the drive wire 22a constitute a wire sheath transmission system.

FIG. 15 is a schematic diagram of the movement of a front end effector according to one embodiment. The front end actuator 231 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the driving of the rear end driving device 21, and includes a rotation motion R1, a yaw motion R2, and a pitch motion R3 around the axis of the outer tube 22, and the front end actuator 231 with different functions can also complete other types of motions, such as an opening and closing motion K which can be completed by a clamping type front end actuator.

FIG. 16 is a diagram illustrating an internal structure of a front-end execution device according to an embodiment. The front actuator includes a connection seat 231a, a deflection seat 231b, a support seat 231c, and the like. The connecting seat 231a is used for connecting the outer tube 22 and the front end actuator 231, the connecting seat 231a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 231a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 231 to realize the rotation motion R1.

The deflecting seat 231b is mounted on the shaft seat 231d of the connecting seat 231a, and the deflecting seat 231b can rotate around the shaft R3. The other end of the eccentric seat 231b is provided with a supporting seat 231c, the supporting seat 231c is used for installing a device for implementing specific operation actions, the device can be a clamping forceps, scissors, an energy tool, a negative pressure suction tool and the like, and all kinds of tools are universal structures and are not detailed. The support seat 231c is rotatable about the shaft R2.

FIG. 17 is a schematic diagram illustrating an arrangement of drive wires of the front end effector. For the pitching motion R3, the driving wire 231e is fixedly mounted on the pitching wire wheel 231f inside the biasing seat 231b, and both ends of the driving wire 231e pass through the threading holes provided on the connecting seat 231a after passing around the pitching wire wheel 231f, pass through the outer tube 22, and then are fixedly mounted on the driving wire wheel 21a inside the rear end driving device 21. The rotation of the eccentric base 231b about the axis R3 can be achieved by pulling both ends of the driving wire 231 e.

For the deflecting motion R2, the driving wire 231e is fixedly mounted on the deflecting wire wheel 231g inside the supporting seat 231c, and both ends of the driving wire 231e pass through the wire passing hole provided on the connecting seat 231a after passing around the deflecting wire wheel 231g, and are fixedly mounted on the driving wire wheel 21a inside the rear end driving device 21 after passing through the outer tube 22. The rotation of the support seat 231c about the shaft R2 can be realized by pulling both ends of the driving wire 231 e.

FIG. 18 is a schematic diagram of the front end effector of one embodiment. As shown in fig. 18, the front end actuator 241 is fixedly connected to the outer tube 22, and can perform multiple degrees of freedom motion under the driving of the rear end driving device 21, including a rotation motion R1, a yaw motion R2, and a pitch motion R3 around the axis of the outer tube 22.

FIG. 19 is a block diagram of a front-end execution apparatus according to an embodiment. As shown in fig. 19, the front end actuator 241 includes a holder 241a, a deflector 241b, a nipper blade 241c, and the like. The connecting seat 241a is used for connecting the outer tube 22 and the front end actuator 241, the connecting seat 241a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 241a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 241 to realize the rotation motion R1.

Fig. 20 is a schematic view of a deflecting seat of the front end effector according to an embodiment. Referring to fig. 19 and 20, the deflecting seat 241b is installed at a rotating shaft 241f provided on a deflecting shaft seat 241d of the connecting seat 241a, and the deflecting seat 241b can rotate on the rotating shaft 241f around a shaft R2, as shown in fig. 18. A nipper blade 241c is mounted on a pitch shaft seat 241e arranged at the other end of the eccentric seat 241b, and the nipper blade 241c can rotate around a shaft R3.

FIG. 21 is a diagram illustrating a page clamping structure of a front-end execution device according to an embodiment. Referring to fig. 21, a pitching wheel 241g is fixedly mounted on the jaw 241, the rotation axis of the pitching wheel 241g coincides with the rotation axis of the jaw 241c, and the rotation of the pitching wheel 241g can drive the jaw 241c to rotate around the shaft R3, as shown in fig. 22. A pitching guide groove 241l is provided on the cylindrical surface of the deflector base 241 b.

Referring to fig. 19, two clamp leaves 241c disposed on the deflector base 241b are driven by respective pitching wire wheels 241g, the rotation motions of the two clamp leaves 241c are independent of each other, and the pivoting motion of the clamp leaves 241c can simultaneously realize a pitching motion R3 and an opening and closing motion K, as shown in fig. 23.

FIG. 24 is a schematic diagram of the arrangement of the drive wires for pitch movement of the front end effector in accordance with yet another embodiment. FIG. 25 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with yet another embodiment. For the deflection motion R2, a deflection guide groove 241i is provided on the deflection base 241b, one end of a driving wire 241h is fixed in a wire hole at the upper part of the deflection guide groove 241g, the other end of the driving wire 241h passes through a wire passing hole provided on the connection base 241a along the deflection guide groove 241g, passes through the outer tube 22, and is fixedly mounted on a driving wire wheel 21a in the rear end driving device 21, the other driving wire 241h is symmetrically arranged in the same way, and the rotation of the support base 241c around the shaft R2 can be realized by pulling the two driving wires 241 h.

For the pitching motion R3 and the opening and closing motion K, the driving wire 241h is mounted on the pitching wire wheel 241g by the screw thread 241K fixed thereto. Fig. 26 is a schematic view showing the arrangement of the driving wires on the pitch wire wheels of the front end effector according to still another embodiment. As shown in fig. 26, two ends of the driving wire 241h pass around the pitching wire wheel 241g, and pass through the wire passing hole provided on the connecting seat 241a along the pitching wire guiding groove 241l and the double row guiding wheel 241m, and pass through the outer tube 22, and then are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21, and the other driving wire 241h is symmetrically arranged in the same manner, and the rotation and opening and closing movement K of the supporting seat 241c around the shaft R3 can be realized by pulling the driving wire 241 h.

Fig. 27 is a schematic structural diagram of a front-end execution device according to yet another embodiment. The front end actuator 242 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the driving of the rear end driving device 21, and comprises a rotation motion R1, a yaw motion R2 and a pitch motion R3 around the axis of the outer tube 22.

Fig. 28 is a schematic diagram of an internal structure of a front-end execution device according to still another embodiment. The front end effector 242 includes a seat 242a, a deflector 242b, a gripper 242c, and the like. The connecting seat 242a is used for connecting the outer tube 22 and the front end actuator 242, the connecting seat 242a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 242a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 242 to realize the rotation motion R1.

Fig. 29 is a schematic view of a deflector seat of a front-end actuator according to yet another embodiment. Referring to fig. 28 and 29, the deflecting seat 242b is mounted on a rotating shaft 242f provided on a deflecting shaft seat 242d of the connecting seat 242a, and the deflecting seat 242b can rotate on the rotating shaft 242f around a shaft R2, as shown in fig. 31. A jaw leaf 242c is mounted on a pitch shaft seat 242e provided at the other end of the eccentric seat 242b, and the jaw leaf 242c is rotatable about an axis R3. FIG. 30 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment. Referring to fig. 30, the nipper blade 242c is fixedly mounted with a pitching wheel 242g, the rotation axis of the pitching wheel 242g coincides with the rotation axis of the nipper blade 242c, and the rotation of the pitching wheel 242g can drive the nipper blade 242c to rotate around the shaft R3, as shown in fig. 32. A tilt guide wheel 242l is mounted on the cylindrical surface of the deflector base 242 b.

Referring to fig. 28, the two clamp leaves 242c disposed on the deflector base 242b are driven by respective pitching wire wheels 242g, the two clamp leaves 242c rotate independently of each other, and the pivoting motion of the clamp leaves 242c can simultaneously realize a pitching motion R3 and an opening and closing motion K, as shown in fig. 28.

FIG. 33 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector in accordance with still another embodiment. FIG. 34 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with still another embodiment. For the deflecting motion R2, a deflecting guide slot 242i is provided on the deflecting seat 242b, one end of a driving wire 242h is fixed in a wire hole at the upper part of the deflecting guide slot 242g, the other end of the driving wire 242h passes through a wire passing hole provided on the connecting seat 242a along the deflecting guide slot 242g, passes through the outer tube 22 and is fixedly mounted on a driving wire wheel 21a in the rear end driving device 21, the other driving wire 242h is symmetrically arranged in the same manner, and the rotation of the supporting seat 242c around the shaft R2 can be realized by pulling the two driving wires 242 h.

FIG. 35 is a schematic diagram of the arrangement of the drive wires on the pitch wire wheels of the front end effector in accordance with yet another embodiment. For the pitching motion R3 and the opening and closing motion K, the driving wire 242h is mounted on the pitching wheel 242g through the screw thread 242K fixed thereon, as shown in fig. 35, two ends of the driving wire 242h pass around the pitching wheel 242g, the driving wire 242h passes through the wire passing hole provided on the connecting seat 242a along the pitching guide wheel 242l and the double-row guide wheel 242m, passes through the outer tube 22 and is then fixedly mounted on the driving wire wheel 21a in the rear end driving device 21, the other driving wire 241h is symmetrically arranged in the same manner, and the rotation of the supporting seat 242c around the shaft R3 and the opening and closing motion K can be realized by pulling the driving wire 242 h.

FIG. 36 is a schematic diagram of a front-end execution device according to yet another embodiment. The front end actuator 245 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom motion under the driving of the rear end driving device 21, and comprises rotation motion R1, yaw motion R2 and pitch motion R3 around the axis of the outer tube 22.

Fig. 37 is an exploded view of a front-end effector in accordance with yet another embodiment. The front end actuator 245 includes a seat 245a, a deflector 245b, a gripper 245c, and the like. The connecting seat 245a is used for connecting the outer tube 22 and the front end actuator 245, the connecting seat 245a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 245a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 245 to realize the rotation motion R1.

Fig. 38 is a schematic view of a connection seat structure of a front end actuator according to yet another embodiment. Referring to fig. 37 and 38, the deflecting seat 245b is installed at a deflecting shaft 245f provided on a deflecting shaft seat 245d of the connecting seat 245a, the deflecting seat 241b can rotate around a shaft R2 on the rotating shaft 241f, a deflecting wheel 245g for driving the deflecting seat 245b to rotate is installed inside the deflecting seat 245b, a rotating axis of the deflecting wheel 245g is overlapped with an axis of the deflecting shaft 245f, and the rotating of the deflecting wheel 245g can drive the deflecting seat 245b to rotate around the shaft, so as to realize a deflecting motion R2, as shown in fig. 40.

A tong leaf 245c is arranged on a pitching shaft seat 245e arranged at the other end of the eccentric seat 245b, and the tong leaf 245c can rotate around a shaft R3. FIG. 39 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment. Referring to fig. 39, a pitching wheel 245h is fixedly mounted on the clamp leaf 245c, the rotation axis of the pitching wheel 245h coincides with the rotation axis of the clamp leaf 245c, and the rotation of the pitching wheel 245h can drive the clamp leaf 245c to rotate around the shaft R3.

Referring to fig. 36, two clamp pages 245c disposed on the deflecting base 245b are respectively driven by respective pitching wire wheels 245h, the rotation motions of the two clamp pages 245c are independent of each other, and the pivoting motion of the clamp pages 245c can simultaneously realize a pitching motion R3 and an opening and closing motion K, as shown in fig. 41.

FIG. 42 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector in accordance with still another embodiment. FIG. 43 is a schematic view of the arrangement of the drive wires for deflection and opening and closing movements of the front end effector in accordance with yet another embodiment. For the deflection motion R2, the deflection seat driving wire 245i is fixed on the deflection wheel 245g by a screw thread, both ends of the driving wire 245i pass through the wire threading hole provided on the connection seat 245a by bypassing the deflection wheel 245g, pass through the outer tube 22, and then are fixedly installed on the driving wire wheel 21a in the rear end driving device 21, and the rotation of the deflection seat 245b around the shaft R2 can be realized by pulling the driving wire 245 i.

For the pitching motion R3 and the opening and closing motion K, the driving wire 245i is mounted on the pitching wire wheel 245h by a screw thread. FIG. 44 is a schematic diagram of the arrangement of the drive wires on the pitch wire wheels of the front end effector in accordance with yet another embodiment. As shown in fig. 44, two ends of the driving wire 245i pass around the pitch wire wheel 245h, pass through the wire passing hole provided on the connecting base 245a along the pitch wire guiding groove 245K, pass through the outer tube 22, and then are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21, and another driving wire 245i is symmetrically arranged in the same manner, and the rotation and opening and closing movement K of the nipper 245c around the shaft R3 can be realized by pulling the driving wire 245 i.

FIG. 45 is a schematic diagram of a front-end execution device according to yet another embodiment. As shown in fig. 45, the front end effector 246 is fixedly connected to the outer tube 22, and can perform multiple degrees of freedom movement under the driving of the rear end driver 21, including a rotation movement R1, a yaw movement R2, and a pitch movement R3 about the axis of the outer tube 22.

The yaw motion R2 of the front actuator 246 is driven by a rigid rod, which provides the front actuator 246 with greater yaw R2 loading capacity. Fig. 42 shows the internal structure of the front actuator 246, including the connecting base 245a, the deflecting base 245b, the nipper blade 245c, and the like. The connecting seat 246a is used for connecting the outer tube 22 and the front end actuator 246, the connecting seat 246a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 246a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 246 to realize the rotation motion R1.

Fig. 46 is an exploded view of a front-end effector of yet another embodiment. Referring to fig. 46, the deflector block 246b is fixedly mounted on a guide roller shaft 246e at one end of the deflector frame 246d, a guide roller 246f for driving the wire guide is mounted on the guide roller shaft 246e, and the guide rollers 246f are disposed at both sides of the deflector frame 246 d. The other end of the deflection frame 246d is provided with a deflection driving frame 246g, the deflection driving frame 246g can rotate on the deflection frame 246d, and a push rod 246h is fixedly arranged on the deflection driving frame 246 g. The deflection frame 246d is mounted in the middle of the deflection shaft 246i, and the deflection shaft 246i is mounted at the shaft seat 246k on the connection seat 246 a. Movement of the push rod 246h along its axis causes the yaw drive frame 246g to rotate the yaw drive frame 246d on the yaw axis 246i, which in turn drives the yaw motion R2 of the yaw base 246b, as shown in fig. 47.

The nipper blade 246c is installed on the opening and closing shaft 246l, and the opening and closing shaft 246l is installed on the shaft seat of the eccentric seat 246 b. FIG. 48 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment. As shown in fig. 48, the nipper blade 246c is fixedly provided with a pitching wheel 246m, the rotation axis of the pitching wheel 246m is arranged to coincide with the rotation axis of the nipper blade 246c, and the rotation of the pitching wheel 246m can drive the nipper blade 246c to rotate around the shaft R3.

Referring to fig. 45, the two clamp leaves 246c disposed on the deflector base 246b are driven by respective pitching wire wheels 246m, the two clamp leaves 246c rotate independently of each other, and the pivoting movement of the clamp leaves 246c can simultaneously realize the pitching movement R3 and the opening and closing movement K, as shown in fig. 49.

FIG. 50 is a schematic diagram of a front-end execution apparatus according to yet another embodiment. The front end actuator 232 is fixedly connected with the outer tube 22, and can complete multi-degree-of-freedom movement under the driving of the rear end driving device 21, and includes rotation movement R1, deflection movement R2, and front end rotation movement R3 around the axis of the outer tube 22, and the front end actuator 232 with different functions can also complete other types of actions, such as opening and closing action K which can be completed by a clamping type front end actuator. The front end actuator 232 adopts a movement arrangement mode with two movements of rotating around an axis, namely a rotation movement R1 and a front end rotation movement R2. Fig. 51 is a schematic diagram illustrating three-degree-of-freedom motions of a front-end actuator according to still another embodiment, and as shown in fig. 51, such a motion arrangement may improve the motion flexibility of the front-end actuator. In different minimally invasive surgery operation actions, the suturing and knotting actions are two operation actions with the greatest difficulty, and the operation difficulty of the suturing and knotting actions of the surgical tool 13 can be reduced by adopting the structure of the front end execution device 232.

The front end actuator 232 includes a connecting seat 232a, a deflecting seat 232b, a supporting seat 232c, etc. The connecting seat 232a is used for connecting the outer tube 22 and the front end actuator 232, the connecting seat 232a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 232a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 232 to realize the autorotation motion R1.

The deflection seat 232b is installed on the shaft seat 231d of the connection seat 232a, the deflection seat 232b can rotate around the shaft R2, a deflection wire wheel 232e is arranged in the deflection seat 232b, the axis of the deflection wire wheel 232e is overlapped with the axis of the shaft R2, and the rotation of the deflection wire wheel 232e can drive the deflection seat 232b to rotate around the shaft R2. The other end of the eccentric seat 232b is provided with a supporting seat 232c, the supporting seat 232c is used for installing a device for implementing specific operation actions, the device can be a clamping clamp, scissors, an energy tool, a negative pressure suction tool and the like, and various tools are all universal structures and are not detailed. Support seat 232c is rotatable about axis R3. The rotating shaft below the supporting seat is fixedly provided with a self-rotating wire wheel 232f, the axis of the self-rotating wire wheel 232f is overlapped with the axis of the R3, and the rotation of the self-rotating wire wheel 232f can drive the supporting seat 232c to rotate around the shaft R3.

