CN117838324A

CN117838324A - Multi-degree-of-freedom surgical instrument

Info

Publication number: CN117838324A
Application number: CN202410198031.6A
Authority: CN
Inventors: 李林静
Original assignee: Zhiwei Shenzhen Medical Technology Co ltd
Current assignee: Zhiwei Shenzhen Medical Technology Co ltd
Priority date: 2024-02-22
Filing date: 2024-02-22
Publication date: 2024-04-09

Abstract

The invention discloses a multi-degree-of-freedom surgical instrument, which comprises an end execution part, an operation part for controlling the action of the end execution part, and a transmission part for transmitting the action of the operation part to the end execution part; the transmission part comprises guide wires and a plurality of transmission components, the transmission part comprises at least two guide wires and a plurality of transmission components, each transmission component comprises a rotating shaft and a wire guide wheel rotating by taking the rotating shaft as a central shaft, one end of each guide wire is connected with the operation part, the other end of each guide wire is fixedly arranged relative to the execution component, and at least one part of the middle section of each guide wire is wound on the wire guide wheel so as to form the tail end execution part to act along the direction substantially the same as the operation direction of the operation part. The multi-degree-of-freedom surgical instrument can realize visual operation and free operation under the condition of small surgical perforation diameter.

Description

Multi-degree-of-freedom surgical instrument

Technical Field

The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom surgical instrument.

Background

The surgical instrument is a prop for performing surgery on a surgical site, a doctor uses a preset driving part to directly and manually operate or uses a mechanical arm to operate, so that an end effector in the surgical instrument performs surgery action through a preset structure, wherein the end effector is generally arranged at one end of an instrument shaft, the other end of the shaft is connected with the driving part, and the shaft can penetrate through surgery perforation on skin in the surgical process to enable the end effector to perform action on the surgical site, so that the diameter of the instrument shaft directly influences the size of a surgery perforation, thereby influencing side effects such as surgery bleeding, scar and the like, the driving part and the end effector can be provided with a complex transmission assembly, the diameter of the instrument shaft is directly caused to be overlarge, the skin perforation of a patient is large during perforation surgery, the surgery side effect is also increased, the complexity of the transmission assembly is simply reduced, the degree of freedom of the end effector is insufficient (such as the end effector flexibly rotates and tightly rotates 360 degrees, and the like), and the operation of the operation part for performing surgery action is intuitively inconsistent with the operation of the end instrument, and the operation is difficult for the operator to perform intuitively and freely.

Disclosure of Invention

The embodiment of the invention provides a multi-degree-of-freedom surgical instrument, which aims to solve the problems that the existing surgical instrument is insufficient in degree of freedom and difficult to intuitively operate and freely operate.

The technical scheme of the embodiment of the invention is as follows:

a multiple degree of freedom surgical instrument, comprising: an end effector;

an operation unit for controlling the operation of the end effector; and

a transmission unit for transmitting the motion of the operation unit to the end effector;

the operation part comprises a finger sleeve ring, a driving rotating shaft and a driving wire guide wheel rotating by taking the driving rotating shaft as a central shaft, the finger sleeve ring is provided with an extension part close to the driving rotating shaft end, the extension part is provided with a perforation and is rotatably sleeved on the driving rotating shaft, the tail end execution part comprises a braking rotating shaft and an execution assembly, and the execution assembly is rotatably arranged on the braking rotating shaft;

the transmission part comprises at least two guide wires and a plurality of transmission components, each transmission component comprises a rotating shaft and a wire guide wheel rotating by taking the rotating shaft as a central shaft, one end of each guide wire is connected with the operation part, the other end of each guide wire is fixedly arranged relative to the execution component, and at least one part of the middle section of each guide wire is wound around the wire guide wheel so as to form the action of the end execution part along the direction which is substantially the same as the operation direction of the operation part;

The transmission assembly is at least provided with a guide transmission assembly, the extending direction of the guide wire is guided to enable the tail end executing part to be formed towards the same side of the operating part, and the guide wire extends at least a distance between the guide transmission assembly and the tail end executing part to form a shaft part of the surgical instrument.

Optionally, the operation part comprises a first operation end and a second operation end which act independently, the first operation end corresponds to the first finger collar, the first driving rotation shaft and the first driving wire guide wheel, the second operation end corresponds to the second finger collar, the second driving rotation shaft and the second driving wire guide wheel, and the execution assembly comprises a first execution part linked with the first operation end through the braking rotation shaft and a second execution part linked with the second operation end; the transmission part comprises 11 transmission components from the four guide wires to the J1 transmission component and the J11 transmission component, the first guide wire and the second guide wire end are connected with the second driving wire wheel and then extend, and the first guide wire and the second guide wire end are sequentially contacted with the J1 transmission component to the J11 transmission component and then extend to the second execution part; and the ends of the third guide wire and the fourth guide wire are connected with the first driving wire guide wheel and then extend to the first executing part after sequentially contacting with the J1 transmission assembly and the J11 transmission assembly.

Optionally, the driving rotation shaft is taken as a Y-axis reference, and the rotation shafts of the braking rotation shaft, the J1 transmission assembly, the J2 transmission assembly and the J3 transmission assembly are all parallel to the Y-axis direction; the first guide wire and the second guide wire are at least partially wound around the second driving guide wire wheel, then respectively contact with the first guide wire wheel along the two outer side/inner side public tangential directions of the second driving guide wire wheel and the first guide wire wheel of the J1 transmission assembly, respectively contact with the second guide wire wheel along the two outer side or inner side public tangential directions of the first guide wire wheel and the second guide wire wheel of the J2 transmission assembly after extending, respectively contact with the third guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel and the third guide wire wheel of the J3 transmission assembly after extending, and then extend to the J4 transmission assembly; the third guide wire and the fourth guide wire are at least partially wound around the first driving guide wire wheel, then respectively contact with the first guide wire wheel along the two outer side or inner side public tangential directions of the first driving guide wire wheel and the first guide wire wheel of the J1 transmission assembly, respectively contact with the second guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel of the first guide wire wheel and the J2 transmission assembly after extending, respectively contact with the third guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel and the third guide wire wheel of the J3 transmission assembly after extending, and then extend to the J4 transmission assembly; or (b)

The rotating shafts of the J1 transmission assembly and the J3 transmission assembly are parallel to the Y-axis direction, and the J2 transmission assembly is parallel to the X-axis direction; the first guide wire and the second guide wire are respectively contacted with the first guide wire wheel along two internal measurement common tangential directions of the second drive guide wire wheel and the first guide wire wheel of the J1 transmission assembly after being at least partially wound around the second drive guide wire wheel, respectively contacted with the second guide wire wheel of the J2 transmission assembly and the third guide wire wheel of the J3 transmission assembly after being extended, and then extended to the J4 transmission assembly; the third guide wire and the fourth guide wire are at least partially wound around the first driving guide wire wheel, respectively contact with the first guide wire wheel along two inner measuring common tangential directions of the first driving guide wire wheel and the first guide wire wheel of the J1 transmission assembly, respectively contact with the second guide wire wheel of the J2 transmission assembly and the third guide wire wheel of the J3 transmission assembly after extending, and then extend to the J4 transmission assembly.

