CN117122415A - End effector, surgical instrument and surgical robot - Google Patents

Abstract

The application relates to an end effector, a surgical instrument and a surgical robot. The end effector includes: a base; the pitching joint is rotatably arranged on the base; the turntable is rotatably arranged on the pitching joint; and at least one movable executing piece, wherein the movable executing pieces are in one-to-one corresponding transmission connection with the turntables, and the turntables are used for driving the movable executing pieces to rotate when rotating, and the rotating axes of the turntables are basically parallel to the rotating axes of the movable executing pieces. Under the condition that the input force of the rope to the turntable is certain, the lever formed by the movable execution piece is used for borrowing force, so that the output force of the head end of the movable execution piece can be increased, and the miniaturization design of the surgical instrument and the output force requirement of the end effector are considered.

Description

End effector, surgical instrument and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to an end effector, a surgical instrument and a surgical robot.

Background

Surgical instruments having a smart multi-joint motion capability have been widely used in the field of clinical surgical treatment today. Wherein the joints of most surgical instruments are driven by a pair of very thin ropes. Due to the miniaturized design of the surgical instrument, the rope which can be selected in the surgical instrument is very thin, so that the tension which can be born by the rope is relatively small, and the output force of the end effector of the surgical instrument is insufficient.

In some clinical surgical scenarios, the end effector of a surgical instrument may have difficulty holding some of the larger tissue within the patient or other instruments such as an ultrasonic probe due to insufficient output force of the end effector, which may affect the surgical procedure.

Disclosure of Invention

Accordingly, it is necessary to provide an end effector, a surgical instrument, and a surgical robot capable of satisfying both the miniaturization design of the surgical instrument and the output force demand of the end effector, in order to solve the problem that the output force of the end effector is insufficient due to the miniaturization design of the conventional surgical instrument.

An embodiment of the present application provides an end effector comprising:

a base;

the pitching joint is rotatably arranged on the base;

at least one turntable rotatably arranged on the pitching joint; and

the movable executing pieces are in one-to-one transmission connection with the turntables, and the turntables are used for driving the movable executing pieces to rotate when rotating, wherein the rotating axes of the turntables are basically parallel to the rotating axes of the movable executing pieces.

In an embodiment, one of the tail end of the movable executing piece and the corresponding turntable is provided with a sliding groove, and the other is provided with a sliding part which is in sliding fit with the sliding groove.

In an embodiment, the sliding groove is disposed on the tail end of the movable executing piece, the sliding portion is disposed on the turntable and protrudes out of the turntable, and the sliding portion deviates from the rotation axis of the turntable.

In an embodiment, the sliding portion and the sliding groove are located between the rotation axis of the turntable and the rotation axis of the movable actuator.

In an embodiment, the number of the movable executing pieces is at least two, and at least two movable executing pieces are coaxial and can be arranged in a relative rotation mode.

In an embodiment, the end effector further comprises a fixed effector fixedly disposed on the pitch joint, and the movable effector is rotatably connected to the fixed effector.

In an embodiment, a rope connection structure is provided on the turntable for connecting a rope, the turntable being driven by the rope.

In an embodiment, the rotational axis direction of the pitch joint is substantially perpendicular to the rotational axis direction of the turntable.

An embodiment of the present application provides a surgical instrument, including a proximal controller, an intermediate connecting rod, and an end effector as described in any one of the foregoing, where the proximal controller and the end effector are connected by a corresponding rope, and the rope is threaded through the intermediate connecting rod.

An embodiment of the present application provides a surgical robot including: the surgical instrument is arranged at the tail end of the mechanical arm.

The end effector, the surgical instrument and the surgical robot are in transmission connection with the turntable, and the turntable is used for driving the movable effector to rotate when rotating, so that the movable effector can perform surgical operation. Because the rotation axis of the turntable is substantially parallel to the rotation axis of the movable executing member, the rotation axis of the turntable and the rotation axis of the movable executing member are arranged at intervals, so that it can be understood that one end (i.e., the tail end) of the movable executing member is positioned at one side of the rotation axis of the movable executing member, which is close to the rotation axis of the turntable, the other end (the head end) of the movable executing member is positioned at one side of the rotation axis of the movable executing member, which is away from the rotation axis of the turntable, and the turntable is in transmission connection with the tail end of the movable executing member. When the rotary table drives the tail end of the movable executing piece to rotate, the movable executing piece integrally rotates around the rotation axis of the movable executing piece, so that the head end of the movable executing piece can execute operation, and the movable executing piece forms a lever. Under the condition that the input force to the rotary table is certain, the lever formed by the movable executing piece is used for borrowing force, so that the output force of the head end of the movable executing piece can be increased, and the miniaturization design of the surgical instrument and the output force requirement of the end effector are considered.