FIG. 52 is a graph showing the change in the deflection angle displacement of each rotating shaft when the front end effector 231 simulates the "needle-holding suture" operation. FIG. 53 is a graph showing the change in the deflection angle displacement of each rotating shaft when the front end effector 232 simulates the "needle-holding suturing" operation. The curves in fig. 52 and 53 are smooth, which illustrates that the motion is continuous and smooth, and both front end executing devices can meet the motion requirement of the sewing operation. As can be seen from fig. 52, the front end actuator 231 has high coupling of the motions, and requires a large range of linkage of the rotating shafts to complete the suturing operation. As can be seen from FIG. 53, in the process of completing the suturing operation, the movement amplitudes of the rotation movement R1 and the deflection movement R2 of the front end executing device 232 are very small, which indicates that the suturing operation can be completed by the front end rotation movement R3, thereby effectively reducing the difficulty of the surgical operation.

FIG. 54 is a schematic view of the arrangement of the drive wires for the deflection motion of the front end effector in accordance with yet another embodiment. FIG. 55 is a schematic view of the arrangement of the driving wires in the autorotation of the front end effector according to still another embodiment. As shown in fig. 54 and 55, for the deflecting motion R2, the driving wire 232g is fixedly mounted on the deflecting roller 232e inside the deflecting roller 232b, and both ends of the driving wire 232g pass through the wire passing hole provided in the connecting base 232a after passing around the deflecting roller 231e, pass through the outer tube 22, and then are fixedly mounted on the driving wire roller 21a in the rear end driving device 21. The rotation of the deflector base 232b about the axis R2 is achieved by pulling on both ends of the drive wire 232 g.

For the front end rotation movement R3, one end of the driving wire 232g is fixedly installed in the bull wheel groove of the rotation wire wheel 232f, and the other end thereof bypasses the rotation wire wheel 232f, passes through the wire passing hole provided on the connecting seat 232a along the bull wheel groove of the guide wheel 232h provided inside the eccentric seat 232b, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21; one end of another driving wire 232g is fixedly arranged in a small wheel groove of the rotation wire wheel 232f, and the other end of the driving wire 232g bypasses the rotation wire wheel 232f, passes through a wire penetrating hole arranged on the connecting seat 232a along a small wheel groove of a guide wheel 232h arranged on the inner side of the eccentric seat 232b, passes through the outer pipe 22 and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. The two driving wires 232g are wound on the rotation wire wheel 232f in opposite directions, and the two driving wires 232e are pulled, so that the support seat 232c can rotate around the shaft R3.

FIG. 56 is a schematic diagram of a front-end execution device according to yet another embodiment. The front end actuator 244 is driven by a rigid conduit and is geared. Fig. 57 is a schematic diagram illustrating three-degree-of-freedom motion of a front-end actuator according to still another embodiment. As shown in fig. 56 and 57, the front end of the rigid guide tube is in a bevel gear structure, and the rotation of the guide tube transmits the driving force to each component of the front end actuator 244. Under the driving of the catheter, the front end actuator 244 can perform the rotation motion R1, the deflection motion R2, and the front end rotation motion R3, and the front end actuator 244 having different functions can also perform other types of actions, such as the opening and closing action K that can be performed by a clamping front end actuator. Surgical tools used in robotic-assisted minimally invasive surgery typically employ a wire-driven approach, limited by the tensile strength of the drive wire and the dimensional requirements of the surgical tool, which fails to provide greater load capacity. The front end actuator 244 is driven by a rigid catheter, which can transmit a large torque, and the rotation of the rigid catheter replaces the stretching motion of the driving wire, so that the front end actuator has a large bending and twisting load capacity.

The front actuator 244 includes a connecting seat 244a, a deflecting seat 244b, a supporting seat 244c, a clamping sheet 244d, and the like. The connecting seat 244a is used for connecting the outer tube 22 and the front end actuator 244, the connecting seat 244a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 244a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 244 to realize the rotation motion R1.

Fig. 58 is an exploded view of a front-end effector of yet another embodiment. As shown in fig. 58, the rigid conduits for driving include a deflection driving pipe 244e, a rotation driving pipe 244f, and an opening/closing driving pipe 244g, the three rigid conduits are nested in the outer pipe 22, the respective rotation axes are overlapped, and the rotation of the three rigid conduits are independent of each other. The front end of the rigid conduit is processed with a bevel gear structure. The connecting base 244a is provided with a deflection shaft 244h, the rotation axis of the deflection shaft 244h is overlapped with that of R2, and a rotation guide wheel 244i and an opening/closing guide wheel 244k for transmitting a driving force are mounted on the deflection shaft 244 h. The rotation guide wheel 244i and the opening and closing guide wheel 244k are bevel gears, and are engaged with the rotation drive pipe 244f and the opening and closing drive pipe 244g, respectively.

FIG. 59 is a schematic view of a deflector mount of a front end effector according to still another embodiment. Referring to fig. 59, the deflector seat 244b is mounted on a deflector shaft 244h, and the deflector seat 244b is rotatable about a shaft R2. The deflection base 244b is provided with a deflection wheel 244l on the inner side, the rotation axis of the deflection wheel 244l is overlapped with the rotation axis of the deflection base 244b, and the rotation of the deflection wheel 244l can drive the rotation of the deflection base 244 b. The deflection wheel 244l is a bevel gear, and is engaged with a bevel gear surface of the deflection driving pipe 244e, and the rotation of the deflection driving pipe 244e can drive the deflection wheel 244l to rotate, so as to drive the deflection seat 244b to realize the deflection motion R2.

Fig. 60 is a schematic structural view illustrating the mounting of the front end effector from the rotary base according to yet another embodiment. Referring to fig. 60, the rotation base 244c is mounted on the upper end of the deflection base 244b, the rotation wheel 244m is fixedly mounted below the rotation base 244c, the rotation axis of the rotation wheel 244m coincides with the rotation axis of the rotation base 244c, and the rotation of the rotation wheel 244m can drive the rotation base 244c to rotate on the upper end of the deflection base 244 b. The rotation wheel 244m extends to the lower end of the eccentric seat 244b through a hole provided at the axis of the eccentric seat 244b, and is engaged with the rotation guide wheel 244 i. The bevel gear surface of the rotation driving pipe 244f, the rotation guide pulley 244i, and the rotation pulley 244m are engaged with each other, and the driving force of the rotation driving pipe 244f is transmitted to the rotation base 244c, and the rotation driving pipe 244f is driven to realize the rotation motion R3.

FIG. 61 is a schematic diagram illustrating a front end effector page mount configuration according to yet another embodiment. FIG. 62 is a block diagram of a front end effector page mount from another perspective in accordance with an embodiment. Referring to fig. 61 and 62, the clamp sheet 244d is installed on a rotating shaft of the opening and closing seat 244c, an opening and closing wheel 244n is fixedly installed at one end of the clamp sheet 244d, a rotation axis of the opening and closing wheel 244n is overlapped with a rotation axis of the clamp sheet 244d, and the rotation of the opening and closing wheel 244n can drive the clamp sheet 244d to rotate around the shaft. An opening and closing driving wheel 244o for transmitting opening and closing driving force is installed in the middle of the rotation wheel 244m, the axis of the opening and closing driving wheel 244o is overlapped with the axis of the rotation wheel 244m, and the rotation of the opening and closing driving wheel 244o is independent of the rotation wheel 244 m. The other end of the opening and closing driving wheel 244o extends into the opening and closing seat 244c through a hole formed in the axis of the opening and closing seat 244c and inside the rotating wheel 244m, and is fixedly connected with the opening and closing driven wheel 244p, and the opening and closing driving wheel 244o and the opening and closing driven wheel 244p can rotate synchronously. The opening and closing driven wheel 244p is engaged with an opening and closing wheel 244n fixed to the two flaps 244d, and the opening and closing driven wheel 244p actively drives the opening and closing movement of the flaps 244 d. The opening and closing driving tube 244g is engaged with the opening and closing guide wheel 244K, the opening and closing guide wheel 244K is engaged with the opening and closing driving wheel 244o, driving force generated when the opening and closing driving tube 244g rotates can be transmitted to the clamp sheet 244d through the opening and closing guide wheel 244K, the opening and closing driving wheel 244o, the opening and closing driven wheel 244p and the opening and closing wheel 244n, and the rotation of the opening and closing driving tube 244g can drive the opening and closing of the clamp sheet 244d to realize the opening and closing movement K.

The rotation axes of the rigid driving pipes, the axes of the deflection shafts 244h and the rotation axes of the rotating wheels 244m and the opening and closing driving wheels 244o intersect at one point, and the arrangement mode can realize that the deflection motion R2, the autorotation motion R3 and the opening and closing motion K are mutually independent and do not interfere with each other.

FIG. 63 is a schematic diagram of a front-end execution device according to yet another embodiment. As shown in fig. 63, the front end actuator 233 is fixedly connected to the outer tube 22, and can perform multi-degree-of-freedom motions under the driving of the rear end driving device 21, including a rotation motion R1, a yaw motion R2, and a pitch motion R3 around the axis of the outer tube 22, and the front end actuator 233 with different functions can perform other types of motions, such as an opening and closing motion K that can be performed by a clamping-type front end actuator.

Referring to fig. 63, the front end effector 233 of the present invention has three rotational axes of R1, R2, R3 intersecting at a center. The three axes are intersected with a center structure and arranged on the front end execution device 233, so that the size of the front end execution device can be reduced, and the structure is compact. Generally, a minimally invasive surgical instrument adopts a slender rod structure to reduce a wound on the body surface of a patient, for a surgical tool 23 used on a minimally invasive surgical robot, the outer diameters of an outer tube 22 and a front end execution device 23 are smaller than 10mm, compared with a structure that non-three axes intersect with one heart, the structure with the characteristic that the three axes intersect with one heart under the scale can have higher motion flexibility, and under the condition of realizing the same motion angle, the motion turning radius of the structure that the three axes intersect with one heart is smaller. The three-axis-intersected one-heart structure is easy to realize pose separation calculation in kinematics, the surgical robot is provided with a surgical tool 13 with the three-axis one-heart structure, particularly for the surgical robot with a multi-freedom (six-freedom or seven-freedom) mechanical arm 12, the inverse solution process of the kinematics of the mechanical arm 12 is easier, an analytical solution can be obtained, the calculation amount of a surgical robot controller is reduced, and the robot motion control response speed is improved.

Fig. 64 is an exploded view of a front-end effector in accordance with yet another embodiment. As shown in fig. 64, the front actuator 233 includes a connecting base 233a, a supporting base 233b, a cross 233c, and a clamp leaf 233 d. The connecting seat 233a is used for connecting the outer tube 22 and the front end actuator 233, the connecting seat 233a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 233a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 233 to realize the rotation motion R1. The support seat 233b is connected to the connection seat 233a by a cross 233 c. FIG. 65 is a cross-shaft configuration of a front end effector in accordance with yet another embodiment. Referring to fig. 65, the two rotation axes of the cross 233c are respectively overlapped with the rotation axes of the yaw motion R2 and the pitch motion R3, so that the characteristic that the three axes intersect with one center is realized.

The support seat 233b is provided with a device for implementing a specific surgical operation, which may be a clamp, scissors, an energy tool, a negative pressure suction tool, etc., and all the tools have a general structure and are not described in detail.

One such illustration is shown in FIG. 64 as clamp leaf 233 d. The structure formed by the connecting seat 233a, the supporting seat 233b and the cross shaft 233c can be regarded as a hooke joint, and in the field of robots, hooke joints are mostly used for industrial robots or large-sized multi-joint flexible robots. For the minimally invasive surgical instrument structure with the small size, the motion with the same form is realized, and the structure with the Hooke joint is more favorable for reducing the size of the surgical instrument and improving the motion flexibility. The Hooke's joint or the structure of the evolution structure has two-degree-of-freedom motion characteristic, four-way rotation around the intersection point of two rotation shafts can be realized, and the structure can move controllably by arranging four driving wires around the intersection point.

FIG. 66 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment. FIG. 67 is a schematic view of an arrangement of driving wires of the front-end actuator from another perspective according to yet another embodiment. As shown in fig. 66 and 67, one end of the driving wire 233e is fixedly mounted on the supporting seat 233b, and the other end thereof passes through the wire passing hole 233f formed in the connecting seat 233a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear driving device 21, and the driving wire can be fixedly mounted by means of screw fastening, bonding or welding. The four driving wires 233e are uniformly distributed at the intersection of the axes of the cross shaft 233c, and the yaw motion R2 and the pitch motion R3 of the front end driving device 233 can be realized by pulling the driving wires 233 e.

FIG. 68 is a schematic view of a variation in the length of a drive wire of a front end effector according to yet another embodiment. When the driving wire 233e pulls the supporting seat 233b, the length of the driving wire 233e between the connecting seat 233a and the supporting seat 233b changes, as shown in fig. 68. Taking the deflection motion R2 as an example, the driving wire length between the connecting seat 233a and the supporting seat 233b is L, the supporting seat 233b rotates around the axis R2 by an angle θ, and the driving wire lengths at the inner side and the outer side in the rotating direction become L respectively ₁ And L ₂ Driving the filament length at both inner and outer sidesDegree change amount Δ ₁ 、Δ ₂ Respectively as follows:

can be seen as ₁ ＜Δ ₂ The shrinkage of the inner side driving wire is smaller than the elongation of the outer side driving wire, and the length change of the driving wire can be compensated or corrected in a control system of the surgical robot, so that the front end execution device 233 can be accurately driven, and the phenomenon that the length change of the driving wire is different can be eliminated through other modes, for example, the guiding wheel is matched with the driving wire to realize accurate driving.

Because the front end executing device with the characteristic that the three axes are intersected with the center has higher motion flexibility, the motion turning radius of the structure that the three axes are intersected with the center is smaller under the condition of realizing the same motion angle. And the three-axis intersection with the one-center structure is easy to realize pose separation calculation in kinematics, so fig. 69 to 222 of an embodiment provide more front-end actuators for realizing three-axis intersection with the one-center structure, that is, the rotation axes of yaw, pitch and self-transmission of the front-end actuator in the embodiment corresponding to fig. 69 to 222 all intersect at one point

In one exemplary embodiment of the present disclosure, a front-end execution apparatus is provided. The front end effector 301 is a front end effector that uses a wire-wheel drive. The front end executing device 301 is provided with two arc-shaped sliding rails which are staggered with each other, the axes of the two sliding rails intersect at a point, and a sliding block is arranged on the sliding rail and can perform sliding motion around the intersection point between the two sliding rails. The arc shapes of the two slide rails are utilized to limit the motion form of the slide block arranged on the slide rails to be only limited to the rotation motion around the axes of the slide rails, and after the slide block is coupled with the rotation motion around the axes of the two slide rails, the motion of the slide block is synthesized into the motion on a spherical surface taking the intersection point of the axes of the two slide rails as the center of a sphere. The arrangement mode that the two slide rails with orthogonal axes support one slide block together can ensure that the structure has higher supporting rigidity and the front end executing device 301 does not deform or reversely drive when keeping a certain posture under load.

Fig. 69 is a schematic structural diagram of a front-end execution device according to an embodiment of the disclosure. FIG. 70 is an enlarged view of a portion of a front end effector of an embodiment of the present disclosure. As shown in fig. 69 and 70, the front actuator 301 includes a connection seat 301a, an inner slide rail 301b, an outer slide rail 301c, a slide block 301d, a support seat 301e, and the like. The inner slide rail 301b and the outer slide rail 301c are arc-shaped, two ends of the inner slide rail 301b and the outer slide rail 301c are respectively connected to the shaft seats of the connecting seat 301a, the slide block 301d is slidably connected between the inner slide rail 301b and the outer slide rail 301c, and the supporting seat 301e is connected onto the slide block 301 d. The connecting seat 301a is used for connecting the outer tube 22 and the front end executing device 301, the connecting seat 301a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 301a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 301 to realize the rotation motion around the shaft R1.

Fig. 71 is a schematic structural view of a circular arc slide rail of a front end actuator according to an embodiment of the disclosure. As shown in fig. 71, two wire wheels are fixedly mounted on the outer sides of the two ends of the inner slide rail 301b, the axes of the two wire wheels are overlapped, the axis is a, and the axis a is perpendicularly intersected with the axis x of the inner slide rail 301b at a point; two wire wheels are fixedly mounted on the inner sides of two ends of the outer slide rail 301c, the axes of the two wire wheels are overlapped, the axis of the two wire wheels is B, and the axis B is vertically intersected with the axis y of the outer slide rail 301c at one point. The rotation of the wire wheel can drive the slide rail to rotate around the axis A, the inner slide rail 301B and the outer slide rail 301c are arranged on the shaft seat 301h of the connecting seat 301a and can rotate around the shaft R2 (the shaft A) and the shaft R3 (the shaft B). Wherein axis a intersects axis B. In this embodiment, axis a is substantially 90 ° to axis B.

Fig. 72 is a schematic structural diagram of a front end effector slider according to an embodiment of the present disclosure. The slider 301d is fixedly mounted to the support base 301 e. The slider 301d includes two parts, a lower slider 301f and an upper slider 301g, which are connected to each other. The sliding contact surfaces of the two sliding blocks are curved surfaces, the curvature radius of the sliding contact surface on the upper surface of the lower sliding block 301f is the same as the inner arc surface of the inner sliding rail 301b, and the curvature radius of the sliding contact surface on the lower surface of the upper sliding block 301g is the same as the outer arc surface of the outer sliding rail 301c, so that the sliding block 301d can move on the two sliding rails at the same time. The sliding block 301d, the sliding rail and other such tiny parts are usually made of medical metal materials, such as medical 316 stainless steel or titanium alloy, and the like, and the materials have low friction coefficients, but in the operation implementation process, the operation tool is often soaked in human tissue secretion or blood, the friction coefficients among the parts are increased after the operation tool is coated by liquid, and the work efficiency of the operation tool is reduced. The friction coefficient between parts can be further reduced by plating fluorine-containing material films on the surfaces of the parts such as the sliding block, the sliding rail and the like, and the parts after film plating are easier to clean after operation.