Optionally, the operation part comprises a first operation end and a second operation end, the first operation end corresponds to the first finger collar, the first driving rotation shaft, the first driving wire guide wheel and the third driving wire guide wheel, and the second operation end corresponds to the second finger collar, the second driving rotation shaft, the second driving wire guide wheel and the fourth driving wire guide wheel; the transmission part comprises four guide wires, 11 transmission assemblies from a J1 transmission assembly to a J11 transmission assembly, eight linkage wire rings, a J13 linkage assembly with wire wheels and a J14 linkage assembly, wherein the first linkage wire ring, the second linkage wire ring, the third linkage wire ring and the seventh linkage wire ring are wound and combined with the second driving wire wheel, the wire wheels of the J1 transmission assembly, the wire wheels of the J2 transmission assembly and the wire wheels of the J13 linkage assembly to form linkage which drives the wire wheels in the J2 transmission assembly through the combined action of the second driving wire wheel and the third driving wire wheel; the fourth linkage wire ring, the fifth linkage wire ring, the sixth linkage wire ring and the eighth linkage wire ring are wound and combined with the first driving wire wheel, the fourth driving wire wheel, the wire wheel of the J1 transmission assembly, the wire wheel of the J2 transmission assembly and the wire wheel of the J14 linkage assembly to form linkage of the wire wheel in the J2 transmission assembly through the combined action of the fourth driving wire wheel and the first driving wire wheel; the first guide wire, the second guide wire, the third guide wire and the fourth guide wire end are at least partially wound around a wire guide wheel of the J2 transmission assembly and extend to the tail end executing part after being sequentially contacted with the J3 transmission assembly to the J11 transmission assembly;

Optionally, the driving rotation shaft is taken as a Y-axis reference, the braking rotation shaft, the rotation shaft of the J1 transmission assembly and the rotation shaft of the J2 transmission assembly are all parallel to the Y-axis direction, and the rotation shaft of the J3 transmission assembly is parallel to an X-axis perpendicular to the Y-axis direction; the J1 transmission assembly comprises a first rotating shaft and four groups of wire wheels, the first group of wire wheels and the second group of wire wheels which are positioned at two ends of the first rotating shaft respectively comprise at least two parallel line wheels which rotate synchronously, the third group of wire wheels and the fourth group of wire wheels which are positioned at the middle end of the first rotating shaft respectively comprise at least three parallel line wheels which rotate synchronously, the J13 linkage assembly and the J14 linkage assembly respectively comprise a sleeve joint structure fixedly sleeved on the first rotating shaft, a linkage shaft fixedly connected with a protruding part of the sleeve joint structure and a linkage wire wheel which rotates by taking the linkage shaft as a central shaft, the linkage shaft is parallel to the X axis direction, the J13 linkage assembly is arranged between the first group of wire wheels and the third group of wire wheels, the J14 linkage assembly is arranged between the second group of wire wheels and the fourth group of wire wheels, the J2 transmission assembly comprises a second rotating shaft and two groups of wire wheels, and the fifth group of wire wheels and the sixth group of wire wheels which are positioned at two ends of the second rotating shaft respectively comprise at least two parallel line wheels which rotate synchronously;

The first guide wire and the second guide wire end are at least partially wound around the fifth group of wire wheels and then extend to the end execution part after being sequentially contacted with the J3 transmission assembly and the J11 transmission assembly, and the third guide wire and the fourth guide wire end are at least partially wound around the sixth group of wire wheels and then extend to the end execution part after being sequentially contacted with the J3 transmission assembly and the J11 transmission assembly;

the execution assembly comprises a first execution part connected with the third guide wire end and the fourth guide wire end, and a second execution part connected with the first guide wire end and the second guide wire end.

Optionally, two ends of a first linkage wire ring are respectively wound around the second driving wire wheel and the first group of wire wheels, two ends of a second linkage wire ring are respectively wound around the first group of wire wheels and the third group of wire wheels, a middle section of the second linkage wire ring is partially wound around the linkage wire wheels of the J13 linkage assembly, two ends of a third linkage wire ring are alternately wound around the third driving wire wheel and the third group of wire wheels, two ends of a seventh linkage wire ring are respectively wound around the third group of wire wheels and the fifth group of wire wheels, and a linkage closed loop for driving the fifth group of wire wheels through the combined action of the second driving wire wheel and the third driving wire wheel is formed; the fourth linkage wire ring both ends crisscross winding in fourth drive wire wheel with fourth group wire wheel, the fifth linkage wire ring both ends twine respectively the second group wire wheel with fourth group wire wheel, fifth linkage wire ring interlude part is twined the linkage wire wheel of J14 linkage subassembly, sixth linkage wire ring both ends twine respectively first drive wire wheel with second group wire wheel, eighth linkage wire ring both ends twine respectively the fourth group wire wheel with sixth group wire wheel forms through the joint action of fourth drive wire wheel and first drive wire wheel drives the linkage closed loop of sixth group wire wheel.

Optionally, the J4 transmission assembly, the J5 transmission assembly and the J6 transmission assembly are guiding transmission assemblies, and rotation shafts of the J4 transmission assembly, the J5 transmission assembly and the J6 transmission assembly are all parallel to the X-axis direction;

the first guide wire and the second guide wire which extend from the third guide wire wheel are wound along the outer common tangent direction of the fourth guide wire wheel of the J4 transmission assembly and the outer common tangent direction of the fifth guide wire wheel of the J5 transmission assembly, and then are continuously wound along the outer common tangent direction of the fifth guide wire wheel and the outer common tangent direction of the sixth guide wire wheel of the J6 transmission assembly; or winding along the common tangent direction of the fourth wire guiding wheel, the fifth wire guiding wheel and the sixth wire guiding wheel; the third wire and the fourth wire extending from the third wire guiding wheel are wound along the common tangential direction of the fourth wire guiding wheel, the fifth wire guiding wheel and the sixth wire guiding wheel, or are wound along the inner side tangential direction of the fourth wire guiding wheel and the fifth wire guiding wheel, and then are continuously wound along the outer side common tangential direction of the fifth wire guiding wheel and the sixth wire guiding wheel of the J6 transmission assembly;

the first, second, third and fourth guide wires extending from a sixth wire wheel are substantially parallel to each other.

Optionally, the rotation axes of the J7 transmission assembly to the J9 transmission assembly are all parallel to the X-axis direction, and after the first guide wire, the second guide wire, the third guide wire and the fourth guide wire extending from the sixth guide wire wheel are wound along the inner common tangent direction of the seventh guide wire wheel of the J7 transmission assembly and the eighth guide wire wheel of the J8 transmission assembly,

The first guide wire and the second guide wire are contacted with the ninth wire wheel along the external common tangent or the internal common tangent direction of the eighth wire wheel and the ninth wire wheel of the J9 transmission assembly and then extend to the J10 transmission assembly; the third guide wire and the fourth guide wire are contacted with the ninth wire wheel along the external common tangent or the internal common tangent direction of the eighth wire wheel and the ninth wire wheel of the J9 transmission assembly and then extend to the J10 transmission assembly.

Optionally, the transmission part further comprises a J12 transmission component, the J12 transmission component is arranged between the J9 transmission component and the J10 transmission component, the rotation shafts of the J7 transmission component, the J8 transmission component, the J9 transmission component and the J12 transmission component are all parallel to the X axis direction, after the first guide wire, the second guide wire, the third guide wire and the fourth guide wire which extend from the sixth guide wire wheel are wound along the inner common tangent direction of the seventh guide wire wheel of the J7 transmission component and the eighth guide wire wheel of the J8 transmission component,

the first guide wire sequentially contacts the ninth wire guide wheel and the twelfth wire guide wheel along the outer common tangent direction of the eighth wire guide wheel and the ninth wire guide wheel of the J9 transmission assembly and the outer common tangent direction of the ninth wire guide wheel and the twelfth wire guide wheel of the J12 transmission assembly and then extends to the J10 transmission assembly; the second guide wire sequentially contacts with the ninth wire guide wheel and the twelfth wire guide wheel along the internal measurement common tangential direction of the eighth wire guide wheel and the ninth wire guide wheel and the internal measurement common tangential direction of the ninth wire guide wheel and the twelfth wire guide wheel and then extends to the J10 transmission assembly; the third guide wire sequentially contacts with the ninth wire guide wheel and the twelfth wire guide wheel along the outer common tangent direction of the eighth wire guide wheel and the ninth wire guide wheel and the inner common tangent direction of the ninth wire guide wheel and the twelfth wire guide wheel and then extends to the J10 transmission assembly; the fourth wire sequentially contacts the ninth wire guide wheel and the twelfth wire guide wheel along the inner common tangent direction of the eighth wire guide wheel and the ninth wire guide wheel and the outer common tangent direction of the ninth wire guide wheel and the twelfth wire guide wheel and then extends to the J10 transmission assembly; or (b)

The first guide wire and the second guide wire are contacted with the twelfth wire wheel along the external measurement common tangent direction of the ninth wire wheel and the twelfth wire wheel and then extend to the J10 transmission assembly; the third guide wire and the fourth guide wire are contacted with the twelfth wire wheel along the inner common tangent direction of the ninth wire wheel and the twelfth wire wheel and then extend to the J10 transmission assembly.