Drawings

FIG. 1 is a schematic diagram of an end effector according to one embodiment;

FIG. 2 is a schematic illustration of the connection of the movable actuating member, the rotary disk, the first shaft, and the second shaft of the end effector of FIG. 1;

FIG. 3 is a schematic view of the end effector of FIG. 1 with two movable actuators relatively closed;

FIG. 4 is a schematic illustration of the end effector of FIG. 1 with two movable members relatively open;

FIG. 5 is a schematic illustration of a relationship between a circumference of a rotational locus of a tail end of a movable actuator of the end effector of FIG. 1 and a circumference of an outer contour of a turntable;

fig. 6 is a schematic diagram of a coincidence relation between a circumference of a rotation track of a tail end of a movable actuator of an end effector and a circumference of a rotation track of an outer contour of a turntable.

Reference numerals illustrate: an end effector 100; a base 110; a turntable 120; a sliding section 121; a movable actuator 130; tail end 130a; head end 130b; a chute 131; a first shaft 140; a second shaft 150; a rope connection structure 160; pitch joint 170.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1-4, an end effector 100 is provided according to an embodiment of the present application. The end effector 100 includes: base 110, pitch joint 170, at least one turntable 120, and at least one movable actuator 130. The pitch joint 170 is rotatably disposed on the base 110. The turntable 120 is rotatably disposed at the pitching joint 170. The movable executing pieces 130 are in one-to-one transmission connection with the turntables 120, and the turntables 120 are used for driving the movable executing pieces 130 to rotate when rotating, wherein the rotating axes of the turntables 120 are basically parallel to the rotating axes of the movable executing pieces 130.

In the end effector 100, the movable actuator 130 is in driving connection with the turntable 120, and the turntable 120 is used to drive the movable actuator 130 to rotate when rotating, so that the movable actuator 130 can perform a surgical operation. Since the rotation axis of the turntable 120 is substantially parallel to the rotation axis of the movable actuator 130, the rotation axis of the turntable 120 is spaced apart from the rotation axis of the movable actuator 130, so that it can be understood that one end (i.e., the tail end 130 a) of the movable actuator 130 is located at a side of the rotation axis of the movable actuator 130 near the rotation axis of the turntable 120, the other end (the head end 130 b) of the movable actuator 130 is located at a side of the rotation axis of the movable actuator 130 away from the rotation axis of the turntable 120, and the turntable 120 is in driving connection with the tail end 130a of the movable actuator 130. When the rotary table 120 drives the tail end 130a of the movable executing member 130 to rotate, the movable executing member 130 integrally rotates around the rotation axis thereof, so that the head end 130b of the movable executing member 130 can perform the operation, and the movable executing member 130 forms a lever. In the case that the input force to the rotary table 120 is constant, the lever formed by the movable actuator 130 is used to increase the output force of the head end 130b of the movable actuator 130, thereby taking into account the miniaturization design of the surgical instrument and the output force requirement of the end effector 100.

Referring to fig. 1 to 4, in an embodiment, the turntable 120 is rotatably disposed on the pitch joint 170 through a corresponding first shaft 140. The rotational axis of the turntable 120 is the axis of the first shaft 140.

In one embodiment, when the number of the movable executing members 130 is at least two, the number of the turntables 120 is at least two.

In an embodiment, at least two turntables 120 correspond to the same first shaft 140, the first shaft 140 is mounted on the pitch joint 170, and at least two turntables 120 are respectively rotatably connected to the first shaft 140, i.e. at least two turntables 120 are rotatably connected to the pitch joint 170 through the same first shaft 140.

In one embodiment, the turntable 120 is in one-to-one correspondence with the first shaft 140. I.e. each turntable 120 is rotatably connected to a pitch joint 170 via a respective corresponding first shaft 140.

Referring to fig. 1 to 4, in an embodiment, the number of the movable executing members 130 is at least two, and the at least two movable executing members 130 are coaxially and rotatably disposed.

In particular, in the present embodiment, the number of the movable actuators 130 is two. The two movable actuators 130 are coaxially and rotatably disposed relative to each other, so that the two movable actuators 130 can be opened or closed relative to each other when they are rotated relative to each other, and the two movable actuators 130 can perform a surgical operation together. In this embodiment, the end effector 100 may be a surgical shears, forceps, or the like. In a surgical operation, the working mode of the end effector 100 may be adjusted such that the rotational directions of the rotary tables 120 corresponding to the two movable actuators 130 are opposite, and thus the rotational directions of the two movable actuators 130 are opposite, thereby enabling the two movable actuators 130 to be opened or closed relatively.