Referring to fig. 69 and 71, the rotation of the two end wire wheels around the axis a of the inner slide rail 301B can drive the slider 301d to slide on the outer slide rail 301c around the axis y, and the rotation of the two end wire wheels around the axis B of the outer slide rail 301c can drive the slider 301d to slide on the inner slide rail 301B around the axis x. The sliding block 301d slides around the shaft between the two sliding rails to enable the supporting seat 301e to complete the yaw movement R2 and the pitch movement R3, so that the characteristic that three shafts intersect with one center is realized. The three-axis intersection one-center structure formed by the sliding block 301d and the two sliding rails has the following motion transfer directions: the sliding rail rotates around the shaft to drive the sliding block mounted on the sliding rail to move. The tangential direction of the sliding rail rotation motion is always parallel to the sliding block motion direction, namely, the pressure angle of the sliding rail to the sliding block in the driving process is always 90 degrees, the theoretical value of the motion transmission efficiency of the part is 100 percent, and the extremely high transmission efficiency can be still kept in the sliding block motion process in consideration of the influence of the friction force between the sliding block and the sliding rail.

In the structure of the front end executing device 301, a guide rail slider structure is used to replace a part of arrangement mode of the driving wire guide wheels, so that the number of the guide wheels on the driving wire transmission path is reduced on the premise of meeting all motion characteristics, and the driving force transmitted by the driving wire can be increased. In the wire wheel transmission system, the number of guide wheels through which the driving wire passes, namely the wrap angle of the driving wire is the most direct factor influencing the transmission efficiency of the driving wire, the wrap angle of the driving wire can be reduced by more than 50% by using a guide rail slider structure to replace part of the driving wire guide wheels, the wrap angle of the driving wire in the front end execution device 301 is only 3 pi/2 (each initial position), and the deflection motion load and the pitching motion load of the front end execution device 301 in the initial pose can reach 28N.

Fig. 73 is a schematic diagram illustrating an arrangement of driving wires of the front end actuator according to the embodiment of the disclosure. As shown in fig. 73, one end of the driving

wires

301i and 301i 'is fixed to the wire reel, and the fixing method of the driving

wires

301i and 301 i' to the wire reel is not limited to a single type, and may be the method of fixing the screw thread 301k shown in fig. 21, or may be the method of welding or bonding. The other end of the driving wire 301i bypasses the 9 wire wheel, passes through a wire passing hole arranged on the connecting seat 301a, passes through the outer tube 22 and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the driving wires 301i on the wire wheels at the two ends of the inner slide rail 301b are opposite to the winding directions of the driving wires 301 i' on the wire wheels at the two ends of the outer slide rail 301c, and the forward and reverse axial rotation of the slide rail can be realized by pulling different driving wires 301 i. During the movement of each part of the front end driving device 301, the position of the wire wheel is kept constant, i.e. the length of the driving

wires

301i and 301i 'between the driving wire wheel 21a and the wire wheel is constant, and the driving

wires

301i and 301 i' can be precisely driven after being installed and pre-tensioned, as shown in fig. 74.

Fig. 75 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. As shown in fig. 75, two circular arc steering arms are connected in series on the front end actuator 302, and the axes of the two steering arms intersect at a point, and the two steering arms can rotate around their respective rotating shafts. The two steering arms are arranged in series to form a group of serial mechanical arm mechanisms, and the most remarkable advantage of the serial mechanical arm mechanisms is that kinematic positive solution is easy to obtain. Meanwhile, the front-end executing device 302 has the advantages of a three-axis intersection structure: pose separation calculation is easy to realize, and inverse solution of kinematics is easier to solve. The kinematics solution process of the front-end effector 302 is extremely simple.

Referring to fig. 75, the front actuator 302 includes a connecting base 302a, a dual-axis steering arm 302b, a single-axis steering arm 302c, a supporting base 302d, and the like. The double-shaft steering arm 302b is connected to the connecting base 302a, the single-shaft steering arm 302c is connected to the double-shaft steering arm 302b, and the supporting base 302d is connected to the single-shaft steering arm 302 c. The connecting seat 302a is used for connecting the outer tube 22 and the front end actuator 302, the connecting seat 302a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 302a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 302 to realize the autorotation motion R1.

Fig. 76 is a schematic view showing a serial robot arm mechanism structure of a front end actuator according to still another embodiment of the present disclosure. Fig. 77 is a schematic structural view of a biaxial knuckle arm of a front end actuator according to yet another embodiment of the present disclosure. As shown in fig. 76 and 77, a wire wheel 302e and a guide wheel 302f are respectively disposed on the outer sides of the left and right ends of the double-shaft steering arm 302b, the wire wheel 302e and the guide wheel 302f are disposed in an axis overlapping manner, and the rotation of the wire wheel 302e can drive the double-shaft steering arm 302b to rotate around the axis a. The single-shaft steering arm 302c is mounted on a steering arm base 302g provided in the middle of the double-shaft steering arm 302 b.

Fig. 78 is a schematic structural view of a single-shaft steering arm of a front end effector according to an embodiment of the present disclosure. Referring to fig. 78, the single-axle steering arm 302c is in the form of an arc-shaped connecting rod, a wire wheel 302h is disposed on the inner side of the arc surface at one end of the single-axle steering arm, the rotation of the wire wheel 302h can drive the single-axle steering arm 302c to rotate around an axle B, and the axle a is perpendicular to the axle B and intersects at a point. The support base 302d is fixedly mounted at the other end of the single-shaft steering arm 302 c. The rotation of the double-shaft steering arm 302B around the shaft A and the rotation of the single-shaft steering arm 302c around the shaft B enable the supporting seat 302d to complete the yaw motion R2 and the pitch motion R3, and the characteristic that three shafts intersect with one center is achieved.

Fig. 79 is a schematic view of a front end effector driving filament arrangement in accordance with an embodiment of the present disclosure. FIG. 80 is a schematic view of the arrangement of drive wires on a dual-axis steering arm according to an embodiment of the present disclosure. For the double-shaft steering arm 302b, the driving wire 302i is fixed in a groove arranged on the wire wheel 302e through the wire joint 302k, and two ends of the driving wire 302i pass through the wire wheel 302e, pass through a wire passing hole arranged on the connecting seat 302a, pass through the outer tube 22, and then are fixedly arranged on the driving wire wheel 21a in the rear-end driving device 21.

FIG. 81 is a schematic view of the arrangement of drive wires on a single axle steering arm according to an embodiment of the present disclosure. For the single-shaft steering arm 302c, the driving wire 302i ' is fixed in a groove arranged on the wire wheel 302e through the wire joint 302k ', both ends of the driving wire 302i ' pass through the wire wheel 302e, pass through a wire passing hole arranged on the connecting seat 302a along the limiting block 302l and the guide wheel 302f, pass through the outer tube 22, and then are fixedly arranged on the driving wire wheel 21a in the rear-end driving device 21. The two ends of the driving wire 302 i' are pulled to realize the forward and reverse axial rotation of the double-shaft steering arm 302b and the single-shaft steering arm 302 c.

Fig. 82 is a schematic view of a slide rail driven by a driving wire of a front end actuator according to yet another embodiment of the disclosure. As shown in fig. 82, in the movement process of each part of the front end driving device 302 of the present embodiment, the positions of the wire wheel and the steering wheel are kept constant, that is, the lengths of the driving

wires

302i and 302i 'between the driving wire wheel 21a and the wire wheel are constant, and the driving

wires

302i and 302 i' can be precisely driven after being installed and pre-tensioned.

Fig. 83 is a diagram illustrating a relationship between a rotation angle of a slide rail driven by a driving wire of a front end actuator according to still another embodiment of the present disclosure. Referring to fig. 83, when the front-end actuator 302 is in the initial attitude, the angle a of the double-shaft steering arm 302b with the upper end surface of the connecting base 302a is set to 30 °. To meet the design requirements of the initial pose of the front-end actuator and the three-axis intersection-center structure, the central angle b of the single-axis steering arm 302c must satisfy the condition that a + b is 90 °. When a is increased, b is correspondingly reduced, and the rotating radius of the single-shaft steering arm 302c is reduced, so that the load capacity of the single-shaft steering arm 302c is improved, and the motion control precision is reduced; when a is decreased, b is increased accordingly, and the turning radius of the single-axis steering arm 302c is increased, the load capacity of the single-axis steering arm 302c is decreased, and the motion control accuracy is improved. For the rotational motion of the single-axis steering arm 302c about the R3 axis, b is 60 ° and a is 30 ° with the load capacity and the motion control accuracy as boundary conditions.

For front-end actuators of rigid construction, the angle of each deflection is typically less than 90 °. In the front end executing device 302, because the included angle of 30 degrees is formed between the double-shaft steering arm 302b and the upper end face of the connecting seat 302a, the deflecting angle of one direction of the deflecting motion R2 of the double-shaft steering arm 302 can reach 150 degrees, and the operation flexibility of the surgical tool can be greatly improved. For example, when a back of an organ in a field of view needs to be operated during a robot-assisted minimally invasive surgery, a surgical tool with a deflection angle of more than 90 ° in a certain direction can meet the operation requirement more easily.

Fig. 84 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. As shown in fig. 84, the front end actuator 303 is provided with a circular arc double-rail structure, a slider can slide on the double-rail structure, and the remaining freedom of movement of the slider is limited except for the sliding direction, i.e. the slider can only slide on the rails. The arc-shaped slide rail adopts a virtual constraint form of a double-slide rail structure, so that the rigidity of the front end execution device 303 in a load state can be improved, and meanwhile, the influence of a sliding gap on a motion error can be reduced. Referring to fig. 84, the front actuator 303 includes a connecting seat 303a, a dual slide rail 303b, a slider 303c, a supporting seat 303d, and the like. The arc-shaped double slide rail 303b is connected to the connecting seat 303a, the slider 303c is slidably connected to the upper portion of the double slide rail 303b, and the supporting seat 303d is connected to the slider 303 c. The connecting seat 303a is used for connecting the outer tube 22 and the front end actuator 303, the connecting seat 303a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 303a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 303 to realize the rotation motion R1.

Fig. 85 is a schematic structural view of a dual-slide structure of a front-end actuator according to yet another embodiment of the disclosure. As shown in fig. 84 and 85, the double slide rail 303b is a circular arc slide rail, and includes two parallel slide rail structures, and is installed at the axle seat 303e on the connecting seat 303a, two wire wheels 303f are fixedly installed at the inner sides of the two ends, the axes of the two wire wheels 303f are overlapped, the axis is a, and the rotation of the wire wheels 303f can drive the double slide rail 303b to rotate around the axis a. The sliding contact surface of the double slide rail 303B has a rotation axis B, and the axis a is perpendicular to the axis B and intersects with the axis B at a point.

Fig. 86 is a schematic view of a slider connection structure of a front end effector according to still another embodiment of the present disclosure. Referring to fig. 86, the slider 303c is slidable on the double slide rail 303B around the axis B, and the slider 303c includes an upper slider 303g and a lower slider 303h, wherein the lower surface of the upper slider 303g is in contact with the upper surfaces of the two parallel rails, and the upper surface of the lower slider 303h is in contact with the lower surfaces of the two parallel rails. The sliding contact surfaces of the two sliding blocks are curved surfaces, and the curvature radiuses of the curved surfaces are respectively the same as the curvature radiuses of the upper and lower sliding contact surfaces of the two parallel rails of the double-sliding-rail 303 b. The supporting seat 303d is fixedly connected with the sliding block 303c, and the movement of the sliding block 303c on the double-sliding rail 303b can drive the supporting seat 303d to move.

The rotation of the sliding rail 303c around the shaft a and the sliding of the sliding block 303c around the shaft B enable the supporting seat 303d to complete the yaw movement R2 and the pitch movement R3, so as to realize the characteristic that three shafts intersect with one center. Such tiny parts as the sliding block, the sliding rail and the like are usually made of medical metal materials, such as medical 316 stainless steel or titanium alloy and the like, and the materials have low friction coefficients, but in the implementation process of an operation, the operation tool can be soaked in human tissue secretion or blood frequently, the friction coefficients among the parts can be increased after the operation tool is coated by the liquid, and the working efficiency of the operation tool is reduced. The friction coefficient between parts can be further reduced by plating fluorine-containing material films on the surfaces of the parts such as the sliding block, the sliding rail and the like, and the parts after film plating are easier to clean after operation.

Fig. 87 is a schematic view of a front end effector driving filament arrangement according to yet another embodiment of the present disclosure. Fig. 88 is a schematic view illustrating an arrangement of driving wires of a dual slide rail according to still another embodiment of the present disclosure. As shown in fig. 87 and 88, the double slide rail 303b is fixed to the wire wheel 303f at one end of the driving wire 303i, and the fixing method of the driving wire 303i and the wire wheel 303f is not limited to a single type, and may be a method of fixing the screw thread 303k shown in fig. 35, or a method of welding, bonding, or the like. The other end of the driving wire 303i goes around the wire wheel 303f, passes through a wire passing hole formed in the connecting seat 303a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. The other end of the double-slide rail 303b is provided with another driving wire 303i on the wire wheel 303f, and the two driving wires 303i are installed in the same way. The winding directions of the driving wires 303i on the wire wheels 303f at the two ends of the double-slide rail 303b are opposite. The rotation of the double slide rails 303b around the shaft R3 can be realized by pulling the two driving wires 303i respectively.

For the slide block 303c, one end of the driving wire 303 i' is fixed in the wire hole of the upper slide block 303g, and the other end thereof passes through the wire passing hole provided on the connecting seat 303a along the limiting groove 303l provided on the double slide rail 303b, passes through the outer tube 22, and is then fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. The other side of the slider 303c is provided with another driving wire 303i '(not shown), and the two driving wires 303 i' are installed in the same manner and in opposite directions. The two driving wires 303 i' are respectively pulled, so that the sliding of the sliding block 303c on the double sliding rails 303B around the shaft B can be realized. During the movement of each part of the front end driving device 303, the position of the wire wheel is kept constant, i.e. the length of the driving

wires

303i and 303 i' between the driving wire wheel 21a and the wire wheel is constant, and the driving wires 303i can be accurately driven after being installed and pre-tensioned, as shown in fig. 89.

Referring to fig. 87 again, the limiting groove 303l is parallel to the two sliding tracks of the double-sliding rail 303b, the driving wire 303 i' is arranged along the sliding direction of the sliding block 303c, the driving manner of the deflecting motion R2 for driving the front end actuator 303 is that the driving wire 303i directly pulls the sliding block 303c to slide on the double-sliding rail 303b, the direction of the pulling force of the driving wire 303i on the sliding block 303c is always the same as the tangential direction of the movement of the sliding block 303c under the limitation of the limiting groove 303l, the influence of the friction force is ignored, and the pulling force of the driving wire 303i is all acted on the sliding block 303c, and the driving force of the driving manner is much larger than that of the wire wheel driving manner.

Taking the front end actuator 303 as an example, the curvature radius of the double slide rail 303B is 5mm, the radius of the wire wheel 303F is 2mm, and since the front end actuator 303 has the characteristics of three axes intersecting one another, the distances from the axis a and the axis B to the load point at the front end are the same, the distance from the load point to the two axes is L, and the pulling forces of the driving

wires

303i and 303 i' are both F, the driving force G generated by the deflection motion ₂ 2F/L, driving force G generated by pitching motion ₃ When the total content is 5F/L, G is apparent ₃ Much greater than G ₂ . At the front end executing device of the minimally invasive surgical tool, the radius of a wire wheel is 2-3mm and the radius of a circular arc-shaped sliding rail is 4-5mm under the limitation of the size of the surgical tool, so that when the tension of a driving wire is the same, the load capacity of a sliding block structure of the sliding rail is larger than that of a wire wheel structure. As with the front end effector 303, the yaw motion load capacity is 18N and the pitch motion load capacity can be up to 35N.

Fig. 90 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. As shown in fig. 90, the front actuator 304 is provided with two driving arms, and two steering arms are rotatable around respective axes, which intersect perpendicularly. The front actuator 304 includes a connecting base 304a, a lower driving arm 304b, an upper driving arm 304c, a supporting base 304d, and the like. The connecting seat 304a is used for connecting the outer tube 22 and the front end actuator 304, the connecting seat 304a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 304a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 304 to realize the rotation motion R1.

Fig. 91 is a schematic diagram of two driving arms of a front end effector according to yet another embodiment of the present disclosure. Fig. 92 is a schematic view of a lower driving arm of a front end effector according to yet another embodiment of the present disclosure. Referring to fig. 91 and 92, the lower driving arm 304b includes a steering arm 304e and a lower connecting rod 304f, the steering arm 304e is in the form of an arc-shaped connecting rod, and is mounted on a shaft seat 304g provided on the connecting seat 304a, and a wire wheel 304h is mounted on the inner side of an arc surface at one end thereof, and the axis thereof is a. Rotation of the wire wheel 304h may bring about rotation of the steering arm 304e about axis a. The other end of the steering arm 304e is mounted with a lower link 304f, which lower link 304f is pivotally movable about an axis x, which is perpendicular to and intersects axis a at a point.

Fig. 93 is a schematic view of an upper driving arm of a front end effector in accordance with still another embodiment of the present disclosure. Referring to fig. 91 and 93, the upper driving arm 304c includes an upper link 304i of a steering arm 304e ', the steering arm 304e is configured as an arc-shaped link, and is mounted on a shaft seat 304g provided on the connecting seat 304a, a wire wheel 304 h' having an axis B is mounted on an inner side of an arc surface of one end of the steering arm, and the rotation of the wire wheel 304h can bring the steering arm 304e to rotate around the axis B, and the axis B is perpendicular to and intersects with the axis a at a point. The other end of the steering arm 304e is mounted with an upper link 304i, which upper link 304i is pivotally movable about an axis y, which is perpendicular to and intersects axis B at a point.