Optionally, the J10 transmission assembly and the J11 transmission assembly are disposed near the end effector, rotation axes of the J10 transmission assembly and the J11 transmission assembly are parallel to the X-axis direction, the first guide wire and the second guide wire are parallel to or staggered with the third guide wire and the fourth guide wire in the process of extending from the last transmission assembly to the J10 transmission assembly, the first guide wire and the second guide wire are wound along a common tangent direction of the tenth wire wheel of the J10 transmission assembly and the eleventh wire wheel of the J11 transmission assembly and extend to the end effector, and the third guide wire and the fourth guide wire are wound along a common tangent direction of the upper side of the tenth wire wheel and the eleventh wire wheel and extend to the end effector.

Optionally, the first guide wire and the second guide wire extending from the eleventh wire guide wheel are fixedly arranged relative to the second executing part, and the third guide wire and the fourth guide wire extending from the eleventh wire guide wheel are fixedly arranged relative to the first executing part.

Optionally, the first actuating part proximal end has a first braking wire wheel, the second actuating part proximal end has a second braking wire wheel, the first braking wire wheel with the second braking wire wheel rotatably cup joint in the braking rotation axis, first seal wire with the second seal wire is fixed with the second seal wire mounting after at least a part is followed to the second seal wire respectively from second braking wire wheel opposite side, the third seal wire with the fourth seal wire is fixed with the first seal wire mounting after at least a part is followed to the fourth seal wire respectively from first braking wire wheel opposite side.

Optionally, the distal end of the first executing part is provided with a first structure connected with the first braking wire guide wheel, the distal end of the second executing part is provided with a second structure connected with the second braking wire guide wheel, and the first structure and the second structure are any one of a clamp type structure, a scissor type structure or a claw type structure which are matched with each other.

The multi-degree-of-freedom surgical instrument is suitable for the field of medical instruments, the multi-degree-of-freedom motion of the tail end of the surgical instrument is realized by optimizing the winding form of the guide wires and the arrangement form of the guide wire wheels, the effect that the motion direction of the tail end of the instrument is completely consistent with that of the operation part can be achieved, and particularly, the multi-degree-of-freedom motion of the tail end of the surgical instrument can be realized by using four guide wires aiming at the existing complex guide wire transmission mode. In summary, the multi-degree-of-freedom surgical instrument of the present invention can realize intuitive operation and free operation with a small surgical perforation diameter.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a multi-degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 2 is a schematic view of an operating portion of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 3 is a schematic view of an end effector of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 4 is a schematic view of a guidewire wound from a J1 to J6 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 5 is another schematic view of a guidewire wound from a J1 to J6 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 6 is a schematic view of another variation of a guidewire wound from a J1 to J6 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 7 is a schematic view of a guidewire wound from a J1 to J8 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 8 is another variation of the J1 to J6 drive assembly of the multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 9 is another schematic representation of a variation of the operating portion and transmission assembly of the multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 10 is an enlarged schematic view of another variation of the operating portion and transmission assembly of the multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 11 is a schematic view of a guidewire wound from a J7 to J12 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 12 is a schematic view of a guidewire wound from a J7 to J11 drive assembly of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 13 is another schematic view of a guidewire wound from a J7 to J11 drive assembly for a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 14 is a schematic view of another embodiment of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

FIG. 15 is a schematic view of the various actions of a multiple degree of freedom surgical instrument provided in an embodiment of the invention;

Reference numerals illustrate:

1000A, first operating end 1001, first drive wire wheel 1002, first drive rotation shaft, 1003, first finger collar, 1000B, second operating end 1004, second drive wire wheel, 1005, second drive rotation shaft, 1006, second finger collar, 1007, third drive wire wheel, 1008, fourth drive wire wheel;

2001. first rotary shaft, 2002, first wire guide wheel, 2003, second rotary shaft, 2004, second wire guide wheel, 2005, third rotary shaft, 2006, third wire guide wheel, 2007, fourth rotary shaft, 2008, fourth wire guide wheel, 2009, fifth rotary shaft, 2010, fifth wire guide wheel, 2011, sixth rotary shaft, 2012, sixth wire guide wheel, 2013, seventh rotary shaft, 2014, seventh wire guide wheel, 2015, eighth rotary shaft, 2016, eighth wire guide wheel, 2017, ninth rotary shaft, 2018, ninth wire guide wheel, 2019, tenth rotary shaft, 2020, tenth wire guide wheel, 2021, eleventh rotary shaft, 2022, eleventh wire guide wheel, 2023, twelfth rotary shaft, 2024, twelfth wire wheel, 2025, first set of wire wheels, 2026, second set of wire wheels, 2027, third set of wire wheels, 2028, fourth set of wire wheels, 2029, fifth set of wire wheels, 2030, sixth set of wire wheels, 2101, first wire, 2102, second wire, 2103, third wire, 2104, fourth wire, 2105, first linkage wire loop, 2106, second linkage wire loop, 2107, third linkage wire loop, 2108, fourth linkage wire loop, 2109, fifth linkage wire loop, 2110, sixth linkage wire loop, 2111, seventh linkage wire loop, 2112;

3100. The brake system includes a brake rotational shaft 3200, a first actuator 3201, a first brake wire wheel 3202, a first clamp 3203, a first wire guide fixture, 3300, a second actuator 3301, a second brake wire wheel 3302, a second clamp 3303, and a second wire guide fixture.

Detailed Description

Since the present invention is susceptible to various modifications and alternative embodiments, specific embodiments are shown by way of example in the drawings and will be described in detail herein. It is not intended, however, to limit the invention to the particular embodiments, but is to be understood to include all alternatives, equivalents, and alternatives falling within the spirit and scope of the invention. In describing the present invention, in the case where detailed descriptions about known technologies may obscure the gist of the present invention, detailed descriptions thereof are omitted.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1 to 14, there is shown a multiple degree of freedom surgical instrument comprising an end effector 3000; an operation unit 1000 for controlling the operation of the end effector 3000; and a transmission unit 2000 for transmitting the operation of the operation unit 1000 to the end effector 3000;

referring to fig. 1 and 2, the operation portion includes a first operation end 1000A and a second operation end 1000B that operate independently of each other, the first operation end 1000A includes a first finger collar 1003, a first driving rotation shaft 1002, and a first driving wire wheel 1001 that rotates with the first driving rotation shaft 1002 as a central axis, the first finger collar 1003 has an extension portion near the first driving rotation shaft 1002, the extension portion is provided with a through hole and rotatably sleeved on the first driving rotation shaft 1002, the second operation end 1000B includes a second finger collar 1006, a second driving rotation shaft 1005, and a second driving wire wheel 1004 that rotates with the second driving rotation shaft 1005 as a central axis, the second finger collar 1006 has an extension portion near the second driving rotation shaft 1005, and the extension portion is provided with a through hole and rotatably sleeved on the second driving rotation shaft 1005.

Referring to fig. 1 and 3, and 11 to 14, the end effector includes a first effector 3200 coupled to the first manipulation end 1000A and a second effector 3300 coupled to the second manipulation end 1000B; the end effector further includes a brake rotation shaft 3100 and an effector assembly including a first effector 3200 and a second effector 3300, the first effector 3200 and the second effector 3300 being rotatably mounted on the brake rotation shaft 3100, the brake rotation shaft 3100 and a rotation shaft disposed near the end effector being in a Y-axis direction with respect to the second drive rotation shaft 1005 and the first drive rotation shaft 1002Y-axis, the rotation shaft disposed near the end effector being in an X-axis direction to form an operation of the first effector 3200 and/or the second effector 3300 in substantially the same direction as the operation of the first operation end 1000A and/or the second operation end 1000B.

Referring to fig. 1 and 3, and fig. 11 to 14, in the embodiment, a first braking wire wheel 3201 is provided at a proximal end of the first actuating portion 3200, a first braking wire wheel 3301 is provided at a proximal end of the second actuating portion 3300, the first braking wire wheel 3201 and the second braking wire wheel 3301 are rotatably sleeved on the braking rotation shaft 3100, the first guide wire 2101 and the second guide wire 2102 are respectively extended from opposite sides of the second braking wire wheel 3301 at least partially and then are fixed by using a second guide wire fixing piece 3303, and the third guide wire 2103 and the fourth guide wire 2104 are respectively extended from opposite sides of the first braking wire wheel 3201 at least partially and then are fixed by using a first guide wire fixing piece 3203.