In other embodiments, the number of movable actuators may also be more, e.g., three, four, five, etc.

Referring to fig. 1 to 4, in an embodiment, at least two movable executing members 130 are coaxially and rotatably connected through corresponding second shafts 150, and then the at least two movable executing members 130 are rotatable about the axes of the second shafts 150. The axis of rotation of the movable actuator 130 is the axis of the second shaft 150.

In this embodiment, in addition to the relative rotation of the at least two movable executing members 130, the working mode of the end effector 100 may be adjusted, so that the rotation directions of the turntables 120 corresponding to the at least two movable executing members 130 are the same, and the at least two movable executing members 130 can rotate in the same direction about the rotation axis of the turntables 120, so as to realize the deflection action of the at least two movable executing members 130, enhance the action flexibility of the movable executing members 130, and facilitate the operation.

In some embodiments, at least two movable actuators 130 may correspond to the same second shaft 150. For example, the at least two movable actuators 130 are respectively riveted with the same second shaft 150, so that the at least two movable actuators 130 can respectively rotate around the second shaft 150, thereby realizing coaxial relative rotation of the at least two movable actuators 130.

In some embodiments, the movable actuator 130 and the second shaft 150 may also be in a one-to-one correspondence. By rotationally coupling the second shafts 150 corresponding to the respective movable actuators 130, a coaxial relative rotation of at least two movable actuators 130 can also be achieved.

In other embodiments, the end effector further comprises a stationary effector (not shown) fixedly disposed to the pitch joint 170, the movable effector 130 rotatably coupled to the stationary effector. Specifically, the stationary actuators are stationary relative to the pitch joint 170. The movable executing piece 130 is driven to rotate by the turntable 120, so that the movable executing piece 130 and the fixed executing piece relatively rotate, and the movable executing piece 130 and the fixed executing piece can be relatively opened and relatively closed, and further the operation can be performed. It will be appreciated that in this embodiment, the number of movable actuators 130 may be one. The relative opening and closing of one movable actuator 130 and the fixed actuator may then perform surgical operations such as clamping, shearing, etc.

Referring to fig. 2 to 4, in an embodiment, one of the tail end 130a of the movable actuating member 130 and the corresponding turntable 120 is provided with a sliding slot 131, and the other is provided with a sliding portion 121, and the sliding portion 121 is slidably engaged with the sliding slot 131.

Specifically, when the turntable 120 rotates, the sliding portion 121 is driven to slide along the chute 131, and the acting force between the sliding portion 121 and the chute wall of the chute 131 can drive the tail end 130a of the movable executing member 130 to rotate around the rotation axis thereof, so that the movable executing member 130 integrally rotates around the rotation axis thereof, and the head end 130b of the movable executing member 130 performs the surgical operation. The sliding part 121 is in sliding fit with the sliding groove 131, so that the turntable 120 is conveniently in transmission connection with the tail end 130a of the movable executing piece 130.

Referring to fig. 2 to 4, in an embodiment, a sliding groove 131 is formed on a tail end 130a of the movable executing member 130, a sliding portion 121 is formed on the turntable 120 and protrudes from the turntable 120, and the sliding portion 121 is deviated from a rotation axis of the turntable 120, so that the turntable 120 rotates to drive the sliding portion 121 to synchronously perform a circular motion, and the sliding portion 121 relatively slides in the sliding groove 131 to drive the tail end 130a of the movable executing member 130 to rotate around the rotation axis.

Preferably, the sliding portion 121 is provided at the edge of the turntable 120, so that the sliding portion 121 can be engaged with the sliding groove 131 in the case of a smaller diameter design of the turntable 120, and thus the volume of the turntable 120 can be reduced.

In an embodiment, the sliding portion 121 protrudes from the end surface of the turntable 120, and the sliding portion 121 is slidably matched with the sliding groove 131, so that the tail end of the movable executing member 130 is also located at one side of the end surface of the turntable 120, so that the relative position between the movable executing member 130 and the turntable 120 is conveniently set, and the turntable 120 is conveniently connected with the tail end 130a of the movable executing member 130 in a transmission manner.

As shown in fig. 1 to 4, in an embodiment, a rope connection structure 160 is provided on the turntable 120, and the rope connection structure 160 is used to connect a rope (not shown), by which the turntable 120 is driven.

The rope connecting means 160 may be a wire clamping means for clamping the rope, a binding means (e.g., a connecting ring, a hook) for allowing the rope to be bound, a clamping means for clamping the rope, or the like, without limitation.