As shown in fig. 91, the lower link 304f and the upper link 304i are connected to steering

arms

304e and 304 e' respectively to form a lower driving arm 304b and an upper driving arm 304 c. While the lower link 304f is hingedly connected to the upper link 304i, which are rotatable about axis C. The supporting seat 304d is fixedly mounted at the upper end of the upper connecting rod 304i, and the movement of the lower driving arm 304B and the upper driving arm 304c around the axis a and the axis B enables the supporting seat 304d to complete the yaw movement R2 and the pitch movement R3, thereby realizing the characteristic that three axes intersect with one center. A coordinate system shown in fig. 94 is established at the rotating shaft of the front end actuator 304, where the axial radius of the front end actuator 304 is a, and the motion spiral of the lower driving arm 304b is: (1, 0, 0; -a, 0, 0), (0, 1, 0; 0, a, 0), the motion helix of the upper drive arm 304c is: (0, 1, 0; 0, -a, 0), (1, 0, 0; a, 0, 0). Through calculation, after the two driving arms are coupled, the movement of the supporting seat 304d mounted on the upper connecting rod 304i is (1, 1, 0; 0, 0, 0), namely the yawing movement R2 and the pitching movement R3, which shows that the supporting seat 304d can realize the three-axis-to-one-center movement characteristic under the driving of the wire wheel 304 h.

FIG. 95 is a schematic diagram of a front end effector driving filament arrangement in accordance with yet another embodiment of the present disclosure. Fig. 96 is a schematic view of the arrangement of the driving wire on the wire wheel of the front end effector according to still another embodiment of the present disclosure. The driving

wires

304k, 304k 'are fixed in the grooves arranged on the wire wheel 304h through the wire joint 304l, and after the two ends of the driving

wires

304k, 304 k' pass through the wire passing hole arranged on the connecting seat 304a and pass through the outer tube 22, the driving wires are fixedly arranged on the driving wire wheel 21a in the rear end driving device 21. The forward and reverse pivoting of the different steering arms 304e can be achieved by pulling the two ends of the driving

wires

304k, 304 k'. During the movement of each part of the front end driving device 304, the position of the wire wheel is kept constant, i.e. the length of the driving

wires

304k, 304k 'between the driving wire wheel 21a and the wire wheel is constant, and the driving

wires

304k, 304 k' can realize accurate driving after being installed and pre-tensioned, as shown in fig. 97.

At the scale of the operation tool, the used parts are usually tiny parts or thin-wall parts, and elastic deformation is often generated under load to influence the movement precision. As shown in fig. 92 and 93, the thickness of the steering arm 304e is about 0.8mm, the cross-sectional aspect ratio is about 3:1 to 4:1, referring to fig. 92, the elastic deformation sensitive direction of the steering arm 304e is the x-axis axial direction, the load direction is the x-axis circumferential direction, referring to fig. 93, the elastic deformation sensitive direction of the steering arm 304e is the y-axis axial direction, and the load direction is the y-axis circumferential direction, so that the load direction of the front end actuator 304 is different from the elastic deformation sensitive direction, and the structure has better rigidity under load.

The common feature of the above four embodiments is that the supporting seat 23b on the front end executing device 23 is precisely driven by adopting a wire wheel transmission mode, so that the characteristic that three shafts intersect with one center is realized. The support base 23b is provided with means for performing a specific surgical action, such as a forceps. Referring to fig. 11 and 12, the rotation axis of the opening and closing motion K of the caliper page 23d is parallel to the yaw motion axis R2, and if the two axes are overlapped, that is, the caliper page 23d is installed on the cross shaft 23c, the axial size of the front end actuator 23 can be further reduced, the structure is compact, and the turning radii of the yaw motion R2 and the pitch motion R3 are reduced, so that the load capacity is improved. In terms of kinematics, after the two axes are overlapped, a kinematics model of the front end execution device 23 can be simplified, the kinematics calculation amount of a control program is reduced, the control precision and the operation real-time performance of the system are improved, and the operation quality is ensured.

Fig. 98 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 99 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front end executing device 305 is provided with a cross shaft structure, two opening and closing forceps pages for completing the operation action are arranged on the cross shaft, and the rotation axis of the opening and closing forceps pages and the axis of the deflection motion R2 are arranged in a superposition mode. The front end actuator 305 includes a connecting base 305a, a cross 305b, a clamp 305c, a guide wheel 305d, and the like. The connecting seat 305a is used for connecting the outer tube 22 and the front end actuator 305, the connecting seat 305a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 305a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 305 to realize the rotation motion R1.

Fig. 100 is a schematic view of a cross-shaft of a front end effector in accordance with still another embodiment of the present disclosure. Referring to fig. 99 and 100, the pitch axis 305e of the cross 305b is mounted on the axle seat 305f of the connecting seat 305a, and the cross 305b can rotate around the axle R3. Two pitching wheel 305g are fixedly mounted on the pitching shaft 305e, the axis of the pitching wheel 305g is coincident with the axis of the pitching shaft 305e, and the rotation of the pitching wheel 305g can drive the cross shaft 305b to rotate around the shaft R3. The jaw piece 305c is mounted on a pivot 305h of the cross 305b, and the jaw piece 305c is rotatable about an axis R2. The nipper blade 305c is provided with an inner deflection wire reel 305i and an outer deflection wire reel 305k, which are coaxial. The rotation of the inner deflection wire reel 305i and the outer deflection wire reel 305K on the deflection shaft 305h can drive the jaw 305c to rotate around the shaft R2, and the deflection motion R2 and the opening and closing motion K are realized. All guide wheels and wire wheels for guiding the driving wire are arranged on the pitching shaft 305e and the deflecting shaft 305h, and the arrangement mode can reduce the occupation of the space below the cross shaft 305b and avoid the mutual interference of parts below the rotating shaft and the driving wire. The pitch axis 305e is perpendicular to the yaw axis 305h and intersects at a point, and the cross axis 305b and the caliper page 305c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved. By taking the front-end executing device 305 as an example, by adopting the three-axis intersection-one-center characteristic structure, the axial size can be reduced by 8mm, the distance between the forceps blade load point and the rotating axis is 12mm, the deflection motion load capacity can be improved by about 60%, generally, the deflection motion load capacity of the rigid member surgical tool is 20N, and the deflection motion load capacity of the front-end executing device 305 can reach 30N. On the other hand, in the implementation process of the robot-assisted minimally invasive surgery, the image of the surgical operation part is magnified by tens of times, the outer diameter of a surgical tool is 8-10mm generally, a part with the length of 8mm below the outer diameter occupies a large part of an image area, the axial size of the front end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a three-axis intersection-center structure.

A spider structure (hooke joint) is often used as an intermediate component in the drive force transmission line for changing the drive force transmission direction. In the field of robots, a cross shaft is usually used as a connecting piece of each joint of a flexible arm, a single part capable of doing rotary motion is respectively arranged at two ends of the cross shaft, the single part at one end is relatively fixed, other parts can be arranged on the single part at the other end, and the cross shaft is controlled by a driving wire to realize two-degree-of-freedom rotation around the intersection point of the cross shaft. One end of a cross 305b of the front end actuator 305 is a single-piece connector 305a, and the other end is two independently moving jaws 305c, which are directly mounted on the cross, thereby reducing the axial dimension of the front end actuator and further increasing the load capacity of the deflection motion. By taking the front end executing device 305 as an example, the three-axis intersection and one-center characteristic structure is adopted, the axial size can be reduced by 8mm, the distance between the clamp page load point and the rotating axis is 12mm, and the deflection motion load capacity can be improved by about 60%.

In order to make the pivoting movement R2 of the gripper leaves 305c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 305c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Also, in order to make the front end actuator more compact and to maintain the two gripper leaves 305c properly engaged on both sides of the cross-shaft 305b, the gripper leaves 305c are configured in a "Z" configuration.

Fig. 101 is a schematic diagram illustrating an arrangement of driving wires of a front-end actuator according to still another embodiment of the disclosure. FIG. 102 is a schematic view of the arrangement of the driving wire cross shaft of the front end effector according to yet another embodiment of the present disclosure. Fig. 103 is a schematic view of an arrangement of the driving wire cross shaft of the front end actuator at another view angle according to yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 102 and 103, the driving wire 305l has one end fixed on the pitching wire wheel 305g and the other end passing around the pitching wire wheel 305g, passing through the wire passing hole provided on the connecting base 305a, passing through the outer tube 22, and then being fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 305l is similarly attached to the pitch wire wheel 305g on the other side of the cross 305b, and the drive wires 305l are wound in opposite directions around the pitch wire wheel 305 g. By pulling the two driving wires 305l, the cross shaft 305b can rotate around the shaft R3, i.e., the front end actuator 305 can perform a pitching motion R3, as shown in fig. 104.

Fig. 105 is a schematic view of the arrangement of the driving wires on the deflecting wire wheel of the front end effector according to still another embodiment of the present disclosure. Fig. 106 is a schematic view of the arrangement of the driving wires of the front end effector on the deflecting wire wheel from another perspective of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 105 and 106, one end of the driving wire 305 l' is fixed on the inner deflecting wire wheel 305i, and the other end thereof passes through the inner deflecting wire wheel 305i, passes through the wire passing hole provided on the connecting seat 305a along the small wheel groove on the guide wheel 305d, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21; another driving wire 305 l' has one end fixed to the outer deflection wire wheel 305k and the other end passing around the outer deflection wire wheel 305k, passes through a wire passing hole provided in the connecting seat 305a along a large wheel groove of the guide wheel 305d, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear driving device 21. The two drive wires 305 i' are wound in opposite directions on the inner deflection wire reel 305i and the outer deflection wire reel 305 k. By pulling the two driving wires 305 l', the rotation of the jaw 305c around the axis R2, i.e. the swing movement R2 and the opening and closing movement K of the front end effector 305, can be realized, as shown in fig. 107.

The threading holes formed in the connecting seat 305a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, so that the arrangement mode can achieve the effect of reducing the coupling degree of each motion. FIG. 108 is a schematic diagram illustrating the arrangement of threading holes of a front end effector according to yet another embodiment of the present disclosure. As shown in fig. 108(a), the driving wires of the surgical tool are distributed circumferentially in the outer tube 22, and when the front end effector performs a rotation motion R1, the driving wires distributed circumferentially may be twisted with each other, and the twisted driving wires not only couple the motions of the front end effector but also generate a friction force that is much larger than the friction force of the driving wires on the guide wheel and the wire wheel, which results in a serious decrease in the motion precision and the load capacity of the front end effector. As shown in fig. 108(b), the use of the linearly distributed driving wires prevents the driving wires in the outer tube 22 from being entangled and coupled with each other during the rotation movement.

In order to make the deflection movement R2 of the gripper leaves 305c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 305c are arranged on the same shaft of the cross shaft and distributed on both sides of the shaft, the drive wire effecting a cross-over of the transverse shaft. Also, in order to make the front end actuator more compact and to maintain the two clamping blades 305c on both sides of the cross-shaft 305b in proper engagement, the clamping blades 305c are configured in a "Z" configuration. The clamp page adopts a Z-shaped structure, so that no part which can generate motion interference with the clamp page exists in the rotation direction of the clamp page, and the deflection angle of the deflection motion R2 can reach +/-125 DEG

For different functional surgical tools 13, the gripping-type tool is the most complicated structure, because at least two independently movable actuating elements (forceps, scissors) need to be arranged on the front end actuating device 23 of the gripping-type surgical tool 13. Therefore, the above embodiments describe the front end effector 23 with three axes intersecting one center by taking the clamping tool as an example. Surgical tools 13 other than clamping type tools, such as energy tools, ultrasonic knives, negative pressure tools, etc., can be simply changed to function based on the above-described embodiments.

Fig. 109 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 110 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. As shown in fig. 109 and 110, the front end effector 310 can be regarded as a function expansion structure of the front end effector 305, and the energy tool is taken as an example to show a method for expanding the same front end effector to different function surgical tools. The front end effector 310 is provided with a spider structure, and an energy tool for performing surgical operation is mounted on the spider. The front end actuator 310 includes a connecting base 310a, a cross 310b, an electric hook base 310c, an electric hook 310d, and the like. The connecting seat 310a is used for connecting the outer tube 22 and the front end actuator 310, the connecting seat 310a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 310a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 310 to realize the rotation motion R1.

Referring to fig. 110 and 111, the pitch shaft 310e of the cross shaft 310b is mounted on the shaft seat 310f of the connecting seat 310a, and the cross shaft 310b can rotate around the shaft R3. Two pitching wire wheels 310g are fixedly mounted on the pitching shaft 310e, the axes of the pitching wire wheels 310g are overlapped with the axis of the pitching shaft 310e, and the rotation of the pitching wire wheels 310g can drive the cross shaft 310b to rotate around the shaft R3. The electric hook holder 310c is mounted on the deflection shaft 310h of the cross 310b, and the electric hook holder 310c is rotatable about the shaft R2. The inner side of the electric hook seat 310c is provided with a deflection wire wheel 310i, and the two deflection wire wheels are coaxial. The rotation of the deflecting roller 310i on the deflecting axle 310h can drive the electric hook base 310c and the electric hook 310d fixed on the top of the electric hook base 310c to rotate around the axle R2, so as to realize the deflecting motion R2. The pitch axis 310e is perpendicular to the yaw axis 310h and intersects at a point, and the cross axis 310b and the electric hook base 310c move around the axis, so that the characteristic that three axes intersect at a center is realized.

Fig. 112 is a schematic diagram of a driving wire arrangement of a front end effector 310 according to yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 113, one end of the driving wire 310k is fixed on the pitching wheel 310g, and the other end thereof passes around the pitching wheel 310g, passes through a wire threading hole provided on the connecting base 310a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear driving device 21. Another driving wire 310k is mounted on the pitch wire wheel 310g on the other side of the cross 310b in the same manner, and the winding directions of the driving wires 310k on the pitch wire wheel 310g are opposite. By pulling the two driving wires 310k, the cross shaft 310b can rotate around the shaft R3, i.e., the pitching motion R3 of the front end effector 310, as shown in fig. 114.

FIG. 115 is a schematic view of the arrangement of the drive wires on the deflection wire pulleys of the front end effector of yet another embodiment of the present disclosure. Fig. 116 is a schematic view of the arrangement of the driving wires of the front end effector on the deflecting wire wheel from another perspective of the present disclosure. For the deflecting motion R2, referring to fig. 115 and 116, one end of the driving wire 310 k' is fixed on the inner deflecting wire wheel 310i, and the other end thereof passes through the deflecting wire wheel 310i, passes through the wire passing hole provided on the connecting seat 310a along the wheel groove on the guide wheel 310l, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21; another driving wire 310 k' is mounted on the deflecting wire reel 310i at the other side of the electric hook block 310c in the same manner. The two driving wires 310 k' are wound in opposite directions on the deflecting roller 310 i. Pulling the two driving wires 310 k' causes the electric hook holder 310c to rotate around the axis R2, i.e., the deflecting motion R2 of the front end effector 310, as shown in fig. 117.

Fig. 118 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 119 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. As shown in fig. 118 and 119, the front end actuator 307 includes a connecting base 307a, a cross 307b, a clamp 307c, and the like. The connecting seat 307a is used for connecting the outer tube 22 and the front end actuator 307, the connecting seat 307a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 307a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 307 to realize the rotation motion R1.

FIG. 120 is a diagram illustrating a front-end execution device page clamp configuration according to yet another embodiment of the present disclosure. Referring to fig. 119 and 120, the pitch shaft 307d of the cross 307b is mounted on the shaft seat 307e of the connecting seat 307a, and the cross 307b can rotate around the shaft R3. Two pitching wire wheels 307f are fixedly mounted on the pitching shaft 307d, the axes of the pitching wire wheels 307f are overlapped with the axis of the pitching shaft 307d, and the rotation of the pitching wire wheels 307f can drive the cross shaft 307b to rotate around the shaft R3. Two double-row guide wheels 307g are also mounted on the pitch shaft 307d for driving the wire to guide. Four guide wheels 307m are uniformly distributed on the side wall above the cross shaft 307b, and the guide wheels 307m are used for guiding the driving wire for controlling the clamp leaves 307 c. By disposing the guide wheels above the cross 307b, the space occupied below the cross 307b can be reduced, and the rotation angle of the pitching motion R3 can be increased. For front-end actuators of rigid construction, the angle of each deflection is typically less than 70 °.

Fig. 121 is a schematic view of a pitch angle of a front-end actuator according to still another embodiment of the disclosure. As the space below the cross shaft 307b of the front end executing device 307 is increased, as shown in fig. 121, the movement range of the pitching motion R3 can reach +/-110 degrees, and the operation flexibility of the surgical tool can be greatly improved. For example, when a back of an organ in a field of view needs to be operated during a robot-assisted minimally invasive surgery, a surgical tool with a deflection angle of more than 90 ° in a certain direction can meet the operation requirement more easily. The caliper blade 307c is mounted on a deflection shaft 307h of the cross 307b, the caliper blade 307c being rotatable about an axis R2. The nipper blade 307c is provided with an inner deflection wire reel 307i and an outer deflection wire reel 307k, which are coaxial. The rotation of the inner wire wheel 307i and the outer wire wheel 307K on the deflection shaft 307h can drive the jaw 307c to rotate around the shaft R2, and the deflection motion R2 and the opening and closing motion K are realized. The pitch axis 307d is perpendicular to the yaw axis 307h and intersects at a point, and the cross axis 307b and the forceps blade 307c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved. By taking the front-end executing device 307 as an example, by adopting the three-axis intersection-one-center characteristic structure, the axial size can be reduced by 8mm, the distance between the forceps blade load point and the rotating axis is 12mm, the deflection motion load capacity can be improved by about 60%, generally, the deflection motion load capacity of the rigid member surgical tool is 20N, and the deflection motion load capacity of the front-end executing device 307 can reach 30N. On the other hand, in the implementation process of the robot-assisted minimally invasive surgery, the image of the surgical operation part is magnified by tens of times, the outer diameter of a surgical tool is 8-10mm generally, a part with the length of 8mm below the outer diameter occupies a large part of an image area, the axial size of the front end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a three-axis intersection-center structure.