Referring to fig. 1 and 3 and fig. 11-14, in the embodiment, a first clamp 3202 connected to a first brake wire wheel 3201 is provided at a distal end of the first actuating portion 3200, a second clamp 3302 connected to the first brake wire wheel 3301 is provided at a distal end of the second actuating portion 3300, and the first clamp 3202 and the second clamp 3302 are engaged with each other. Other arrangements including scissors and claws are equally suitable for use in this embodiment.

As shown in fig. 1 and 14, the transmission part comprises at least two guide wires and a plurality of transmission components, each transmission component comprises a rotating shaft and a wire guide wheel rotating by taking the rotating shaft as a central shaft, one end of each guide wire is fixedly arranged relative to the operation part, at least a part of the middle section of each guide wire is wound around the wire guide wheel, the other end of each guide wire is fixedly arranged relative to the end execution part, the transmission component is at least provided with one guide transmission component, and the extending direction of each guide wire is used for leading the end execution part to be formed towards the same side of the operation part;

referring to fig. 1 to 14, in the embodiment, the transmission part includes four guide wires, namely a first guide wire 2101, a second guide wire 2102, a third guide wire 2103, a fourth guide wire 2104, and 11 transmission assemblies from the J1 transmission assembly to the J11 transmission assembly, wherein the ends of the first guide wire 2101 and the second guide wire 2102 are fixedly arranged behind a second driving wire wheel 1004 corresponding to the second operation end 1000B and are extended to sequentially contact with the J1 transmission assembly to the J11 transmission assembly; the ends of the third guide wire 2103 and the fourth guide wire 2104 are fixedly arranged at the first driving wire wheel 1001 corresponding to the first operation end 1000A and extend to sequentially contact with the J1 transmission assembly and the J11 transmission assembly, as shown in fig. 1 and 11 to 14, a surgical instrument shaft (not shown) is formed between the guide transmission assembly and the end execution part in the extending direction of the guide wire, and in order to enable the guide wire to be effectively transmitted, the diameters of the end execution part and the surgical instrument shaft connected with the end execution part are directly affected by the number of the guide wires.

Referring to fig. 1, 3, 4-7 and 13, the rotation axes of the J1 transmission assembly, the J2 transmission assembly and the J3 transmission assembly are all arranged parallel to the Y-axis direction; the J1 drive assembly comprises a first rotational shaft 2001 and a first wire wheel 2002, the J2 drive assembly comprises a second rotational shaft 2003 and a second wire wheel 2004, and the J3 drive assembly comprises a third rotational shaft 2005 and a third wire wheel 2006. In the embodiment, the first wire guiding wheel 2002 to the eleventh wire guiding wheel 2022 are all configured to include at least two wire guiding wheel sets, each wire guiding wheel set is disposed on a corresponding same rotation shaft, each wire guiding wheel set includes at least two parallel wire wheels, the rotation modes of the parallel wire wheels can be asynchronous or synchronous (linked), one wire guiding wheel set corresponds to the first wire guiding 2101 and the second wire guiding 2102, the other wire guiding wheel set corresponds to the third wire guiding 2103 and the fourth wire guiding 2104, and the position of each wire guiding wheel set is set along the wire guiding transmission direction as a principle.

Referring to fig. 1, 4 to 7 and 14, after the first guide wire 2101 and the second guide wire 2102 are wound around the second driving wire wheel 1004 at least partially, the first guide wire wheel 2002 is contacted with the first wire wheel 2002 along the two outer/inner common tangential directions of the first wire wheel 1004 and the first wire wheel 2002 of the J1 transmission assembly, the first guide wire 2101 and the second guide wire 2102 are contacted with the second wire wheel 2004 along the two outer/inner common tangential directions of the second wire wheel 2002 and the second wire wheel 2004 of the J2 transmission assembly, the second guide wire 2101 and the third wire wheel 2004 are contacted with the third wire wheel of the third wire wheel 2004 of the J3 transmission assembly and then extend to the J4 transmission assembly, and the third guide wire 2103 and the fourth guide wire 2104 are wound around the first driving wire wheel 1001 at least partially, and then contacted with the first wire wheel 2002 along the two outer/inner common tangential directions of the first driving wire wheel 1001 and the first wire wheel 2002, the second wire wheel 2004 is contacted with the second wire wheel 2004 along the two outer/inner common tangential directions of the first wire wheel 2002 and the second wire wheel 2004 of the first wire wheel 2002, and the second wire wheel 2004 is contacted with the third wire wheel 2004 and the second wire wheel 2004 respectively, and then extends to the third wire wheel 4 along the two outer common tangential directions of the second wire wheel 2004 and the third wire wheel 2004.

Referring to fig. 1 and 4, one ends of the first guide wire 2101 and the second guide wire 2102 are fixed at the same position of the second driving wire wheel 1004, respectively extend along the circumferential direction of the second driving wire wheel 1004, respectively contact with the first wire wheel 2002 along two inner common tangential directions of the first wire wheel 2002 of the second driving wire wheel 1004 and the J1 transmission assembly after being staggered, continuously contact with the second wire wheel 2004 along two outer common tangential directions of the second wire wheel 2004 of the first wire wheel 2002 and the J2 transmission assembly respectively, respectively contact with the third wire wheel along two inner common tangential directions of the second wire wheel 2004 and the third wire wheel 2006 of the J3 transmission assembly, and then extend to the J4 transmission assembly, the third guide wire 2103 and the fourth guide wire 2104 are fixed at one end to the first driving wire wheel 1001, are wound around and extend along the first driving wire wheel 1001, are respectively contacted with the first wire wheel 2002 along two inner common tangential directions of the first driving wire wheel 1001 and the first wire wheel 2002 after being staggered, are continuously contacted with the second wire wheel 2004 along two outer common tangential directions of the second wire wheel 2004 of the first wire wheel 2002 and the J2 transmission assembly, are respectively contacted with the third wire wheel 2006 along two inner common tangential directions of the third wire wheel 2006 of the second wire wheel 2004 and the J3 transmission assembly, and are then extended to the J4 transmission assembly.

As shown in fig. 1 and 5, the first guide wire 2101 and the second guide wire 2102 are wound and extended along the circumferential direction of the second driving wire wheel 1004, then respectively contact with the first wire wheel 2002 along the two external public tangential directions of the first wire wheel 2002 of the second driving wire wheel 1004 and the J1 transmission assembly, continue to contact with the second wire wheel 2004 along the two internal public tangential directions of the second wire wheel 2004 of the first wire wheel 2002 and the J2 transmission assembly, respectively contact with the third wire wheel 2004 along the two internal public tangential directions of the third wire wheel 2006 of the second wire wheel 2004 and the J3 transmission assembly, then extend to the J4 transmission assembly, and the third guide wire 2103 and the fourth guide wire 2104 are wound and extended along the circumferential direction of the first driving wire wheel 1001, respectively, then respectively contact with the first wire wheel 2002 along the two external public tangential directions of the first driving wire wheel 1001 and the first wire wheel 2002, respectively contact with the two internal public tangential directions of the second wire wheel 2004 of the first wire wheel 2002 and the second wire wheel 2004 of the J2 transmission assembly, respectively, then respectively contact with the second wire wheel 2004 along the two internal public tangential directions of the second wire wheel 2004 and the second wire wheel 2004 of the second wire wheel 2004, and then extend to the J4 transmission assembly, and then extend along the two internal public tangential directions of the second wire wheel 2006 and the third wire wheel 2006 and the transmission assembly.