In particular, the rope may be wound on the turntable 120. Since the rope is connected to the turn table 120 through the rope connection structure 160, the rope can be fixed to the turn table 120 at the rope connection structure 160, the rope is prevented from being separated from the turn table 120, and the rope can be prevented from sliding relative to the turn table 120. Because the rope is wound on the turntable 120, when one end of the rope is pulled, the rope drives the turntable 120 to rotate clockwise, and when the other end of the rope is pulled, the rope drives the turntable 120 to rotate anticlockwise. This drives the turntable 120 to rotate in opposite directions, respectively.

In one embodiment, the rotational axis of pitch joint 170 is substantially perpendicular to the rotational axis of turntable 120.

Since the dial 120 is provided on the pitching joint 170, when the pitching joint 170 rotates around its rotation axis, the dial 120 and the movable actuator 130 can be carried together to rotate around the rotation axis of the pitching joint 170. Since the rotational axis direction of the pitch joint 170 is substantially perpendicular to the rotational axis direction of the turntable 120 (i.e., substantially perpendicular to the rotational axis direction of the movable actuator 130), the movement flexibility of the movable actuator 130 is enhanced.

In one embodiment, the end effector 100 further comprises a yaw joint (not shown). The deflection joint is rotatably arranged on the base. The pitch joint 170 is rotatably disposed on the yaw joint such that the pitch joint 170 is indirectly disposed on the base. When the yaw joint rotates, the pitch joint 170, the turntable 120, and the movable actuator 130 are carried and rotated together about the rotation axis of the yaw joint. Thus, by the rotation of the yaw joint, the movement flexibility of the movable actuator 130 can be further enhanced.

Referring to fig. 3 to 5, in an embodiment, when the movable executing member 130 rotates around its rotation axis, the circumference of the rotation track of the tail end 130a of the movable executing member 130 is S1. When the turntable 120 rotates around its rotation axis, the circumference of the outer contour of the turntable 120 is S2. As can be appreciated from fig. 5, only if the sliding groove 131 and the sliding portion 121 are disposed in the overlapping region a of S1 and S2, the sliding portion 121 and the sliding groove 131 can be engaged, so that the movable actuator 130 can be driven to rotate about the rotation axis thereof.

Since the rotation axis of the movable actuator 130 is parallel to the rotation axis of the turntable 120, it is known from the geometric principle that two parallel lines can define a plane, i.e. the rotation axis of the movable actuator 130 and the rotation axis of the turntable 120 together define a plane P. As shown in fig. 5, the overlapping area a of S1 and S2 is divided into two halves by the plane P.

The rotational travel of the movable actuator 130 about its rotational axis has a first limit angle and a second limit angle such that the travel between the first limit angle and the second limit angle is the rotational travel of the movable actuator 130. Fig. 3 shows a state of the movable actuator 130 (the movable actuator 130 on the left side of the two movable actuators 130) at a first limit angle, the sliding portion 121 is located on one side of the plane P, and fig. 4 shows a state of the movable actuator 130 (the movable actuator 130 on the left side of the two movable actuators 130) at a second limit angle, the sliding portion 121 is located on the other side of the plane P. Since the sliding parts 121 are respectively located at different sides of the plane P when the movable executing part 130 is at the first limit angle and the second limit angle, the sliding parts 121 move from one side of the plane P to the other side of the plane P through the plane P in the process of switching between the first limit angle and the second limit angle, so that the sliding parts 121 can have a larger rotation stroke in the limited overlapping area a, and the rotation stroke of the movable executing part 130 when rotating around the axis thereof is larger, which is beneficial to the flexibility of operation.

Referring to fig. 3 to 5, in an embodiment, the chute 131 and the sliding portion 121 are both located between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130.

Specifically, the tail end 130a of the movable actuating member 130 is located between the rotation axis of the turntable 120 and the rotation axis of the movable actuating member 130, so that the matching structure of the sliding chute 131 and the sliding portion 121 is located between the rotation axis of the turntable 120 and the rotation axis of the movable actuating member 130, and when the turntable 120 drives the movable actuating member 130 to act, the matching structure of the sliding chute 131 and the sliding portion 121 always moves between the rotation axis of the turntable 120 and the rotation axis of the movable actuating member 130. In this way, the mating structure of the chute 131 and the sliding portion 121 does not interfere with the rotation shaft (the first shaft 140) of the turntable 120, facilitating processing and assembly.