Fig. 122 is a schematic view of an arrangement of driving wires of a front-end actuator according to yet another embodiment of the disclosure. Fig. 123 is a schematic view of the arrangement of the driving wires of the front end actuator on the cross shaft according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 123, one end of the driving wire 307l is fixedly mounted on the pitching wire wheel 307f, and the other end thereof passes around the pitching wire wheel 307f, passes through the wire passing hole provided in the connecting base 307a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 307l is similarly attached to the pitch wire wheel 307f on the other side of the cross 307b, and the drive wires 307l are wound in opposite directions around the pitch wire wheel 307 f. By pulling the two driving wires 307l, the cross shaft 307b can rotate around the shaft R3, i.e., the front end actuator 307 can pitch R3, as shown in fig. 124.

Fig. 125 is a schematic view of the arrangement of the driving wires for the deflection movement and the opening and closing movement of the front end actuator on the cross shaft according to still another embodiment of the present disclosure. FIG. 126 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector of the present disclosure on the lead. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 125 and 126, one end of the driving wire 307l 'is fixed on the inner deflecting wire wheel 307i, and the other end of the driving wire 307 l' bypasses the inner deflecting wire wheel 307i, then bypasses the guide wheel 307m installed above the inner deflecting wire wheel to realize the first reversing, then bypasses the guide wheel 307m adjacent to the inner deflecting wire wheel to realize the second reversing, then bypasses the outer side wheel of the double-row guide wheel 307g, passes through the wire passing hole arranged on the connecting seat 307a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22; the other driving wire 307 l' is fixedly arranged on the outer deflection wire wheel 307k, the other end of the driving wire is reversed after bypassing the inner side wheel of the double-row guide wheel 307g, and the driving wire passes through a wire threading hole arranged on the connecting seat 307a and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two driving wires 307 l' are wound in opposite directions on the inner deflection wire reel 307i and the outer deflection wire reel 307 k. By pulling the two driving wires 307 l', the rotation of the jaw piece 307c around the axis R2, i.e. the pivoting movement R2 and the opening and closing movement K of the front actuator 307, can be realized.

Fig. 127 is a schematic view of the front end effector performing deflection and opening/closing movements according to yet another embodiment of the present disclosure. As shown in fig. 125-127. After the driving wire 307l 'is wound around two adjacent guide wheels 307m, the driving wire 307 l' can be turned from the plane where the internal deflection wire wheel 307i is located to the plane where the pitching wire wheel 307f is located, so that the wire penetrating holes arranged on the connecting seat 307a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, thereby achieving the effect of reducing the coupling degree of each movement. Generally, the driving wires of the surgical tool are circumferentially distributed in the outer tube 22, as shown in fig. 108, when the front end effector performs a rotation motion R1, the circumferentially distributed driving wires are twisted with each other, the twisted driving wires not only couple the motions of the front end effector, but also generate a friction force that is much larger than the friction force of the driving wires on the guide wheel and the wire wheel, resulting in a serious decrease in the motion accuracy and the load capacity of the front end effector. The use of linearly distributed drive wires prevents the drive wires in the outer tube 22 from intertwining and coupling during the spinning motion.

In order to make the deflection motion R2 of the tong leaves 307c coincide with the axis of rotation of the opening and closing motion K, the two tong leaves 307c are arranged on the same shaft of the cross shaft and distributed on both sides of the shaft, and the drive wire realizes crossing of the transverse shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 307c are arranged on both sides of the cross shaft 307b and still can be correctly engaged, the clamp leaves 307c are arranged in a Z-shaped structure. The jaw adopts a Z-shaped structure, so that no part which can generate motion interference with the jaw exists in the rotation direction of the jaw, and the deflection angle of the deflection motion R2 can reach +/-125 degrees.

Fig. 128 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 129 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. As shown in fig. 128 and 129, the front actuator 308 includes a connecting base 308a, a cross-shaft 308b, a clamp plate 308c, and the like. The connecting seat 308a is used for connecting the outer tube 22 and the front end actuator 308, the connecting seat 308a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 308a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 308 to realize the self-rotation R1.

FIG. 130 is a diagram illustrating a front-end execution device structure page according to yet another embodiment of the present disclosure. Referring to fig. 129 and 130, the pitch shaft 308d of the cross shaft 308b is mounted on the shaft seat 308e of the connecting seat 308a, and the cross shaft 308b can rotate around the shaft R3. Two pitching wheel 308f are fixedly mounted on the pitching shaft 308d, the axes of the pitching wheels 308f are overlapped with the axis of the pitching shaft 308d, and the rotation of the pitching wheels 308f can drive the cross shaft 308b to rotate around the shaft R3.

Two double-row guide wheels 308g are also mounted on the pitch shaft 308d for driving the wire to guide. Two guide wheels 308n are obliquely and symmetrically arranged on the side wall above the cross shaft 308b, and the guide wheels 308n are used for guiding a driving wire for controlling the tong blades 308 c. The guide wheel is arranged above the cross shaft 308b, so that the space occupied below the cross shaft 308b can be reduced, the mutual interference between parts below the rotating shaft and the driving wire is avoided, and the rotating angle of the deflection motion R3 is increased. Jaw leaf 308c is mounted on a deflection shaft 308h of cross 308b, and jaw leaf 308c is rotatable about axis R2. The tong section 308c is provided with an inner deflection wire wheel 308i and an outer deflection wire wheel 308k, which are coaxial. The rotation of the inner deflection wire wheel 308i and the outer deflection wire wheel 308K on the deflection shaft 308h can drive the jaw 308c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. The pitch axis 308d is perpendicular to the yaw axis 308h and intersects at a point, and the cross axis 308b and the caliper page 308c move around the axis, so that the characteristic that three axes intersect at a center is realized.

The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved. By taking the front-end executing device 308 as an example, by adopting the three-axis intersection characteristic structure, the axial size can be reduced by 8mm, the distance between the forceps blade load point and the rotating shaft is 12mm, the deflection motion load capacity can be improved by about 60%, generally, the deflection motion load capacity of the rigid member surgical tool is 20N, and the deflection motion load capacity of the front-end executing device 308 can reach 30N. On the other hand, in the implementation process of the robot-assisted minimally invasive surgery, the image of the surgical operation part is magnified by tens of times, the outer diameter of a surgical tool is 8-10mm generally, a part with the length of 8mm below the outer diameter occupies a large part of an image area, the axial size of the front end execution device is reduced by 8mm, and the shielding of the surgical tool on the visual field can be reduced to a great extent by adopting a three-axis intersection-center structure.

Fig. 131 is a schematic view of a driving wire arrangement of a front-end actuator according to yet another embodiment of the disclosure. Fig. 132 is a schematic view of the arrangement of the driving wires of the front end effector on the pitch wire wheel according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 131 and 132, one end of the driving wire 308l is fixed on the pitching wire wheel 308f, and the other end thereof passes around the pitching wire wheel 308f, passes through the wire threading hole provided on the connecting seat 308a along the small wheel groove of the axle seat guide wheel 308m provided below the pitching wire wheel 308f, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 308l is similarly mounted on the pitch wire wheel 308f on the other side of cross 308b, and the two drive wires 308l wind in opposite directions on the pitch wire wheel 308 f. By pulling the two driving wires 308l, the cross shaft 308b can rotate around the shaft R3, i.e., the front end actuator 308 can perform a pitching motion R3, as shown in fig. 133.

FIG. 134 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector on the cross shaft according to yet another embodiment of the present disclosure. Fig. 135 is a schematic view of the arrangement of the driving wires for the deflection movement and the opening and closing movement of the front end actuator on the cross shaft from another perspective of the present disclosure. FIG. 136 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end actuator on the lead page from another perspective of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 134, 135, and 136, one end of the driving wire 308 l' is fixed on the inner deflecting wire wheel 308i, and the other end thereof passes around the inner deflecting wire wheel 307i, passes through the wire threading hole provided on the connecting seat 308a along the wheel groove of the double-row guide wheel 308g, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21; another driving wire 308 l' is installed and fixed on the outer deflection wire wheel 308k, and the other end of the driving wire passes around the deflection guide wheel 308n arranged above the cross shaft 308b, then passes through a wire threading hole arranged on the connecting seat 308a along the bull wheel groove of the shaft seat guide wheel 308m, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The two driving wires 308 l' are wound in opposite directions on the inner deflection wire reel 308i and the outer deflection wire reel 308 k. Pulling the two driving wires 308 l' can realize the rotation of the jaw sheet 308c around the shaft R2, i.e. the deflecting motion R2 and the opening and closing motion K of the front end effector 308, as shown in fig. 137.

After the driving wire 308l 'bypasses the guide wheel 308n, the driving wire 308 l' can be turned from the plane where the internal deflection wire wheel 308i is located to the plane where the pitching wire wheel 308f is located, so that the wire penetrating holes arranged on the connecting seat 308a are distributed on a straight line, and the straight line is parallel to the rotating shaft R3, thereby achieving the effect of reducing the degree of coupling of each motion.

Generally, the driving wires of the surgical tool are circumferentially distributed in the outer tube 22, as shown in fig. 108, when the front end effector performs a rotation motion R1, the circumferentially distributed driving wires are twisted with each other, the twisted driving wires not only couple the motions of the front end effector, but also generate a friction force that is much larger than the friction force of the driving wires on the guide wheel and the wire wheel, resulting in a serious decrease in the motion accuracy and the load capacity of the front end effector. The use of linearly distributed drive wires prevents the drive wires in the outer tube 22 from intertwining and coupling during the spinning motion.

In order to make the pivoting movement R2 of the gripper leaves 308c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 308c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 308c are distributed on both sides of the cross-shaft 308b and still can be correctly engaged, the clamp leaves 308c are arranged in a Z-shaped structure. The clamp page adopts a Z-shaped structure, so that no part which can generate motion interference with the clamp page exists in the rotation direction of the clamp page, and the deflection angle of the deflection motion R2 can reach +/-125 DEG

Fig. 138 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 139 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. As shown in fig. 138 and 139, the front end actuator 306 is provided with a cross-axle structure having a circular arc-shaped wire guide groove (U-shaped frame), and a driving wire is installed in the wire guide groove for driving the cross-axle structure to move. The arc-shaped wire guide groove is formed below the cross shaft, so that the driving wire is pulled along the direction of the wire guide groove, and the purpose of the driving wire is to increase the rotating radius of an acting point of the driving wire on the cross shaft relative to a rotating shaft, so that the rotating torque of the cross shaft is increased under the condition that the pulling force of the driving wire is not changed. The front end actuator 306 includes a connecting base 306a, a cross 306b, a clamp 306c, a guide wheel 306d, and the like. The connecting seat 306a is used for connecting the outer tube 22 and the front end actuator 306, the connecting seat 306a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 306a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 306 to realize the autorotation motion R1.

FIG. 140 is a cross-shaft configuration diagram of a front end effector assembly according to yet another embodiment of the present disclosure. Referring to fig. 139 and 140, the pitch axis 306e of the cross 306b is mounted on the axis seat 306f of the connecting seat 306a, and the cross 306b can rotate around the axis R3. The jaw leaf 306c is mounted on a deflection shaft 306h of cross 306b, and jaw leaf 306c is rotatable about axis R2. The clamp leaf 306c is provided with an inner deflection wire wheel 306i and an outer deflection wire wheel 306k, which are coaxial. The rotation of the inner deflection wire wheel 306i and the outer deflection wire wheel 306K on the deflection shaft 306h can drive the jaw 306c to rotate around the shaft R2, and the deflection motion R2 and the opening and closing motion K are realized. The pitch axis 306e is perpendicular to the yaw axis 306h and intersects at a point, and the cross axis 306b and the caliper page 306c move around the axis, so that the characteristic that three axes intersect at a center is realized.

The lower part of the cross shaft 306b is also provided with a U-shaped wire guide groove 306m at the position contacted with the connecting base 306a, and the wire guide groove 306m and the deflection shaft 306h are arranged on the same plane. Two pitching guide wheels 306n are installed at the end face of the connecting base 306a, the two pitching guide wheels 306n are also arranged in the same plane with the thread guide groove 306m, and when the cross shaft 306b rotates around the shaft R3, the pitching guide wheels 306n can enable the driving thread 306l to be always kept in the thread guide groove 306 m.

FIG. 141 is a schematic diagram illustrating an arrangement of drive wires of a front end effector according to yet another embodiment of the present disclosure. FIG. 142 is a schematic view of the arrangement of the driving wires of the front end effector on the cross-shaft according to yet another embodiment of the present disclosure. For the pitch motion R3, referring to fig. 141 and 142, one end of the driving wire 306l is fixed in the guide wire groove 306m provided on the cross shaft 306b, and the other end thereof passes through the pitch guide wheel 306n along the guide wire groove 306m, passes through the wire passing hole provided on the link base 305a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 306l is installed on the other side of the pitch cross 306b in the same manner, and the rotation of the cross 306b around the shaft R3, namely the pitch movement R3 of the front end actuator 306, can be realized by pulling the two driving wires 306l, as shown in fig. 143.

Fig. 144 is a schematic view of the arrangement of the driving wires for the deflecting motion and the opening and closing motion of the front end actuator on the guide wheel at another perspective of the present disclosure. FIG. 145 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end actuator on the lead page from another perspective of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 144 and 145, one end of the driving wire 306l is fixed on the inner deflecting wire wheel 306i, and the other end thereof passes through the inner deflecting wire wheel 306i, passes through the wire threading hole provided on the connecting seat 306a along the small wheel groove on the guide wheel 306d, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21; one end of the other driving wire 306l is fixed on the outer deflection wire wheel 306k, and the other end of the other driving wire 306l bypasses the outer deflection wire wheel 306k, passes through a wire passing hole arranged on the connecting seat 306a along a large wheel groove on the guide wheel 306d, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The two drive wires 306 l' are wound in opposite directions on the inner deflection wire reel 306i and the outer deflection wire reel 306 k. Pulling on the two driving wires 306 l' allows the rotation of the jaw 306c about the axis R2, i.e. the pivoting movement R2 and the opening and closing movement K of the front actuator 306, as shown in fig. 146.

An arc-shaped thread guide groove 306m is formed below the cross shaft 306b, a driving thread 306l for driving the cross shaft 306b to do pitching motion R3 is arranged in the thread guide groove 306m, and the pulling force direction of the driving thread 306l can be the same as the tangential direction of the rotation direction of the cross shaft 306b all the time. The load capacity of the front-end actuator 306 can be increased by the above arrangement. Taking the front end actuator 306 as an example, the radius of the outer deflecting wire wheel 306K for driving the jaw 306c to make deflecting motion R2 and opening and closing motion K is 2.5mm, the turning radius of the circular arc-shaped wire guide groove 306m is 5mm, the influence of friction on the transmission path of the driving wire 306l is ignored, and when the pulling forces of the driving wires 306l and 306 l' are the same, the torque of the pitching motion R3 is 2 times that of the deflecting motion R2. Taking the front end executing device 306 as an example, the average load capacity of the deflecting motion R2 adopting a wire wheel transmission mode can reach 18N, and the average load capacity of the pitching motion R3 adopting an arc wire guide groove transmission mode can reach 36N.

In order to make the pivoting movement R2 of the gripper leaves 306c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 306c are arranged on the same shaft of the cross-shaft 306b and are distributed on both sides of the shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 306c are distributed on both sides of the cross-shaft 306b and still can be correctly engaged, the clamp leaves 306c are arranged in a Z-shaped structure. The jaw adopts a Z-shaped structure, so that no part which can generate motion interference with the jaw exists in the rotation direction of the jaw, and the deflection angle of the deflection motion R2 can reach +/-110 degrees.

Fig. 147 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the disclosure. FIG. 148 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. As shown in fig. 147 and 148, the front end actuator 309 is provided with a cross axle structure having a circular guide groove, and a driving wire is installed in the guide groove for driving the cross axle structure to move. The arc-shaped wire guide groove is formed below the cross shaft, so that the driving wire is pulled along the direction of the wire guide groove, and the purpose of the driving wire is to increase the rotating radius of an acting point of the driving wire on the cross shaft relative to a rotating shaft, so that the rotating torque of the cross shaft is increased under the condition that the pulling force of the driving wire is not changed. The front actuator 309 includes a connecting base 309a, a cross 309b, a clamp tab 309c, and the like. The connecting seat 309a is used for connecting the outer tube 22 and the front end actuator 309, the connecting seat 309a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 309a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 309 to realize the rotation motion R1.