As shown in fig. 1, 6 and 7, the first guide wire 2101 and the second guide wire 2102 are extended to be in contact with the first guide wire wheel 2002 along two external public tangential directions of the second driving guide wire wheel 1004 and the first guide wire wheel 2002 respectively, continue to be in contact with the second guide wire wheel 2004 along two internal public tangential directions of the second guide wire wheel 2004 of the first guide wire wheel 2002 and the J2 transmission assembly respectively, extend to the J4 transmission assembly after being in contact with the third guide wire wheel 2006 along the external public tangential directions of the second guide wire wheel 2004 and the third guide wire wheel 2004, extend to the J4 transmission assembly after being in contact with the third guide wire wheel 2006 along the internal public tangential directions of the second guide wire wheel 2004 and the third guide wire wheel 2006 respectively, and the third guide wire 2103 and the fourth guide wire 2104 are extended to be in contact with the first guide wire wheel 2004 along two external public tangential directions of the second driving guide wire wheel 1004 and the second guide wire wheel 2002 respectively, continue to be in contact with the first guide wire wheel 2004 along the two external public tangential directions of the second guide wire wheel 2004 of the first guide wire wheel 2002 and the second guide wire wheel 2004 respectively, and the second guide wire wheel 2004 extending to the second public tangential directions of the second guide wire wheel 2004 and the third guide wire wheel 2006 respectively, and extend to the third guide wire wheel 2004 and the third wire wheel 2006 and then extend to the third wire wheel 2006 and the public tangential directions.

Referring to fig. 8, the rotation axes of the J1 transmission assembly and the J3 transmission assembly are both arranged parallel to the Y-axis direction, and the J2 transmission assembly is arranged parallel to the X-axis direction; the first guide wire 2101 and the second guide wire 2102 are at least partially wound around the second driving wire wheel 1004, respectively contacted with the first wire wheel 2002 along two inner common tangential directions of the second driving wire wheel 1004 and the first wire wheel 2002 of the J1 transmission assembly, respectively contacted with the second wire wheel 2004 of the J2 transmission assembly and the third wire wheel 2006 of the J3 transmission assembly after being extended, and then extended to the J4 transmission assembly; after the third guide wire 2103 and the fourth guide wire 2104 are at least partially wound around the first driving wire wheel 1001, the third guide wire 2103 and the fourth guide wire 2104 are respectively contacted with the first wire wheel 2002 along two inner common tangent directions of the first driving wire wheel 1001 and the first wire wheel 2002 of the J1 transmission assembly, respectively contacted with the second wire wheel 2004 of the J2 transmission assembly and the third wire wheel 2006 of the J3 transmission assembly after being extended, and then extended to the J4 transmission assembly.

For the transmission mechanism of the operation part and the J1 transmission assembly, the J2 transmission assembly and the J3 transmission assembly, in another embodiment, referring to fig. 1, 9 and 10, the operation part includes a first operation end 1000A and a second operation end 1000B, where the first operation end 1000A corresponds to the first finger collar 1003, the first driving rotation shaft 1002, the first driving wire wheel 1001 and the third driving wire wheel 1007, and the second operation end 1000B corresponds to the second finger collar 1006, the second driving rotation shaft 1005, the second driving wire wheel 1004 and the fourth driving wire wheel 1008; the transmission part comprises 11 transmission components, eight linkage wire rings and two linkage components J13 and J14 from four guide wires, a J1 transmission component to a J11 transmission component, a brake rotation shaft 3100, a rotation shaft of the J1 transmission component and a rotation shaft of the J2 transmission component are all arranged in parallel with the Y-axis direction, and a rotation shaft of the J3 transmission component is arranged in parallel with an X-axis perpendicular to the Y-axis direction; the J1 transmission assembly comprises a first rotation shaft 2001 and four groups of wire wheels, a first group of wire wheels 2025 and a second group of wire wheels 2026 which are positioned at two ends of the first rotation shaft 2001 respectively comprise at least two parallel line wheels which rotate synchronously, a third group of wire wheels 2027 and a fourth group of wire wheels 2028 which are positioned at the middle end of the first rotation shaft 2001 respectively comprise at least three parallel line wheels which rotate synchronously, the linkage assemblies J13 and J14 respectively comprise a sleeve structure fixedly sleeved on the first rotation shaft 2001, a linkage shaft fixedly connected with a convex part of the sleeve structure and a linkage wire wheel (not labeled in the drawing) which rotates by taking the linkage shaft as a central shaft, the linkage shaft is arranged to be parallel to the X axis direction, the linkage assembly J13 is arranged between the first group of wire wheels 2025 and the third group of wire wheels 2027, the linkage assembly J14 is arranged between the second group of wire wheels 2026 and the fourth group of wire wheels 2028 respectively, the J2 transmission assembly comprises a second rotation shaft 2003 and two groups of wire wheels, and the fifth group of wire wheels 2029 and the sixth group of wire wheels 2030 which respectively comprise at least two parallel line wheels which rotate synchronously; the two ends of the first linkage wire ring 2105 are respectively wound around the second driving wire wheel 1004 and the first group wire wheel 2025 to form linkage closed loops of the second driving wire wheel 1004 and the first group wire wheel 2025, the two ends of the second linkage wire ring 2106 are respectively wound around the first group wire wheel 2025 and the third group wire wheel 2027, the middle section of the second linkage wire ring 2106 is partially wound around the linkage wire wheel of the linkage assembly J13 to form linkage closed loops of the first group wire wheel 2025 and the third group wire wheel 2027, the two ends of the third linkage wire ring 2107 are alternately wound around the third driving wire wheel 1007 and the third group wire wheel 2027 to form linkage closed loops of the third driving wire wheel 1007 and the third group wire wheel 2027, the two ends of the seventh linkage wire ring 2111 are respectively wound around the third group wire wheel 2027 and the fifth group wire wheel 2029 to form linkage closed loops of the third group wire wheel 2027 and the fifth group wire wheel 2029, and finally the linkage closed loops of the fifth group wire wheel 2029 are driven by the joint action of the second driving wire wheel 1004 and the third driving wire wheel 1007; the two ends of the fourth linkage wire ring 2108 are alternately wound on the fourth driving wire wheel 1008 and the fourth group wire wheel 2028 to form linkage closed loops of the fourth driving wire wheel 1008 and the fourth group wire wheel 2028, the two ends of the fifth linkage wire ring 2109 are respectively wound on the second group wire wheel 2026 and the fourth group wire wheel 2028, the middle section part of the fifth linkage wire ring 2109 is wound on the linkage wire wheel of the linkage assembly J14 to form linkage closed loops of the second group wire wheel 2026 and the fourth group wire wheel 2028, the two ends of the sixth linkage wire ring 2110 are respectively wound on the first driving wire wheel 1001 and the second group wire wheel 2026 to form linkage closed loops of the first driving wire wheel 1001 and the second group wire wheel 2026, the two ends of the eighth linkage wire ring 2112 are respectively wound on the fourth group wire wheel 2028 and the sixth group wire wheel 2030 to form linkage closed loops of the fourth group wire wheel 2028 and the sixth group wire wheel 2030, and finally the linkage closed loops of the sixth group wire wheel 2030 are driven by the combined action of the fourth driving wire wheel 2026 and the first driving wire wheel 1001; the ends of the first guide wire 2101 and the second guide wire 2102 are at least partially wound around the fifth group of wire wheels 2029 and then extend to the end execution part after being sequentially contacted with the J3 transmission assembly to the J11 transmission assembly, the ends of the third guide wire 2103 and the fourth guide wire 2104 are at least partially wound around the sixth group of wire wheels 2030 and then extend to the end execution part after being sequentially contacted with the J3 transmission assembly to the J11 transmission assembly; the end effector further includes a brake shaft 3100 actuator assembly including a first actuator 3200 connected to the ends of the third guide wire 2103 and the fourth guide wire 2104, and a second actuator 3300 connected to the ends of the first guide wire 2101 and the second guide wire 2102.

Referring to fig. 1, 9 and 10, in the use process, when the finger is opened, the first finger collar 1003 rotates anticlockwise to drive the second group wire guide wheel 2026 to rotate clockwise, the second finger collar 1006 rotates clockwise, and because the two ends of the fourth linkage wire guide ring 2108 are alternately wound on the fourth driving wire guide wheel 1008 and the fourth group wire guide wheel 2028 to drive the fourth group wire guide wheel 2028 to rotate clockwise, the resultant action causes the sixth group wire guide wheel 2023 to rotate clockwise; when the finger is opened, the first finger collar 1003 rotates counterclockwise, and the third driving wire wheel 1007 and the third wire wheel 2027 are alternately wound around the two ends of the third driving wire ring 2107, so that the third wire wheel 2027 is driven to rotate counterclockwise, the second finger collar 1006 rotates clockwise, the first wire wheel 2025 is driven to rotate clockwise, and the fifth wire wheel 2029 rotates clockwise due to the combination action.