Referring to fig. 6, in still another embodiment, the tail end of the movable actuating member 130 is located at a side of the rotation axis of the turntable 120 away from the rotation axis of the movable actuating member 130, so that the distance between the sliding portion 121 and the groove wall of the chute 131 between the force acting point of the tail end 130a of the movable actuating member 130 and the rotation axis of the movable actuating member 130 is longer, so that the power arm of the lever formed between the force acting point of the tail end 130a of the movable actuating member 130 and the rotation axis of the movable actuating member 130 is longer, and the output force of the head end 130b can be further improved under the condition that the input force of the rope to the turntable 120 is constant. Furthermore, in the case where the length of the power arm of the lever formed between the force application point of the tail end 130a of the movable actuator 130 and the rotation axis of the movable actuator 130 is fixed, the distance between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130 can be reduced, so that the end effector 100 can be made compact.

An embodiment of the present application provides a surgical instrument. The surgical instrument includes a proximal controller, an intermediate linkage rod, and an end effector 100 of any of the above. The proximal end controller and the end effector 100 are connected by corresponding ropes, which are threaded through the interior of the intermediate connecting rod.

An embodiment of the present application provides a surgical robot. The surgical robot includes: the mechanical arm and the surgical instrument are arranged at the tail end of the mechanical arm.

The surgical instrument and the surgical robot are characterized in that the movable executing piece 130 is in transmission connection with the turntable 120, and the turntable 120 is used for driving the movable executing piece 130 to rotate when rotating, so that the movable executing piece 130 can execute surgical operation. Since the rotation axis of the turntable 120 is substantially parallel to the rotation axis of the movable actuator 130, the rotation axis of the turntable 120 is spaced apart from the rotation axis of the movable actuator 130, so that it can be understood that one end (i.e., the tail end 130 a) of the movable actuator 130 is located at a side of the rotation axis of the movable actuator 130 near the rotation axis of the turntable 120, the other end (the head end 130 b) of the movable actuator 130 is located at a side of the rotation axis of the movable actuator 130 away from the rotation axis of the turntable 120, and the turntable 120 is in driving connection with the tail end 130a of the movable actuator 130. When the rotary table 120 drives the tail end 130a of the movable executing member 130 to rotate, the movable executing member 130 integrally rotates around the rotation axis thereof, so that the head end 130b of the movable executing member 130 can perform the operation, and the movable executing member 130 forms a lever. In the case that the input force to the rotary table 120 is constant, the lever formed by the movable actuator 130 is used to increase the output force of the head end 130b of the movable actuator 130, thereby taking into account the miniaturization design of the surgical instrument and the output force requirement of the end effector 100.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. An end effector, the end effector comprising:

a base (110);

a pitch joint (170) rotatably provided to the base (110);

at least one turntable (120) rotatably arranged on the pitching joint (170); and

the movable executing pieces (130) are in one-to-one transmission connection with the turntables (120), and the turntables (120) are used for driving the movable executing pieces (130) to rotate when rotating, wherein the rotating axes of the turntables (120) are basically parallel to the rotating axes of the movable executing pieces (130).

2. The end effector as claimed in claim 1, characterized in that the tail end (130 a) of the movable actuating member (130) and the corresponding turntable (120) are both provided with a sliding groove (131) and the other one is provided with a sliding portion (121), the sliding portion (121) being in sliding engagement with the sliding groove (131).

3. The end effector as claimed in claim 2, wherein the sliding groove (131) is provided on the tail end (130 a) of the movable actuating member (130), the sliding portion (121) is provided on the turntable (120) and the sliding portion (121) protrudes from the turntable (120), and the sliding portion (121) is deviated from the rotation axis of the turntable (120).

4. The end effector as claimed in claim 2, characterized in that the slide (121) and the runner (131) are located between the axis of rotation of the turntable (120) and the axis of rotation of the movable effector (130).

5. The end effector as set forth in claim 1 wherein the number of movable actuators (130) is at least two, at least two of the movable actuators (130) being coaxially and rotatably disposed relative to each other.

6. The end effector as set forth in claim 1 further comprising a stationary effector fixedly disposed to the pitch joint (170), the movable effector (130) being rotatably coupled to the stationary effector.

7. The end effector as claimed in claim 1, characterized in that a rope connection (160) is provided on the turntable (120), the rope connection (160) being used for connecting a rope, the turntable (120) being driven by the rope.

8. The end effector as set forth in claim 1, wherein the rotational axis direction of the pitch joint (170) is substantially perpendicular to the rotational axis direction of the turntable (120).

9. A surgical instrument comprising a proximal controller, an intermediate link, and the end effector of any one of claims 1-8, wherein the proximal controller and the end effector are connected by corresponding cables that extend through the interior of the intermediate link.

10. A surgical robot, comprising: a robotic arm and the surgical instrument of claim 9 mounted to a distal end of the robotic arm.