FIG. 149 is a cross-shaft of a front end effector in accordance with yet another embodiment of the present disclosure. FIG. 150 is a diagram illustrating a front-end execution device page clamp configuration according to yet another embodiment of the present disclosure. Referring to fig. 148, 149 and 150, the pitch shaft 309d of the cross 309b is mounted on the shaft seat 309e of the connecting seat 309a, and the cross 309b can rotate around the shaft R3. The tong pages 309c are mounted on a pivot 309f of a cross 309b, the tong pages 309c being rotatable about an axis R2. The nipper blade 309c is provided with an inner deflection wire reel 309g and an outer deflection wire reel 309h, which are coaxial. The rotation of the inner wire wheel 309g and the outer wire wheel 309h on the deflection shaft 309f can drive the jaw 309c to rotate around the shaft R2, and the deflection motion R2 and the opening and closing motion K are realized. The pitch axis 309d is perpendicular to and intersects the yaw axis 309f at a point, and the cross 309b and the caliper 309c move around the axis, so that the characteristic that three axes intersect at a center is realized. A double-row guide wheel 309m and a guide wheel 309o are mounted on the inner side of the shaft seat 309e of the connecting seat 309a, and a driving wire 309i for driving the nipper blade 309c to rotate can extend into a wire penetrating hole arranged on the end surface of the connecting seat 309a after passing through the double-row guide wheel 309m and the guide wheel 309 o. Two deflection guide wheels 309n are arranged above the cross shaft 309c and used for reversing a driving wire 309i for driving the clamp leaf 309c to rotate from the plane where the inner deflection wire wheel and the outer deflection wire wheel are located to the plane where the double-row guide wheel 309m and the guide wheel 309o are located. Two pitching guide wheels 309l are mounted on the end face of the connection base 309a, the two pitching guide wheels 309l are disposed in the same plane as the thread guide groove 309k, and when the cross shaft 309b rotates around the shaft R3, the driving thread 309i is always held in the thread guide groove 309k by the pitching guide wheels 309 l.

Fig. 151 is a schematic diagram illustrating an arrangement of drive wires of a front end effector according to yet another embodiment of the present disclosure. FIG. 152 is a cross-sectional view of a front end effector drive wire disposed on a cross-member, in accordance with yet another embodiment of the present disclosure. Fig. 151 is a schematic view showing the arrangement of the drive wires of the front end effector 309. For the pitching motion R3, referring to fig. 152, one end of the driving wire 309 i' is fixed in the guide groove 309k provided on the cross shaft 309b, and the other end thereof passes through the pitching guide wheel 309l along the guide groove 309k, passes through the wire passing hole provided on the link base 309a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving unit 21. The other side of cross 309b is similarly provided with another driving wire 309i ', and pulling two driving wires 309 i' can realize the rotation of cross 309b around shaft R3, namely the pitching motion R3 of front end actuator 309, as shown in fig. 153.

Fig. 154 is a schematic view of the arrangement of the driving wires for the deflection motion and the opening and closing motion of the front end effector according to still another embodiment of the present disclosure. Fig. 155 is a schematic view of an arrangement of driving wires for deflection movement and opening and closing movement of a front end actuator at another viewing angle according to yet another embodiment of the present disclosure. FIG. 156 is a schematic view of the arrangement of the drive wires for the deflection motion and the opening and closing motion of the front end effector on the lead page according to yet another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 154, 155, and 156, one end of the driving wire 309i is fixed on the inner deflecting wire wheel 309g, and the other end of the driving wire 309i bypasses the inner deflecting wire wheel 309g and bypasses the inner wheel groove of the double-row guide wheel 309m to realize the reversing of the driving wire 309i, then passes through the wire passing hole formed on the connecting seat 309a, and is fixedly mounted on the driving wire wheel 21a in the rear-end driving device 21 after passing through the outer tube 22; another driving wire 309i is fixed on the external deflection wire wheel 309h, and the other end of the driving wire 309i turns to the plane of only the double-row guide wheel 309m after passing through the deflection guide wheel 309n arranged above the cross shaft 309b, passes through the wire threading hole arranged on the connecting seat 308a along the outer side wheel groove of the double-row guide wheel 309m and the wheel groove of the guide wheel 309o, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The two drive wires 309i are wound in opposite directions on the inner 309g and outer 309h deflection wire pulleys. By pulling the two driving wires 309i, the rotation of the jaw sheet 309c about the axis R2, i.e., the deflecting movement R2 and the opening and closing movement K of the front end effector 309, can be realized, as shown in fig. 157.

An arc-shaped thread guide groove 309k is formed below the cross 309b, a driving thread 309i 'for driving the cross 309b to perform pitching motion R3 is arranged in the thread guide groove 309k, and the pulling direction of the driving thread 309 i' can be always the same as the tangential direction of the rotation direction of the cross 309 b. With the above arrangement, the load capacity of the front-end actuator 309 can be increased. Taking the front end actuator 309 as an example, the radius of the outer deflecting wire wheel 309h for driving the nipper 309c to make the deflecting motion R2 and the opening and closing motion K is 2mm, the turning radius of the circular arc-shaped wire guide groove 309K is 5mm, and the torque of the pitching motion R3 is 2.5 times that of the deflecting motion R2 when the tension of the driving

wires

309i and 309i 'is the same, regardless of the influence of the friction force on the transmission path of the driving wire 309 i'. Taking the front end executing device 306 as an example, the average load capacity of the deflecting motion R2 adopting a wire wheel transmission mode can reach 18N, and the average load capacity of the pitching motion R3 adopting an arc wire guide groove transmission mode can reach 38N.

In order to make the deflecting movement R2 of the tong leaves 309c coincide with the axis of rotation of the opening and closing movement K, the two tong leaves 309c are arranged on the same shaft of the cross 309b and distributed on both sides of the shaft. Also, in order to make the front end actuator more compact and to maintain the two clamp leaves 309c on both sides of the cross 309b in proper engagement, the clamp leaves 309c are configured in a "Z" configuration. The jaw adopts a Z-shaped structure, so that no part which can generate motion interference with the jaw exists in the rotation direction of the jaw, and the deflection angle of the deflection motion R2 can reach +/-125 degrees.

Fig. 158 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 159 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front end actuator 311 includes a connecting base 311a, a cross shaft 311b, a clamp sheet 311c, and the like. The cross shaft 311b is disposed on the connecting seat 311a, and the clamp leaves 311c are disposed at two ends of one of the cross shafts 311 b. The connecting seat 311a is used for connecting the outer tube 22 and the front end actuator 311, the connecting seat 311a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 311a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 311 to realize the rotation motion R1.

Referring to fig. 158 and 159, the pitch shaft 311d of the cross 311b is mounted on the shaft seat 311e of the connecting seat 311a, and the cross 311b can rotate around the shaft R3. Two pitching wheel 311f are fixedly mounted on the pitching shaft 311d, the axis of the pitching wheel 311f is overlapped with the axis of the pitching shaft 311d, and the rotation of the pitching wheel 311f can drive the cross shaft 311b to rotate around the shaft R3.

The jaw 311c is mounted on a pivot shaft 311h of the cross 311b, and the jaw 311c is rotatable about an axis R2. FIG. 160 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure. As shown in fig. 160, a deflection bevel gear 311i is provided on the caliper sheet 311 c. The rotation of the deflection bevel gear 311i on the deflection shaft 311h can drive the jaw 311c to rotate around the shaft R2, so as to realize the deflection motion R2 and the opening and closing motion K. The pitch axis 311d is perpendicular to the yaw axis 311h and intersects at a point, and the cross axis 311b and the forceps leaf 311c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 161 is a schematic diagram illustrating a driving wire arrangement of a front end effector according to still another embodiment of the present disclosure. Fig. 162 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the disclosure. For the pitching motion R3, referring to fig. 162, one end of the driving wire 311l is fixedly mounted on the pitching wire wheel 311f, and the other end thereof passes around the pitching wire wheel 311f, passes through the wire passing hole provided in the connecting base 311a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 311l is similarly attached to the pitch wire wheel 311f on the other side of the cross 311b, and the winding directions of the driving wires 311l on the pitch wire wheel 311f are opposite. By pulling the two driving wires 311l, the cross shaft 311b can rotate around the shaft R3, i.e., the pitch motion R3 of the front end actuator 311.

Fig. 163 is a schematic view of the arrangement of the driving wires for the deflection and opening and closing movements of the front end effector according to still another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 163, the driving wire 311 l' is fixed on the deflecting roller 311g, one end of the driving wire passes around the deflecting roller 311g, passes through the wire passing hole provided on the connecting seat 311a along the guide roller 311j, passes through the outer tube 22 and is fixedly mounted on the driving wire roller 21a in the rear end driving device 21, the other end of the driving wire passes through the deflecting roller 311g in the opposite direction, passes around the pitch shaft 311d, passes through the wire passing hole provided on the connecting seat 311a along the guide roller 311j, passes through the outer tube 22 and is fixedly mounted on the driving wire roller 21a in the rear end driving device 21, a bevel gear having the same module as the deflecting bevel gear 311i is arranged on one side of the deflecting roller 311g, the bevel gear on the deflecting roller is engaged with the deflecting bevel gear 311i, and the rotation of the deflecting roller 311g can drive the pincer 311c to rotate around the shaft R2. By pulling the two driving wires 311 l', the rotation of the jaw sheet 311c around the axis R2, i.e., the swing motion R2 and the opening and closing motion K of the front actuator 311, can be realized. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the deflection motion R2 of the tong leaves 311c coincide with the rotation axis of the opening and closing motion K, the tong leaves 311c are arranged on the same shaft of the cross shaft and distributed on both sides of the shaft, and the driving wire realizes crossing of the transverse shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 311c are distributed on both sides of the cross shaft 311b and still can be correctly engaged, the clamp leaves 311c are arranged in a Z-shaped structure. The jaw adopts a Z-shaped structure, so that no part which can generate motion interference with the jaw exists in the rotation direction of the jaw, and the deflection angle of the deflection motion R2 can reach +/-125 degrees.

Fig. 164 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 165 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front end actuator 312 includes a connecting base 312a, a cross 312b, a clamp 312c, and the like. The cross shaft 312b is disposed on the connecting seat 312a, and the clamp leaves 312c are disposed at two ends of one of the cross shafts 312 b. The connecting seat 312a is used for connecting the outer tube 22 and the front end actuator 312, the connecting seat 312a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 312a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 312 to realize the rotation motion R1.

FIG. 166 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure. Referring to fig. 165 and 166, the pitch shaft 312d of the cross shaft 312b is mounted on the shaft seat 312e of the connecting seat 312a, and the cross shaft 312b can rotate around the shaft R3. Two pitching wheel wheels 312f are fixedly mounted on the pitching shaft 312d, the axes of the pitching wheel wheels 312f are overlapped with the axis of the pitching shaft 312d, and the rotation of the pitching wheel wheels 312f can drive the cross shaft 312b to rotate around the shaft R3. Two double-row guide wheels 312g are also mounted on the pitch shaft 312d for driving the wire to guide.

Two deflection wheels 312n are obliquely and symmetrically arranged on the side wall above the cross shaft 312b, the deflection wheels 312n are used for controlling the rotation of the tong 312c, and one side of each deflection wheel 312n is of a bevel gear structure. By positioning the deflecting roller 312n above the cross 312b, the space occupied below the cross 312b is reduced, interference between the components below the rotating shaft and the drive wire is avoided, and the rotation angle of the deflecting roller R3 is increased.

The jaw leaf 312c is mounted on a deflection shaft 312h of the cross 312b, the jaw leaf 312c being rotatable about an axis R2. The nipper blade 312c is provided with a bevel gear 312i, and the bevel gear 312i is engaged with the bevel gear on the side of the deflection pulley 312 n. Rotation of the bevel gear 312i on the yaw axis 312h may drive the jaw 312c to rotate about the axis R2, effecting a yaw motion R2 and an opening and closing motion K. The pitch axis 312d is perpendicular to the yaw axis 312h and intersects at a point, and the cross axis 312b and the caliper 312c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 167 is a schematic diagram of an arrangement of driving wires of a front-end actuator according to yet another embodiment of the disclosure. Fig. 168 is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 168, one end of the driving wire 312l is fixedly mounted on the pitching wire wheel 312f, and the other end thereof passes around the pitching wire wheel 312f, passes through the wire passing hole provided in the connecting base 312a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 312l is similarly attached to the pitch wire wheel 312f on the other side of the cross 312b, and the drive wires 312l are wound in opposite directions around the pitch wire wheel 312 f. By pulling the two driving wires 312l, the cross shaft 312b can rotate around the shaft R3, i.e., the pitch motion R3 of the front end actuator 312.

FIG. 169 is a schematic view of the arrangement of the driving wires for the deflection and opening/closing movement of the front end effector according to still another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 169, the driving wire 312 l' is fixed on the deflecting roller 312n, one end of the driving wire passes around the deflecting roller 312n, passes through the wire passing hole provided on the connecting seat 312a along one of the double rows of guiding rollers 312g, passes through the outer tube 22 and is fixedly mounted on the driving wire roller 21a in the rear end driving device 21, the other end of the driving wire passes through the deflecting roller 312n in the opposite direction, passes through the wire passing hole provided on the connecting seat 312a along the other of the double rows of guiding rollers 312g, passes through the wire passing hole provided on the outer tube 22 and is fixedly mounted on the driving wire roller 21a in the rear end driving device 21, a bevel gear having the same module as the bevel gear 312i is arranged on one side of the deflecting roller 312n, the bevel gear on the deflecting roller is engaged with the bevel gear 312i of the nipper, and the rotation of the deflecting roller 312n can drive the nipper 312c to rotate around the shaft R2. By pulling the two driving wires 312 l', the rotation of the jaw 312c around the axis R2, i.e., the swing motion R2 and the opening and closing motion K of the front actuator 312, can be realized. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the pivoting movement R2 of the gripper leaves 312c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 312c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 312c are distributed on both sides of the cross-shaft 312b and still can be correctly engaged, the clamp leaves 312c are arranged in a Z-shaped structure. The clamp page adopts a Z-shaped structure, so that no part which can generate motion interference with the clamp page exists in the rotation direction of the clamp page, and the deflection angle of the deflection motion R2 can reach +/-125 DEG

Fig. 170 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 171 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front end actuator 313 includes a connecting base 313a, a cross 313b, a clamp leaf 313c, and the like. The connecting seat 313a is used for connecting the outer tube 22 and the front end executing device 313, the connecting seat 313a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 313a is overlapped with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end executing device 313 to realize the rotation motion R1.

Fig. 172 is a schematic view of a page clamping structure of a front-end execution device according to yet another embodiment of the disclosure. Referring to fig. 171 and 172, the pitch shaft 313d of the cross 313b is mounted on the shaft seat 313e of the connecting seat 313a, and the cross 313b can rotate around the shaft R3. Two pitching wheel 313f are fixedly arranged on the pitching shaft 313d, the axes of the pitching wheel 313f are overlapped with the axis of the pitching shaft 313d, and the rotation of the pitching wheel 313f can drive the cross shaft 313b to rotate around the shaft R3. Two yaw driving wheels 313g for driving the clamp blades 313c are further mounted on the pitch shaft 313 d. One end of the deflection driving wheel 313g is of a bevel gear structure. The caliper pages 313c are mounted on a deflection shaft 313h of the cross 313b, and the caliper pages 313c are rotatable about an axis R2. A deflection driven wheel 313n is arranged between the deflection shaft 313h and the pitch shaft 313d, the deflection driven wheel 313n is a bevel gear, and the gear module is the same as that of the bevel gear on the deflection driving wheel 313g and is meshed with the bevel gear. The nipper blade 313c is provided with a bevel gear 313i, and the bevel paper wheel 313i is meshed with the bevel gear of the deflection driven wheel 313 n. The rotation of the deflecting drive wheel 313g on the deflecting shaft 313h can drive the jaw 313c to rotate around the shaft R2, and the deflecting motion R2 and the opening and closing motion K are realized. The pitch axis 313d is perpendicular to the yaw axis 313h and intersects at one point, and the cross axis 313b and the forceps leaf 313c move around the axis, so that the characteristic that three axes intersect at one center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 173 is a schematic view illustrating an arrangement of driving wires of a front end effector according to still another embodiment of the present disclosure. Fig. 174 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 174, one end of the driving wire 313l is fixedly mounted on the pitching wire wheel 313f, and the other end thereof passes around the pitching wire wheel 313f, passes through the wire passing hole provided in the connecting base 313a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 313l is similarly attached to the pitch wire wheel 313f on the other side of the cross 313b, and the winding directions of the driving wires 313l on the pitch wire wheels 313f are opposite. By pulling the two driving wires 313l, the cross shaft 313b can rotate around the shaft R3, that is, the front end actuator 313 can perform the pitching motion R3.

FIG. 175 is a schematic view of the arrangement of the drive wires for the deflection and opening and closing movements of the front end effector according to yet another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 175, the driving wire 313l is fixed on the deflecting driving wheel 313g, one end of the driving wire passes through the wire passing hole provided on the connecting seat 313a after passing around the deflecting driving wheel 313g, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other end of the driving wire passes through the wire passing hole provided on the connecting seat 313a after passing through the deflecting driving wheel 313g, and passes through the wire passing hole provided on the outer tube 22 and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21, the deflecting driving wheel 313g, the deflecting driven wheel 313n, and the bevel gear 313i on the jaw 313c are sequentially engaged, and the rotation of the deflecting driving wheel 313g can drive the jaw 313c to rotate around the shaft R2. By pulling the two driving wires 313 l', the rotation of the jaw 313c around the axis R2, i.e. the pivoting movement R2 and the opening and closing movement K of the front actuator 313, can be achieved. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the pivoting movement R2 of the gripper leaves 313c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 313c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Meanwhile, in order to make the front end actuator more compact and make the two clamp leaves 313c arranged on both sides of the cross shaft 313b still able to be engaged correctly, the clamp leaves 313c do not need to be arranged in a "Z" shape. The tong page adopts a Z-shaped structure, so that no part capable of generating motion interference with the tong page is arranged in the rotation direction of the tong page.