Referring to fig. 1, 4 to 7, and 14, the J4 transmission assembly, the J5 transmission assembly, and the J6 transmission assembly are provided as guide transmission assemblies, rotation axes of the J4 transmission assembly, the J5 transmission assembly, and the J6 transmission assembly are all provided in parallel with the X-axis direction, the J4 transmission assembly includes a fourth rotation axis 2007 and a fourth wire wheel 2008, the J5 transmission assembly includes a fifth rotation axis 2009 and a fifth wire wheel 2010, and the J6 transmission assembly includes a sixth rotation axis 2011 and a sixth wire wheel 2012. Similarly, in the fourth wire guide wheel 2008, the fifth wire guide wheel 2010 and the sixth wire guide wheel 2012 are two sets of wire guide wheels disposed at two ends of the same rotation shaft, each set of wire guide wheels includes two parallel wire wheels, one set of wire guide wheels corresponds to the first wire guide 2101 and the second wire guide 2102, the other set of wire guide wheels corresponds to the third wire guide 2103 and the fourth wire guide 2104, and each set of wire guide wheels is disposed based on a convenient wire guide driving direction.

As shown in fig. 1 and 4, the first guide wire 2101 and the second guide wire 2102 extending from the third guide wire wheel 2006 are wound in the outer common tangential direction of the fourth guide wire wheel 2008 of the J4 transmission assembly and the fifth guide wire wheel 2010 of the J5 transmission assembly, and then are further wound in the outer common tangential direction of the fifth guide wire wheel 2010 and the sixth guide wire wheel 2012 of the J6 transmission assembly; the third guide wire 2103 and the fourth guide wire 2104 extending from the third guide wire wheel 2006 are wound in the common tangential direction of the fourth guide wire wheel 2008, the fifth guide wire wheel 2010 and the sixth guide wire wheel 2012.

As shown in fig. 1 and 5, the first and second wires 2101 and 2102 extending from the third wire wheel 2006 are wound in the common tangential direction of the fourth wire wheel 2008, the fifth wire wheel 2010 and the sixth wire wheel 2012, and the third and fourth wires 2103 and 2104 extending from the third wire wheel 2006 are wound in the inner lower tangential direction of the fourth wire wheel 2008 and the fifth wire wheel 2010, and then are further wound in the outer common tangential direction of the sixth wire wheel 2012 of the J6 gear assembly with the fifth wire wheel 2010.

As shown in fig. 1, 6 and 7, the first guide wire 2101 and the second guide wire 2102 extending from the third guide wire wheel 2006 are wound in the outer upper common tangential direction of the fourth guide wire wheel 2008 and the fifth guide wire wheel 2010, and then are further wound in the outer common tangential direction of the sixth guide wire wheel 2012 of the J6 transmission assembly and the fifth guide wire wheel 2010; the third guide wire 2103 and the fourth guide wire 2104 extending from the third guide wire wheel 2006 are wound in the tangential direction of the inner lower sides of the fourth guide wire wheel 2008 and the fifth guide wire wheel 2010, and then continue to be wound in the common outer tangential direction of the sixth guide wire wheel 2012 of the fifth guide wire wheel 2010 and the J6 transmission assembly.

As shown in fig. 1, 7 and 14, the first, second, third and fourth guide wires 2101, 2102, 2103, 2104 extending from the sixth wire wheel 2012 extend substantially parallel to one another toward the J7 drive assembly.

As shown in fig. 1, 7, and 11 to 14, the rotation axes of the J7 to J9 transmission assemblies are each disposed parallel to the X-axis direction, the J7 transmission assembly includes a seventh rotation axis 2013 and a seventh wire guide wheel 2014, the J8 transmission assembly includes an eighth rotation axis 2015 and an eighth wire guide wheel 2016, and the J9 transmission assembly includes a ninth rotation axis 2017 and a ninth wire guide wheel 2018. Likewise, in the seventh wire guide wheel 2014, the eighth wire guide wheel 2016 and the ninth wire guide wheel 2018 are two sets of wire guide wheels respectively disposed at two ends of the same rotation shaft, each set of wire guide wheels includes two parallel wire wheels, one set of wire guide wheels corresponds to the first wire 2101 and the second wire guide 2102, the other set of wire guide wheels corresponds to the third wire 2103 and the fourth wire guide 2104, and each set of wire guide wheels is disposed based on a convenient wire guide direction.

As shown in fig. 12, after the first guide wire 2101, the second guide wire 2102, the third guide wire 2103 and the fourth guide wire 2104 extending from the sixth guide wire wheel 2012 are wound in the common tangential direction of the inner upper side of the seventh guide wire wheel 2014 of the J7 transmission assembly and the eighth guide wire wheel 2016 of the J8 transmission assembly, the first guide wire 2101 and the second guide wire 2102 are contacted with the ninth guide wire wheel 2018 in the outer upper side of the eighth guide wire wheel 2016 and the ninth guide wire wheel 2018 of the J9 transmission assembly and then extend to the J10 transmission assembly; the third guide wire 2103 and the fourth guide wire 2104 contact the ninth wire wheel 2018 of the J9 drive assembly along the common tangent direction of the inner lower side of the eighth wire wheel 2016 and the ninth wire wheel 2018 and then extend to the J10 drive assembly.

As shown in fig. 13, after the first guide wire 2101, the second guide wire 2102, the third guide wire 2103 and the fourth guide wire 2104 extending from the sixth guide wire wheel 2012 are wound in the inner upper common tangential direction of the seventh guide wire wheel 2014 of the J7 transmission assembly and the eighth guide wire wheel 2016 of the J8 transmission assembly, the first guide wire 2101 and the second guide wire 2102 are contacted with the ninth guide wire wheel 2018 in the inner lower common tangential direction of the eighth guide wire wheel 2016 and the ninth guide wire wheel 2018 of the J9 transmission assembly and then extend to the J10 transmission assembly; the third guide wire 2103 and the fourth guide wire 2104 are contacted with the ninth wire wheel 2018 of the J10 transmission assembly along the common tangential direction of the outer upper sides of the eighth wire wheel 2016 and the ninth wire wheel 2018 of the J9 transmission assembly and then extend to the J10 transmission assembly.

Further, the first guide wire 2101 and the second guide wire 2102 are contacted with the ninth wire guide wheel 2018 and then extend to the J10 transmission assembly based on the fact that in FIG. 13; the third guide wire 2103 and the fourth guide wire 2104 are contacted with the ninth guide wire wheel 2018 and then extend to the J10 transmission assembly, the first guide wire 2101 and the second guide wire 2102 are staggered up and down with the third guide wire 2103 and the fourth guide wire 2104 and then extend to the upper side and the lower side of a tenth guide wire wheel 2020 of the J10 transmission assembly respectively, the first guide wire 2101 and the second guide wire 2102 are wound and extend to the end execution part along the common tangential direction of the tenth guide wire wheel 2020 of the J10 transmission assembly and the inner lower side of an eleventh guide wire wheel 2021 of the J11 transmission assembly, and the third guide wire 2103 and the fourth guide wire 2104 are wound and extend to the end execution part along the common tangential direction of the inner upper side of the tenth guide wire wheel 2020 and the eleventh guide wire wheel 2021.

In other embodiments, as shown in fig. 1, 11 and 14, the transmission part further includes a J12 transmission assembly near the J9 transmission assembly and between the J9 transmission assembly and the J10 transmission assembly, the rotation axes of the J7 transmission assembly, the J8 transmission assembly, the J9 transmission assembly and the J12 transmission assembly are all parallel to the X axis direction, the J12 transmission assembly includes a twelfth rotation axis 2023 and a twelfth wire wheel 2024, the twelfth wire wheel 2024 is two wire wheel sets disposed at two ends of the same rotation axis, each wire wheel set includes two parallel wire wheels, the rotation manners of the parallel wire wheels may be asynchronous or synchronous (linked) with each other, one wire wheel set corresponds to the first wire 2101 and the second wire 2102, the other wire wheel set corresponds to the third wire 2103 and the fourth wire 2104, and each wire wheel set is disposed along the wire transmission direction. After the first guide wire 2101, the second guide wire 2102, the third guide wire 2103 and the fourth guide wire 2104 extending from the sixth guide wire wheel 2012 are wound in the common tangential direction of the inner upper side of the seventh guide wire wheel 2014 of the J7 transmission assembly and the eighth guide wire wheel 2016 of the J8 transmission assembly,

as shown in fig. 11, the first guide wire 2101 sequentially contacts the ninth wire wheel 2018 and the twelfth wire wheel 2024 of the J9 transmission assembly along the outer upper side common tangential direction of the eighth wire wheel 2016 and the ninth wire wheel 2018 of the J9 transmission assembly and the outer upper side common tangential direction of the ninth wire wheel 2018 and the twelfth wire wheel 2024 of the J12 transmission assembly, and then extends to the J10 transmission assembly; the second guide wire 2102 sequentially contacts with the ninth wire wheel 2018 and the twelfth wire wheel 2024 along the inner lower common tangential direction of the eighth wire wheel 2016 and the ninth wire wheel 2018 and the inner upper common tangential direction of the ninth wire wheel 2018 and the twelfth wire wheel 2024, and then extends to the J10 transmission assembly; the third guide wire 2103 sequentially contacts the ninth wire wheel 2018 and the twelfth wire wheel 2024 along the outer upper side common tangential direction of the eighth wire wheel 2016 and the ninth wire wheel 2018 and the inner lower side common tangential direction of the ninth wire wheel 2018 and the twelfth wire wheel 2024, and then extends to the J10 transmission assembly; the fourth guide wire 2104 sequentially contacts the ninth wire wheel 2018 and the twelfth wire 2024 along the inner lower side common tangent direction of the eighth wire wheel 2016 and the ninth wire wheel 2024 and the outer lower side common tangent direction of the ninth wire wheel 2018 and the twelfth wire wheel 2024, and then extends to the J10 transmission assembly;

As shown in fig. 14, the first guide wire 2101 and the second guide wire 2102 are contacted with the twelfth wire wheel 2024 along the outer upper measuring common tangent direction of the ninth wire wheel 2018 and the twelfth wire wheel 2024 and then extend to the J10 transmission assembly; the third wire 2103 and the fourth wire 2104 extend to the J10 drive assembly after contacting the twelfth wire wheel in a common tangential direction to the inner underside of the ninth wire wheel 2018 and the twelfth wire wheel 2024.

As shown in fig. 1, 11 to 14, the J10 transmission assembly and the J11 transmission assembly are disposed near the end effector, the rotation axes of the J10 transmission assembly and the J11 transmission assembly are each disposed parallel to the X-axis direction, the J10 transmission assembly includes a tenth rotation axis 2019 and a tenth wire wheel 2020, the J11 transmission assembly includes an eleventh rotation axis 2021 and an eleventh wire wheel 2022, and as shown in fig. 1, 8, 9 and 11, the first guide wire 2101 and the second guide wire 2102 are disposed in parallel with the third guide wire 2103 and the fourth guide wire 2104 extending from the previous transmission assembly to the J10 transmission assembly, and as shown in fig. 10, the first guide wire 2101 and the second guide wire 2102 are disposed in a staggered manner with the third guide wire 2103 and the fourth guide wire 2104 extending from the previous transmission assembly to the J10 transmission assembly; the first guide wire 2101 and the second guide wire 2102 are wound around and extend to the end effector along the common tangential direction of the tenth wire wheel 2020 of the J10 transmission assembly and the eleventh wire wheel 2022 of the J11 transmission assembly, and the third guide wire 2103 and the fourth guide wire 2104 are wound around and extend to the end effector along the common tangential direction of the tenth wire wheel 2020 and the upper side of the eleventh wire wheel 2022.

Referring to fig. 1, 3 and 11 to 14, the first guide wire 2101 and the second guide wire 2102 extending from the eleventh wire guide wheel 2022 are fixedly disposed relative to the second actuator 3300, and the third guide wire 2103 and the fourth guide wire 2104 extending from the eleventh wire guide wheel 2022 are fixedly disposed relative to the first actuator 3200.

In addition, the first guide wire 2101, the second guide wire 2102, the third guide wire 2103, and the fourth guide wire 2104 may be combined with each other in any other winding combination manner, except for the winding manners described above, which do not involve any conflict with other technical features.

In the above embodiments, the purpose is to achieve the multi-degree-of-freedom motion of the distal end of the surgical instrument and achieve the effect that the motion direction of the distal end of the instrument and the motion direction of the control portion are completely consistent, and the pitch motion, yaw motion, opening and closing motion, and single-execution-portion motion implementation process applied in the present invention are described in relation to each other.

As shown in fig. 15, which is a schematic view of each motion of the multi-degree-of-freedom surgical instrument, wherein, as shown in fig. 15a to 15e, the yaw motion, the open-close motion, and the single actuator motion are based on the J1 transmission assembly near the operation portion and the brake rotation shaft of the actuator as the base frame, as shown in fig. 15f to 15h, the pitch motion is based on the J5 transmission assembly and the J10 transmission assembly near the actuator as the base frame,

As shown in fig. 1, 14, and 15, movement of the second finger collar 1006 is transferred through the first guide wire 2101 and the second guide wire 2102 to the second clamp 3302. When the second finger collar 1006 rotates clockwise along the center of the first rotation shaft 2001, a pulling force is generated on the first guide wire 2101, and the first rotation shaft 2001 rotates clockwise along the center of the brake rotation shaft 3100; when the second finger collar 1006 rotates counterclockwise along the center of the first rotation shaft 2001, a pulling force is applied to the second guide wire 2102, and the second clamp 3302 rotates counterclockwise along the center of the brake rotation shaft 3100.

Movement of the first finger loop 1003 is transferred to the first clamp 3202 through the third guidewire 2103 and the fourth guidewire 2104. When the first finger collar 1003 is rotated in a clockwise direction along the center of the first rotation shaft 2001, a pulling force is generated on the third guide wire 2103, and the first clamp 3202 is rotated in a clockwise direction along the center of the brake rotation shaft 3100; when the first finger collar 1003 is rotated counterclockwise along the center of the first rotation shaft 2001, a pulling force is applied to the fourth guide wire 2104, and the first clamp 3202 is rotated counterclockwise along the center of the brake rotation shaft 3100.

When the hand controls the second finger collar 1006 and the first finger collar 1003 to rotate in opposite directions, the opening and closing operation of the clamp is achieved.

When the second finger collar 1006 and the first finger collar 1003 simultaneously rotate in a clockwise direction along the center of the first rotation shaft 2001, a pulling force is generated on the first guide wire 2101 and the second guide wire 2102, and the second clamp 3302 and the first clamp 3202 simultaneously rotate in a clockwise direction along the center of the brake rotation shaft 3100; when the second finger collar 1006 and the first finger collar 1003 are simultaneously rotated in the counterclockwise direction along the center of the first rotation shaft 2001, a pulling force is generated on the second guide wire 2102 and the fourth guide wire 2104, and the second clamp 3302 and the first clamp 3202 are simultaneously rotated in the counterclockwise direction along the center of the stopper rotation shaft 3100, thereby achieving a deflecting motion of the second clamp 3302 and the first clamp 3202 as a whole along the center of the stopper rotation shaft 3100.

When the operation part rotates clockwise along the center of the fifth rotation axis 2009, a pulling force is generated on the third guide wire 2103 and the fourth guide wire 2104, and the operation part rotates clockwise along the center of the tenth rotation axis 2019; when the operation portion rotates counterclockwise along the center of the fifth rotation axis 2009, a pulling force is generated on the first guide wire 2101 and the second guide wire 2102, and the end effector rotates counterclockwise along the center of the tenth rotation axis 2019, thereby performing a pitching operation of the end effector along the center of the tenth rotation axis 2019.

Thus, the first guide wire 2101, the second guide wire 2102, the third guide wire 2103 and the fourth guide wire 2104 are controlled by the manual operation part, the end execution part is driven to realize multi-degree-of-freedom motion, and the motion direction is completely consistent with that of the manual operation part.