Fig. 176 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 177 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front actuator 314 includes a connecting base 314a, a cross 314b, a clamp 314c, etc. The connecting seat 314a is used for connecting the outer tube 22 and the front end actuator 314, the connecting seat 314a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 314a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 314 to realize the rotation motion R1.

FIG. 178 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure. Referring to fig. 177 and 178, the pitch shaft 314d of the cross shaft 314b is mounted on the shaft seat 314e of the connecting seat 314a, and the cross shaft 314b can rotate around the shaft R3. Two pitching wire wheels 314f are fixedly mounted on the pitching shaft 314d, the axes of the pitching wire wheels 314f are overlapped with the axis of the pitching shaft 314d, and the rotation of the pitching wire wheels 314f can drive the cross shaft 314b to rotate around the shaft R3. Two yaw drive wheels 314g are also mounted on the pitch axis 314d for driving the tong 314 c.

The jaw leaf 314c is mounted on a deflection shaft 314h of cross 314b, the jaw leaf 314c being rotatable about axis R2. As shown in fig. 178, the clamp 314c is provided with an arc groove 314i, and the center of the arc groove 314i is not overlapped with the axis of the rotation shaft of the clamp 314 c.

Fig. 179 is a schematic view of a deflecting driving wheel of a front-end actuator according to yet another embodiment of the present disclosure. As shown in fig. 179, a shaft 314K is disposed on the deflection driving wheel 314g, the shaft 314K can slide in the arc groove 314i, and the rotation of the deflection driving wheel 314g can drive the shaft 314K to slide in the arc groove 314i, so as to drive the jaw 314c to rotate around the shaft R2, thereby realizing the deflection motion R2 and the opening and closing motion K. The pitch axis 314d is perpendicular to and intersects the yaw axis 314h at a point, and the cross axis 314b and the caliper 314c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 180 is a schematic view of a driving wire arrangement of a front end effector according to yet another embodiment of the present disclosure. Fig. 181 is a schematic diagram of a driving wire arrangement for the pitch motion of a front end effector according to still another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 181, the driving wire 314l has one end fixedly mounted on the pitching wire wheel 314f and the other end passing around the pitching wire wheel 314f, passes through the wire passing hole provided in the connecting base 314a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 314l is similarly attached to the pitch wire wheel 314f on the other side of cross 314b, and the drive wires 314l are wound in opposite directions around the pitch wire wheel 314 f. By pulling the two driving wires 314l, the cross shaft 314b can rotate around the shaft R3, i.e., the front end actuator 314 can perform a pitching motion R3.

FIG. 182 is a schematic view of the arrangement of the drive wires for the deflection and opening and closing movements of the front end effector according to yet another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 182, the driving wire 314l 'is fixed on the deflecting driving wheel 314g, one end of the driving wire passes through the wire passing hole provided on the connecting seat 314a after passing around the deflecting driving wheel 314g, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the other end of the driving wire passes through the wire passing hole provided on the connecting seat 312a after passing through the deflecting driving wheel 314g in the opposite direction, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the rotation of the deflecting driving wheel 314g can drive the shaft 314K to slide in the arc groove 314i, and further drive the clamp 314c to rotate, and pull the two driving wires 314 l', so as to realize the rotation of the clamp 314c 2 around the shaft, i.e. the deflecting motion R2 and the opening and closing motion K of the front end actuator 314.

In order to make the pivoting movement R2 of the gripper leaves 314c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 314c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Also, in order to make the front end actuator more compact and to maintain the two clamping leaves 314c on both sides of the cross-shaft 314b in proper engagement, the clamping leaves 314c are configured in a "Z" configuration. The tong page adopts a Z-shaped structure, so that no part which can generate motion interference with the tong page is arranged in the rotation direction of the tong page.

Fig. 183 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. Fig. 184 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front end actuator 315 includes a connecting base 315a, a cross 315b, a clamp 315c, and the like. The connecting seat 315a is used for connecting the outer tube 22 and the front end actuator 315, the connecting seat 315a is fixedly installed at the front end of the outer tube 22, the rotation axis of the connecting seat 315a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 315 to realize the rotation motion R1.

FIG. 185 is a schematic diagram of a page clamping structure of a front-end execution device according to yet another embodiment of the disclosure. Referring to fig. 184 and 185, the pitch shaft 315d of the cross 315b is mounted on the shaft seat 315e of the connecting seat 315a, and the cross 315b can rotate around the shaft R3. Two pitching wheel wheels 315f are fixedly mounted on the pitching shaft 315d, the axes of the pitching wheel wheels 315f are overlapped with the axis of the pitching shaft 315d, and the rotation of the pitching wheel wheels 315f can drive the cross shaft 315b to rotate around the shaft R3. Two yaw driving wheels 315g are further mounted on the pitch shaft 315d for driving the clamp 315c, and one end surface of the yaw driving wheel 315g is of a gear structure. The jaw 315c is mounted on a pivot shaft 315h of the cross 315b, the jaw 315c being rotatable about an axis R2. As shown in fig. 185, the clamp leaf 315c is provided with an arc groove 315i, and the center of the arc groove 315i is not overlapped with the axis of the rotating shaft of the clamp leaf 314 c.

Fig. 186 is a schematic view of a deflection driving rack of a front end actuator according to still another embodiment of the present disclosure. As shown in fig. 186, the deflection driving rack 315g is provided with a shaft 315k, and the shaft 315k can slide in the arc groove 315 i. The deflection driving rack 315g is engaged with a face gear of the deflection driving wheel 315g, and the rotation of the deflection driving wheel 315g can drive the deflection driving rack to slide on the cross shaft 315b, so as to drive the clamp leaf 315c to rotate. The rotation of the deflection driving wheel 315g can drive the shaft 315K to slide in the arc groove 315i, and further drive the jaw 315c to rotate around the shaft R2, thereby realizing the deflection motion R2 and the opening and closing motion K. The pitch axis 315d is perpendicular to the yaw axis 315h and intersects at a point, and the cross axis 315b and the forceps leaf 315c move around the axis, so that the characteristic that three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 187 is a schematic view of an arrangement of drive wires of a front-end actuator according to yet another embodiment of the disclosure. Fig. 188 is a schematic view of the arrangement of the driving wires for the pitch motion of the front end effector according to still another embodiment of the disclosure. For the pitching motion R3, referring to fig. 188, one end of the driving wire 315l is fixedly mounted on the pitching wire wheel 315f, and the other end thereof passes around the pitching wire wheel 315f, passes through a wire threading hole provided on the connecting seat 315a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another drive wire 315l is similarly attached to the pitch wire wheel 315f on the other side of the cross 315b, and the drive wires 315l are wound in opposite directions around the pitch wire wheel 315 f. By pulling the two driving wires 315l, the cross shaft 315b can rotate around the shaft R3, i.e., the pitch motion R3 of the front end actuator 315.

FIG. 189 is a schematic view of the arrangement of the drive wires for the deflection and opening and closing movements of the front end effector according to yet another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 189, the driving wire 315l 'is fixed on the deflecting driving wheel 315g, one end of the driving wire passes through the wire passing hole provided on the connecting seat 315a after passing around the deflecting driving wheel 315g, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the other end of the driving wire passes through the wire passing hole provided on the connecting seat 312a after passing through the deflecting driving wheel 315g in the opposite direction, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, and the rotation of the deflecting driving wheel 315g can drive the shaft 315K to slide in the arc groove 315i, and further drive the clamp 315c to rotate, and pull the two driving wires 315 l', so as to realize the rotation of the clamp 315c R2 around the shaft, that is, i.e., the deflecting motion R2 and the opening and closing motion K of the front end actuator 315.

In order to make the pivoting movement R2 of the gripper leaves 315c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 315c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Also, in order to make the front end actuator more compact and to maintain the two clamping leaves 315c on both sides of the cross shaft 314b in proper engagement, the clamping leaves 315c are configured in a "Z" configuration. The tong page adopts a Z-shaped structure, so that no part which can generate motion interference with the tong page is arranged in the rotation direction of the tong page.

Fig. 190 is a schematic structural diagram of a front-end execution device according to yet another embodiment of the present disclosure. FIG. 191 is an exploded view of a front-end effector configuration according to yet another embodiment of the present disclosure. The front actuator 316 includes a connecting base 316a, a cross 316b, a clamp 316c, etc. The connecting seat 316a is used for connecting the outer tube 22 and the front end actuator 316, the connecting seat 316a is fixedly mounted at the front end of the outer tube 22, the rotation axis of the connecting seat 316a coincides with the rotation axis of the outer tube 22, and the rotation of the outer tube 22 can drive the front end actuator 316 to realize the rotation motion R1.

Fig. 192 is a cross-shaft structure diagram of a front end effector according to yet another embodiment of the present disclosure. Referring to fig. 190, 191 and 192, the pitch shaft 316d of the cross shaft 316b is mounted on the shaft seat 316e of the connecting seat 316a, and the cross shaft 316b can rotate around the shaft R3. Two pitching wheel 316f are fixedly mounted on the pitching shaft 316d, the axes of the pitching wheels 316f are overlapped with the axes of the pitching shaft 316d, and the rotation of the pitching wheels 316f can drive the cross shaft 316b to rotate around the shaft R3. Two yaw drive wheels 316g are also mounted on the pitch axis 316d for driving the caliper blade 316 c. One end of the deflection driving wheel 316g is of a bevel gear structure. The jaw leaf 316c is mounted on a deflection shaft 316h of the cross 316b, the jaw leaf 316c being rotatable about an axis R2.

FIG. 193 is a diagram illustrating a page clamping structure of a front-end execution device according to yet another embodiment of the present disclosure. As shown in fig. 193, the nipper blade 316c is provided with a bevel gear 316i, and the bevel gear module of the bevel paper wheel 316i and the bevel gear module of the deflection driving wheel 316g are the same and meshed with each other. Rotation of the yaw drive wheel 316g on the yaw axis 316h causes the jaw 316c to rotate about the axis R2, effecting a yaw motion R2 and an opening and closing motion K. The pitch axis 316d and the yaw axis 316h intersect at a point, the included angle between the two axes is alpha, and the cross axis 316b and the clamp leaf 316c move around the axis, so that the characteristic that the three axes intersect at a center is realized. The overlapping arrangement of the rotating shaft and the deflection shaft of the clamp leaves is one of the steps for realizing the characteristic of three-shaft intersection and one-center intersection, and the clamp leaves are directly arranged on the cross shaft, so that the axial size of the front end execution device can be reduced, and the deflection motion load capacity is further improved.

Fig. 194 is a schematic view of a driving wire arrangement of a front-end actuator according to yet another embodiment of the disclosure. Fig. 195 is a schematic view of an arrangement of drive wires for pitch motion of a front end effector in accordance with yet another embodiment of the present disclosure. For the pitching motion R3, referring to fig. 195, the driving wire 316l has one end fixedly mounted on the pitching wheel 316f and the other end passing around the pitching wheel 316f, passes through the wire passing hole provided in the connecting base 316a, passes through the outer tube 22, and is fixedly mounted on the driving wheel 21a in the rear driving device 21. Another driving wire 316l is similarly attached to the pitch wire wheel 316f on the other side of the cross 316b, and the driving wires 316l are wound in opposite directions around the pitch wire wheel 316 f. By pulling the two driving wires 316l, the cross shaft 316b can rotate around the shaft R3, i.e., the front end actuator 316 can perform a pitching motion R3.

FIG. 196 is a schematic view of the drive wire arrangement for the deflection and opening and closing motions of a front end effector of yet another embodiment of the present disclosure. For the deflecting motion R2 and the opening and closing motion K, referring to fig. 196, the driving wire 316 l' is fixed on the deflecting driving wheel 316g, one end of the driving wire passes through the wire passing hole provided on the connecting seat 316a after passing around the deflecting driving wheel 316g, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the other end of the driving wire passes through the wire passing hole provided on the connecting seat 316a after passing through the deflecting driving wheel 316g, and passes through the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22, the bevel gear on the deflecting driving wheel 316g is engaged with the bevel gear 316i on the jaw 316c, and the rotation of the deflecting driving wheel 316g can drive the jaw 316c to rotate around the shaft R2. By pulling the two driving wires 316 l', the rotation of the jaw 316c around the axis R2, i.e. the swing motion R2 and the opening and closing motion K of the front actuator 316, can be realized. The bevel gear structures can also adopt a friction wheel scheme to realize the same function.

In order to make the pivoting movement R2 of the gripper leaves 316c coincide with the axis of rotation of the opening and closing movement K, the two gripper leaves 316c are arranged on the same shaft of the cross and are distributed on both sides of the shaft. Meanwhile, in order to make the front end actuator more compact and to ensure that the two clamp leaves 316c are distributed on both sides of the cross-shaft 316b and still can be correctly engaged, the clamp leaves 316c do not need to be arranged in a Z-shaped structure. The tong page adopts a Z-shaped structure, so that no part which can generate motion interference with the tong page is arranged in the rotation direction of the tong page.

The motion modes of the front end executing device 23 and the embodiment have the same characteristic that the device comprises a rigid part capable of rotating around a shaft, and the rotary motion coupling of a plurality of rigid parts realizes the operation action.

Fig. 197 is a schematic structural diagram of a flexible front-end actuator according to an embodiment of the disclosure. The flexible front end actuator 234 is structurally characterized in that: the front end executing device is composed of a plurality of deflectable joints in series connection, each joint can deflect a certain angle relative to the adjacent joint, and the deflection in a certain direction of all the joints is superposed to realize the bending action of the front end executing device.

The front end actuator 234 can complete three-degree-of-freedom motions, namely, a pitching motion R1, a yawing motion R2 and a self-rotating motion R3, under the driving of the rear end driving device 21, and includes a connecting seat 234a, a joint 234b, a pivoting seat 234c, a supporting seat 234d, and the like. The connecting seat 234a is used for connecting the outer tube 22 and the front end actuator 234, and the connecting seat 234a is fixedly installed at the front end of the outer tube 22. The other end of the connecting seat 234a is provided with a V-shaped groove structure for mounting the joint 234 b. One end of the joint 234b is provided with a V-shaped protrusion, and the edge part of the V-shaped protrusion presses the edge part of the bottom of the V-shaped groove. The other end of the knuckle 234b is provided with a V-shaped groove identical to the coupling seat 234a for mounting the adjacent knuckle 234b, and the edge of the bottom of the V-shaped groove is vertically staggered with the edge of the V-shaped protrusion. The sharp angle of the V-shaped protrusion is less than the sharp angle of the V-shaped groove base so that knuckle 234b can make a deflecting motion in the V-shaped groove, as shown in fig. 198. The rotary seat 234c is used to connect the knuckle 234b and the support seat 234d, and the rotary seat 234c is provided with a V-shaped protrusion identical to the knuckle 234b and capable of deflecting in the V-shaped groove of the adjacent knuckle 234 b.

The connecting seat 234a, the joint 234b and the rotary seat 234c are respectively provided with evenly distributed wire penetrating holes, one end of the driving wire 234e is fixedly connected with the rotary seat 234c, and the other end of the driving wire 234e passes through each joint 234c and the connecting seat 234a and is fixedly arranged on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. After the driving wire 234e is tensioned, the connecting seat 234a, the joint 234b and the rotating seat 234c are pressed against each other, and the pitching motion R1 and the yawing motion R2 of the front end driving device 234 can be realized by pulling the driving wire 234 e.

The supporting seat 234d is installed on the rotary seat 234c, an elastic flexible shaft 234f is fixedly installed at the rotating shaft of the supporting seat 234d, and the flexible shaft 234f is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the central holes of the connecting seat 234a, the joint 234b and the rotary seat 234c in sequence and passing through the outer tube 22. The rotation of the flexible shaft 234f can drive the support seat 234d to realize the rotation R3. In addition, the flexible shaft 234f can also provide resilience for each joint 234b on the front end actuator 234, which is beneficial to quick alignment of the joint 234b after deflection. The front end effector 234 having flexible characteristics is more suitable for surgical tools requiring quick response and no heavy load requirements than front end effectors having rigid rotating parts.

Fig. 199 is a schematic structural view of a flexible front end effector according to yet another embodiment of the present disclosure. The front end actuator 240 can complete three-degree-of-freedom motions, namely, a pitching motion R1, a yawing motion R2 and a self-rotating motion R3, under the driving of the rear end driving device 21. As shown in fig. 199, the flexible front end actuator according to the embodiment of the disclosure can move in three degrees of freedom, and includes a joint piece 240a, a joint ball 240b, a supporting seat 240c, and the like. The joint pieces 240a and the joint balls 240b are combined in series, and one joint ball is arranged between two adjacent joint pieces 240 a. FIG. 200 is a schematic view of a joint structure of a flexible front end effector according to yet another embodiment of the present disclosure. Referring to fig. 200, the joint piece 240b is uniformly provided with threading holes 240f, one end of the driving wire 240d is fixedly mounted with a screw 240e, and the other end of the driving wire passes through each threading hole 240f and then passes through the outer tube 22 to be fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. After the drive wires 240d are tensioned, the joint pieces 240a are pressed against the joint pieces 240 b.

FIG. 201 is a cross-sectional view of an articulation configuration of a flexible front end effector of yet another embodiment of the present disclosure. Referring to fig. 201, a through hole is formed in the rotation axis of the joint piece 240a and the joint ball 240b for installing a flexible shaft 240e, one end of the flexible shaft 240e is fixed to the support seat 240c, the other end of the flexible shaft 240e is installed in the rear end driving device 21, the support seat 240c can be driven by the rotation of the flexible shaft 240e to realize a self-rotation movement R3, and the flexible shaft 240e can also provide a bending restoring force for the front end actuator 240.