The multi-degree-of-freedom surgical instrument provided by the embodiment is suitable for the field of medical instruments, the multi-degree-of-freedom motion of the tail end of the surgical instrument is realized by optimizing the winding form of the guide wires and the arrangement form of the guide wire wheels, the effect that the motion direction of the tail end of the instrument execution is completely consistent with that of the control part can be achieved, and particularly, the multi-degree-of-freedom motion of the tail end of the surgical instrument can be realized by only four guide wires aiming at the existing complex guide wire transmission mode. In summary, the multi-degree-of-freedom surgical instrument of the present invention can realize intuitive operation and free operation with a small surgical perforation diameter.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above 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 foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A multiple degree of freedom surgical instrument, comprising:

an end effector;

an operation unit for controlling the operation of the end effector; and

the operation part comprises a finger sleeve ring, a driving rotation shaft and at least one driving wire guide wheel which takes the driving rotation shaft as a central shaft to rotate, the finger sleeve ring is provided with an extension part close to the driving rotation shaft end, the extension part is provided with a perforation and is rotatably sleeved on the driving rotation shaft, the tail end execution part comprises a braking rotation shaft and an execution assembly, and the execution assembly is rotatably arranged on the braking rotation shaft;

2. The multiple degree of freedom surgical instrument of claim 1 wherein the operating portion includes a first operating end and a second operating end that act independently of each other, the first operating end corresponding to a first finger collar, a first drive rotational shaft, and a first drive lead wheel, the second operating end corresponding to a second finger collar, a second drive rotational shaft, and a second drive lead wheel, the actuating assembly including a first actuating portion that is linked to the first operating end by the brake rotational shaft and a second actuating portion that is linked to the second operating end; the transmission part comprises 11 transmission components from the four guide wires to the J1 transmission component and the J11 transmission component, the first guide wire and the second guide wire end are connected with the second driving wire wheel and then extend, and the first guide wire and the second guide wire end are sequentially contacted with the J1 transmission component to the J11 transmission component and then extend to the second execution part; and the ends of the third guide wire and the fourth guide wire are connected with the first driving wire guide wheel and then extend to the first executing part after sequentially contacting with the J1 transmission assembly and the J11 transmission assembly.

3. The multi-degree of freedom surgical instrument of claim 2 wherein the axes of rotation of the brake, J1, J2 and J3 drive assemblies are all disposed parallel to the Y-axis direction, with the drive axis of rotation being the Y-axis reference; the first guide wire and the second guide wire are at least partially wound around the second driving guide wire wheel, then respectively contact with the first guide wire wheel along the two outer side/inner side public tangential directions of the second driving guide wire wheel and the first guide wire wheel of the J1 transmission assembly, respectively contact with the second guide wire wheel along the two outer side or inner side public tangential directions of the first guide wire wheel and the second guide wire wheel of the J2 transmission assembly after extending, respectively contact with the third guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel and the third guide wire wheel of the J3 transmission assembly after extending, and then extend to the J4 transmission assembly; the third guide wire and the fourth guide wire are at least partially wound around the first driving guide wire wheel, then respectively contact with the first guide wire wheel along the two outer side or inner side public tangential directions of the first driving guide wire wheel and the first guide wire wheel of the J1 transmission assembly, respectively contact with the second guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel of the first guide wire wheel and the J2 transmission assembly after extending, respectively contact with the third guide wire wheel along the two outer side or inner side public tangential directions of the second guide wire wheel and the third guide wire wheel of the J3 transmission assembly after extending, and then extend to the J4 transmission assembly; or (b)

4. The multiple degree of freedom surgical instrument of claim 1 wherein the operating portion includes a first operating end and a second operating end, the first operating end corresponding to a first finger collar, a first drive rotational shaft, a first drive lead wheel, and a third drive lead wheel, the second operating end corresponding to a second finger collar, a second drive rotational shaft, a second drive lead wheel, and a fourth drive lead wheel; the transmission part comprises four guide wires, 11 transmission assemblies from a J1 transmission assembly to a J11 transmission assembly, eight linkage wire rings, a J13 linkage assembly with wire wheels and a J14 linkage assembly, wherein the first linkage wire ring, the second linkage wire ring, the third linkage wire ring and the seventh linkage wire ring are wound and combined with the second driving wire wheel, the wire wheels of the J1 transmission assembly, the wire wheels of the J2 transmission assembly and the wire wheels of the J13 linkage assembly to form linkage which drives the wire wheels in the J2 transmission assembly through the combined action of the second driving wire wheel and the third driving wire wheel; the fourth linkage wire ring, the fifth linkage wire ring, the sixth linkage wire ring and the eighth linkage wire ring are wound and combined with the first driving wire wheel, the fourth driving wire wheel, the wire wheel of the J1 transmission assembly, the wire wheel of the J2 transmission assembly and the wire wheel of the J14 linkage assembly to form linkage of the wire wheel in the J2 transmission assembly through the combined action of the fourth driving wire wheel and the first driving wire wheel; the first guide wire, the second guide wire, the third guide wire and the fourth guide wire end are at least partially wound around a wire guide wheel of the J2 transmission assembly and extend to the execution assembly after being sequentially contacted with the J3 transmission assembly to the J11 transmission assembly;

5. The multiple degree of freedom surgical instrument of any one of claims 3 or 4 wherein the J4 drive assembly, the J5 drive assembly and the J6 drive assembly are guided drive assemblies, and the axes of rotation of the J4 drive assembly, the J5 drive assembly and the J6 drive assembly are disposed parallel to the X-axis direction;

6. The multiple degree of freedom surgical instrument of claim 5 wherein the rotational axes of the J7 drive assembly to the J9 drive assembly are each disposed parallel to the X-axis direction, and wherein after the first, second, third and fourth wires extending from the sixth wire guide wheel are wound in a direction common to the inner sides of the seventh wire guide wheel of the J7 drive assembly and the eighth wire guide wheel of the J8 drive assembly,

7. The multiple degree of freedom surgical instrument of claim 5 wherein the transmission portion further comprises a J12 transmission assembly, the J12 transmission assembly being disposed between the J9 transmission assembly and the J10 transmission assembly, the rotation axes of the J7 transmission assembly, the J8 transmission assembly, the J9 transmission assembly, and the J12 transmission assembly being disposed parallel to the X axis direction, the first guide wire, the second guide wire, the third guide wire, and the fourth guide wire extending from the sixth guide wire wheel being wound in an inner common tangential direction of a seventh guide wire wheel of the J7 transmission assembly and an eighth guide wire wheel of the J8 transmission assembly,

8. The multiple degree of freedom surgical instrument of any one of claims 6 or 7 wherein the J10 drive assembly and the J11 drive assembly are disposed adjacent the end effector, the axes of rotation of the J10 drive assembly and the J11 drive assembly are each disposed parallel to the X-axis, the first and second guide wires and the third and fourth guide wires are disposed parallel or staggered during extension from the J10 drive assembly preceding the drive assembly to the J10 drive assembly, the first and second guide wires are wound and extend to the end effector in a direction common to the tenth wire wheel of the J10 drive assembly and the eleventh wire wheel of the J11 drive assembly, and the third and fourth guide wires are wound and extend to the end effector in a direction common to the tenth wire wheel and the eleventh wire wheel.

9. The multiple degree of freedom surgical instrument of any one of claims 2 or 4 wherein the first actuator proximal end has a first brake wire wheel and the second actuator proximal end has a second brake wire wheel, the first brake wire wheel and the second brake wire wheel rotatably socket the brake rotation shaft, the first guide wire and the second guide wire each extending at least partially from opposite sides of the second brake wire wheel and then secured with a second guide wire mount, and the third guide wire and the fourth guide wire each extending at least partially from opposite sides of the first brake wire wheel and then secured with a first guide wire mount.

10. The multiple degree of freedom surgical instrument of claim 9 wherein the first actuator distal end is provided with a first structure coupled to the first brake wire wheel and the second actuator distal end is provided with a second structure coupled to the second brake wire wheel, the first structure and the second structure being any one of a clamp type structure, a scissor type structure, or a claw type structure that cooperate with each other.