The two ends of the through hole on the joint sheet 240a are provided with arc surfaces, the radius of the arc surfaces is equal to that of the joint ball 240b, and the joint sheet 240a can rotate around the center of the ball on the joint ball b. When the driving wire 240d is pulled, the joint piece 240a rotates on the joint ball 240b by the pulling force of the driving wire 240d, and the front end actuator 240 deflects against the bending restoring force of the rotating shaft 240e, thereby realizing the pitching motion R1 and the yawing motion R2.

Fig. 202 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the present disclosure. The structure and the motion characteristics of the flexible front-end actuator 235 are similar to those of the front-end actuator 234, and the flexible front-end actuator is composed of a plurality of deflectable joints connected in series, each joint can deflect a certain angle relative to the adjacent joint, the deflection of all the joints in a certain direction is overlapped to realize the bending motion of the front-end actuator, and the flexible front-end actuator can complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely pitching motion R1, deflecting motion R2 and autorotation motion R3. The difference is that each joint of the front end execution device 234 is a discrete structure, each discrete joint is connected in series to form a flexible bendable structure through the limiting effect of the driving wire, the flexible bendable structure of the front end execution device 235 is a continuous body 235a, and each deflection joint is connected through a flexible hinge 235 b.

The discrete flexible front end actuator 234 belongs to an under-actuated structure, the degree of motion of the structure itself is greater than the degree of freedom thereof, which will cause the phenomenon that the deflection angles of the joints are different when the front end actuator 234 is bent in a certain direction, and in addition, the influence of the friction force factor of the driving wire in the traditional system of the wire sheath will cause the bending angle of the end of the front end actuator 234 close to the outer tube 22 to be larger, and the bending angle of the end of the outer tube 22 to be smaller. While the bendable structure of the front actuator 235 is a continuous body 235a, the continuous body 235a can be regarded as an elastic body, and the shape of the body is closer to a circular arc when the body is bent, as shown in fig. 203.

FIG. 204 is a schematic diagram of a flexible front end effector with variable stiffness capabilities according to an embodiment of the present disclosure. The main structure of the flexible front end actuator 236 with variable stiffness performance is a continuous body with a flexible hinge, and the gap of the continuous body is filled with a material capable of rapidly changing phase, so that the stiffness of the front end actuator 236 is changed by the phase change of the material. Because flexible front end effectors typically have a larger axial dimension, they are less load-bearing than rigid articulated front end effectors, and are more suitable for low-load surgical procedures requiring rapid response. In order to expand the application range of the flexible front end executing device, the flexible front end executing device can be set to be a structure with variable rigidity, the requirement of quick response is met in a flexible state, and the requirement of high load capacity is met in a rigid state.

FIG. 205 is a schematic diagram of the internal structure of a flexible front end effector having variable stiffness properties according to an embodiment of the present disclosure. The front-end actuator 236 includes: a flexible continuum 236a, a heater wire 236b, a lower collar 236c, an upper collar 236d, a support seat 236e, and the like. The inner part of the continuous body 236a is uniformly provided with wire threading holes in the radial direction, and is also uniformly provided with heating cavities 236f, and heating wires 236b are arranged in the heating cavities 236 f. The two end faces of the flexible continuum 236a are respectively provided with a lower retainer 236c and an upper retainer 236d, the upper retainer 236d is provided with a support seat 236e, a rotating shaft of the support seat 236e is fixedly provided with an elastic flexible shaft 236g, and the flexible shaft 236g is fixedly arranged on a driving wire wheel 21a in the rear end driving device 21 after sequentially passing through central holes of the upper retainer 236d, the flexible continuum 236a and the lower retainer 236c and passing through the outer tube 22. The rotation of the elastic flexible shaft 236g can drive the supporting seat 236e to realize the rotary motion R3. In addition, the flexible shaft 236g can provide resilience to the flexible continuous body 236a, which is beneficial to the quick alignment after the front end actuator 236 deflects. The other end face of the lower retainer 236c is fixedly connected with the outer tube 22, one end of the driving wire 236h is fixed with the upper retainer 236d, and the other end of the driving wire 236h passes through the wire feeding hole formed in the flexible continuous body 236a and the lower retainer 236c and then is fixedly mounted on the driving wire wheel 21a in the rear-end driving device 21 after passing through the outer tube 22. The front end actuator 234 can complete three-degree-of-freedom motions, namely, a pitching motion R1, a yawing motion R2 and a rolling motion R3, under the driving of the rear end driving device 21.

The outer wall and the inner wall of the flexible continuum 236a are respectively coated with an outer encapsulating tube 236i and an inner encapsulating tube 236k for sealing the continuum 236a, and the inner encapsulating tube 236i and the outer encapsulating tube 236k are generally made of materials with high elasticity, and the bending performance of the flexible continuum 236a is not affected after encapsulation. The gap inside the flexible continuous body 236a is filled with a low-temperature phase change material, such as liquid metal, and the front end actuator 236 is in a flexible state when heated by the heating wire 236b to become liquid; after the heating is stopped, the low-temperature phase-change material is quickly condensed into a solid state, and the front-end execution device is in a rigid state. In addition to the low-temperature phase change material, a material such as magnetic fluid may be filled in the gap in the continuous body 236a, and the stiffness of the front-end actuator 236 may be changed by applying magnetic fields in different directions thereto.

Fig. 206 is a schematic structural diagram of a flexible front end actuator according to yet another embodiment of the present disclosure. The main body structure is a flexible continuous body 237a made of metal, the structure and the motion characteristics of which are similar to those of the front end execution device 235, and the flexible continuous body is composed of a plurality of deflectable joints which are connected in series, and the deflectable joints are connected by flexible hinges 237 b. Each joint can deflect a certain angle relative to the adjacent joint, the deflection superposition of all joints in a certain direction realizes the bending action of the front end executing device, and the three-degree-of-freedom motion, namely pitching motion R1, deflecting motion R2 and autorotation motion R3, can be completed under the drive of the rear end driving device 21.

The flexible continuous body 237a is formed by processing a whole thin-wall metal tube, and the hollow part of the tube wall is removed by a laser cutting method. FIG. 207 is a schematic view of a flexible hinge connection of a flexible front end effector of yet another embodiment of the present disclosure. Referring to fig. 207, the hollowed portions of the two ends of the flexible hinge 237b may be cut to form a circular profile, so as to prevent local stress concentration and improve the fatigue strength of the flexible hinge. The continuous body 237a is made of a metal tube with high elasticity, such as a stainless steel tube, a nitinol tube, etc.

Fig. 208 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the present disclosure. The main structure of the flexible front-end actuator 238 is a metal discrete joint 238a, adjacent joints are connected by a hinge 238b, each joint can deflect a certain angle relative to the adjacent joint, and three-degree-of-freedom motions, namely a pitching motion R1, a yawing motion R2 and a self-rotation motion R3, are completed under the drive of the rear-end drive device 21.

The entire continuum on the front end effector 238 is machined from a single thin walled metal tube. FIG. 209 is a schematic view of an articulating structure of a flexible front end effector of yet another embodiment of the present disclosure. As shown in fig. 209, the hollow portion of the tube wall is removed by laser cutting, the hinge 238b is formed by one-time cutting with a laser beam, and two adjacent discrete joints can rotate around the axis thereof.

FIG. 210 is a schematic view of discrete articulation of a flexible front end effector of yet another embodiment of the present disclosure. The metal pipe is arranged on a chuck of the laser cutting machine and rotates along with the chuck, and meanwhile, the laser beam irradiates the metal pipe for cutting. The laser beam is perpendicularly intersected with the rotation axis of the metal tube. Fig. 211 is a cross-sectional view of the cutting direction shown in fig. 208, and as shown in fig. 211, since the laser beam perpendicularly intersects with the rotation axis of the metal tube, so that the extension line direction of the slits of the hinges 238b of two adjacent discrete joints passes through the rotation axis of the metal tube, the wall thickness of the tube wall is usually 0.1-0.3 mm, and the width a of the slits is about 0.02mm, so that the movement of two adjacent discrete joints in the x and y directions is limited, and only the rotation around the rotation axis of the hinges can be performed.

FIG. 212 is a schematic view of a thickened discrete joint of a flexible front end effector of yet another embodiment of the present disclosure. Because the metal pipe has a thin wall, the discrete joint cannot bear large bending moment or torque in the axial direction of the metal pipe, and the method shown in fig. 212 can be adopted to increase the wall thickness of the metal pipe to improve the load capacity of the discrete joint. And respectively cutting metal pipes with different sizes according to the same track, sleeving after cutting, and welding or adhering and fixing the inner discrete joint and the outer discrete joint.

Fig. 213 is a schematic structural diagram of a flexible front-end actuator according to yet another embodiment of the disclosure. The front end actuator 243 can complete three-degree-of-freedom motions, namely, a pitching motion R1, a yawing motion R2 and a self-rotating motion R3, under the driving of the rear end driving device 21. The main structure of the front end effector 243 is composed of a plurality of driving units 243a capable of bending in two directions, and the bending directions of two adjacent driving units 243a are orthogonal, as shown in fig. 214.

The driving unit 243a includes an outer tube 243b and an inner tube 243c, the inner diameter of the outer tube 243b is the same as the outer diameter of the inner tube 243c, the outer tube 243b is fixedly installed on the outer wall of the inner tube 243c, the bending directions of the two elements are the same, and the bending axes are overlapped, as shown in fig. 215.

The outer pipe 243b and the inner pipe 243c are machined from thin-walled metal pipes. Fig. 216 is a side view of a drive unit of a flexible front end effector of yet another embodiment of the present disclosure. As shown in fig. 216, the hollow portion of the tube wall is removed by laser cutting. Taking the outer tube 243b as an example, the structure is arranged in a central symmetry manner, the symmetry axis is a rotation axis of the outer tube, and the outer tube includes a base 243d and an elastic arm 243e at two ends, and the elastic arm 243e is used for keeping the shape of the outer tube 243b and providing bending resilience for the outer tube 243 b. The base 243d is provided with a circular arc inclined surface 243f for guiding the elastic arm 243e, and when the outer tube 243b is bent toward one direction, the elastic arm 243e is bent along the inclined surface 243 f. Since the outer tube 243b has a centrosymmetric structure, the two elastic arms 243e are always bent in opposite directions, so as to prevent the outer tube 243b from being compressed in the axial direction.

Also due to the central symmetrical structure of the outer tube 243b, when it is bent, a torque is generated as shown by the arrow direction in fig. 217. To counteract the effect of this torque on the bending effect, the inner tube 243c is constructed in the same manner as the outer tube 243b, with the elastic arms 243e cutting in the opposite direction from the elastic arms 243e of the outer tube 243b, as shown in fig. 218. When the driving unit 243a is bent, the torque generated by the outer tube 243b and the inner tube 243c are opposite in direction and cancel each other out.

Fig. 219 is a schematic structural diagram of a front-end execution device according to an embodiment of the present disclosure. The main structure of the front end actuator 239 is composed of a plurality of rotatable joints, the end face of each rotatable joint is an inclined plane, a rotatable shaft is arranged on the inclined plane, adjacent rotatable joints can rotate on the inclined plane, and the axes of the adjacent rotatable joints deflect along with the rotation of the rotatable joints. The rotational motion of the plurality of revolute joints on the inclined plane realizes the each-directional motion of the front end executing device 239, and the three-degree-of-freedom motion, namely the pitching motion R1, the yawing motion R2 and the autorotation motion R3, is completed under the driving of the rear end driving device 21.

Fig. 220 is a schematic view of an internal structure of a rotary joint of a front end effector according to an embodiment of the present disclosure. The inner end surface of the rotary joint 239a is an inclined surface, a rotary shaft A is arranged on the inclined surface, the rotary shaft A is vertical to the inclined surface, and the adjacent rotary joint 239a can rotate around the shaft A on the inclined surface. The included angle between the rotating shaft A and the axis B of the rotating joint 239a is theta, when the rotating joint 239a rotates around the shaft A, the axes B of two adjacent rotating joints deflect, the deflection angle is increased along with the rotation angle around the shaft A, and when the rotating joint 239a rotates around the shaft A by 180 degrees, the included angle between the axes B of the two adjacent rotating joints reaches the maximum value of 2 theta. Rotation of each revolute joint 239a about axis a causes the front actuator 239 to perform yaw motions R1 and R2, as shown in fig. 221.

Fig. 222 is a schematic view of a driving method of each revolute joint of the front end effector according to the embodiment of the present disclosure. Limited by the size limitation of the surgical tool (usually the outer diameter is less than 10mm), the front end executing device 239 adopts a flexible conduit driving mode, a flexible conduit capable of transmitting torque is installed inside the rotary joint, and the rotation of the flexible conduit drives the movement of the rotary joint. In fig. 222, the three rotary joints are respectively a first rotary joint 239b, a second rotary joint 239c and a third rotary joint 239d, a first flexible conduit 239e is installed in the second rotary joint 239c, the rotary axis of the first flexible conduit 239e is overlapped with the rotary axis of the second rotary joint 239c, the rotation of the first flexible conduit 239e can drive the second rotary joint 239c to rotate, and the second rotary joint 239c is installed on the oblique end surface of the first rotary joint 239b, so the rotation of the first flexible conduit 239e can drive the second rotary joint 239c to rotate around the axis a on the oblique surface. The other end of the first flexible conduit 239e passes through the first revolute joint 239b, then passes through the conduit 22, and is mounted on the rear end driving device 21. A second flexible conduit 239f is arranged in the third revolute joint 239d in the same way as the second revolute joint 239c, the outer diameter of the second flexible conduit 239f is smaller than the inner diameter of the first flexible conduit 239e, the second flexible conduit can penetrate through the first flexible conduit 239e and is arranged on the rear end driving device 21, and the first flexible conduit 239e and the second flexible conduit 239f rotate independently.

Surgical tools used in robotic-assisted minimally invasive surgery typically employ a wire-driven approach, limited by the tensile strength of the drive wire and the size requirements of the surgical tool, which fails to provide greater load capacity. The front end executing device 239 is driven by a flexible conduit, the flexible conduit can transmit large torque, and the rotation of the flexible conduit replaces the stretching motion of a driving wire, so that the front end executing device has large bending and twisting load capacity.

In one embodiment of the present disclosure, there is also provided a surgical instrument including the front end effector as described in the previous embodiments.

In yet another embodiment of the present disclosure, there is also provided a manipulator apparatus including a joint assembly including the front-end effector as described in the previous embodiments. The front end effector may be provided in the joint assembly of a slave manipulator in the manipulator device, wherein an operation command of the slave manipulator is transmitted from the master manipulator.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". In general, the meaning of the expression is meant to encompass variations of a specified number by ± 10% in some embodiments, by ± 5% in some embodiments, by ± 1% in some embodiments, by ± 0.5% in some embodiments.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.

The methods and displays presented herein are not inherently related to any particular computer, virtual machine system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this disclosure is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the present disclosure as described herein, and any descriptions above of specific languages are provided for disclosure of enablement and best mode of the present disclosure.

The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in the relevant apparatus according to embodiments of the present disclosure. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A front-end execution apparatus, comprising:

2. The front-end actuator according to claim 1, wherein the front-end actuator is a clamping front-end actuator, the clamping front-end actuator has at least two independently movable actuating components, and each of the at least two actuating components is provided with a first front-end actuator driving wire wheel and a second front-end actuator driving wire wheel for opening and closing the at least two actuating components under the driving of a driving wire.

3. The front-end actuator according to claim 2, wherein at least two of the actuating parts are mounted opposite at both ends of a first or second cross shaft of the cross shaft such that the axis of rotation effecting the opening and closing movement of the at least two actuating parts coincides with the axis of rotation of one of the two degrees of freedom.

4. The front end effector assembly according to claim 2, wherein the at least two independently movable effector components comprise two intermeshing jaw pages, the jaw pages being of a "Z" configuration such that a yaw or pitch degree of freedom coaxial with the gripping degree of freedom of the gripping-type front end effector assembly is less than-90 ° or greater than 90 °.

5. The front end effector as claimed in claim 1, wherein the front end effector has a first degree of freedom axis of rotation spaced from a second degree of freedom axis of rotation by a distance of 0.

6. The front-end effector as claimed in claim 1, wherein the front-end effector has a load capacity of at least 30N.

7. A control method of the front-end execution apparatus according to any one of claims 1 to 6, comprising:

controlling a first driver of the manipulator to drive a driving wire wheel in an actuating mechanism to rotate, and pulling a first cross shaft or a second cross shaft arranged in the cross shaft to rotate so as to operate the front end executing device to execute one of pitching motion and yawing motion;

and controlling the first driver of the manipulator to drive the rotation of the driving wire wheel in the actuating mechanism, and pulling the first front end effector driving wire wheel or the second front end effector driving wire wheel of at least two independently movable executing parts respectively arranged on the front end effector to realize synchronous or asynchronous axial rotation of the at least two executing parts so as to operate the front end executing device to execute the other one of the pitching motion or the deflection motion or operate the front end executing device to execute the clamping motion.

8. A surgical instrument comprising a front-end effector as claimed in any one of claims 1 to 6.

9. A manipulator apparatus, comprising:

joint assembly comprising a front-end effector according to any of claims 1-6.

10. The manipulator device according to claim 9, wherein the front end effector is provided to the joint assembly of a slave manipulator in the manipulator device, and wherein an operation command of the slave manipulator is transmitted from a master manipulator.