CN211156230U

CN211156230U - Surgical robot and surgical instrument

Info

Publication number: CN211156230U
Application number: CN201921324932.6U
Authority: CN
Inventors: 何裕源; 何超; 蒋友坤
Original assignee: Microport Shanghai Medbot Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2020-08-04
Anticipated expiration: 2029-08-15

Abstract

The utility model provides a surgical robot and surgical instruments, surgical instruments include that silk transmission structure and apparatus are terminal, silk transmission structure includes base and a n transmission module, every the transmission module includes at least one terminal drive shaft, two traction bodies and two leading wheels, every the leading wheel is including the silk groove that is used for holding the traction body, the silk groove includes silk groove rotating surface, gets into the tangential point and leaves the tangential point, and terminal drive shaft is 0 ~ 0.2 with the contained angle that gets into between the traction body that the tangential point was injectd and the silk groove rotating surface, all are in the traction body that leaves the tangential point position is in the order of arranging of through-hole edge circumference that the projection of proximal end portion is with corresponding is sequenced. Due to the configuration, the wire transmission structure of the surgical instrument can reduce or eliminate the friction resistance between the wire groove and the traction body through fewer guide wheels, and the traction bodies cannot be overlapped and scraped, so that the transmission efficiency of the wire transmission structure of the surgical instrument is improved, and the service life of the surgical instrument is prolonged.

Description

Surgical robot and surgical instrument

Technical Field

The utility model relates to the technical field of surgical instruments, in particular to surgical robot and surgical instrument.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical surgical robots in clinical practice is more and more emphasized. The minimally invasive surgery robot system can reduce the physical labor of a doctor in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the patient has small wound, less blood loss, less postoperative infection and quick postoperative recovery. The quality of the design of the surgical instruments used by the surgical robot directly determines whether the minimally invasive surgical robot system is successful or not, and the performance of the surgical instruments is a key factor influencing the performance level of the minimally invasive surgical robot system.

According to the inventor's knowledge, the chinese patent application publication No. CN105212987A discloses a surgical instrument, which uses 6 steel wires to realize 3 degrees of freedom at the end of the instrument, and uses 9 guide wheels at the end of the instrument drive box to complete the wire drive guide layout at the end of the instrument drive box, which has the disadvantages that the presence of pulleys in ① wire drive leads to a reduction in drive efficiency, the greater the number of guide wheels used is, the more unfavorable the drive efficiency of the wire drive is, and under the same load drive, the lower the drive efficiency, the drive module (such as a motor) is required to provide greater power output, which generally leads to an increase in the size and mass of the drive module, which is unfavorable for the improvement of the overall performance of the surgical robot, the presence of ② steel wire rope deflection angle, which is the deflection angle between the direction of the guide wheel groove and the extending direction of the steel wire, which leads to lateral pressure of the steel wire on the guide wheels, which further generates lateral friction force, which leads to increase the transmission chain resistance, and at the excessive deflection angle may cause wire skipping, and the cross-over-crossing of the end of the wire drive rod may cause the friction phenomenon of the instrument 366 crossing of the wire.

Accordingly, there is a need for a surgical instrument with more optimized performance.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a surgical robot and surgical instruments to there is great declination in leading wheel groove and an at least steel wire among the solution current surgical instruments, and have one or more in the problem of cross wear between the steel wire.

In order to solve at least one of the above technical problems, the present invention provides a surgical instrument, which includes: a wire drive structure and an instrument tip;

the wire drive structure includes: the device comprises a base and n transmission modules, wherein each transmission module comprises at least one tail end driving shaft, two traction bodies and two guide wheels;

the instrument tip has at least n degrees of freedom, and comprises a proximal end part which is provided with 2n through holes along the circumferential direction;

the tail end driving shaft is rotatably arranged on the base and drives the tail end of the instrument to move through the traction body;

the proximal ends of the jth traction body and the jth +1 traction body surround the ith tail end driving shaft in opposite directions, and the distal ends of the jth traction body and the jth +1 traction body respectively pass through the jth guide wheel and the jth +1 guide wheel to be steered and then pass through the jth through hole and the jth +1 through hole, wherein i is a natural number, and j is 2 i-1;

each of the guide wheels includes: the wire groove is used for accommodating a traction body and comprises a wire groove rotating surface, an entering tangent point and an exiting tangent point, and the corresponding traction body enters the guide wheel from the entering tangent point and exits the guide wheel from the exiting tangent point; the guide wheel is configured in such a way that the included angle between the traction body defined by the tail end driving shaft and the entering tangent point and the rotation surface of the wire groove is 0-0.2 degrees, and the projections of all the traction bodies at the position of the leaving tangent point on the proximal end part are sequenced in the arrangement sequence of the corresponding through holes along the circumferential direction.

Optionally, the distal end of the instrument is further provided with an axis from the proximal end to the distal end, and the guide wheel is further configured such that an included angle between the traction body defined by the exit tangent point and the corresponding through hole and the axis is 0-5 °.

Optionally, the guide wheel is further configured such that an included angle between a traction body defined by the departure tangent point and the corresponding through hole and the rotation surface of the wire groove is 0-1.5 °.

Optionally, a jth connecting point is formed by the ith tail end driving shaft and the jth traction body, and an included angle between the jth connecting point and an entry tangent point of the jth guide wheel and the base is 0-10 degrees; the ith tail end driving shaft and the (j + 1) th traction body form a (j + 1) th connecting point, and an included angle between the traction body between the (j + 1) th connecting point and the entry tangent point of the (j + 1) th guide wheel and the base is 0-10 degrees.

Optionally, any two of the traction bodies are parallel or out-of-plane to a portion defined by the entry tangent point by the corresponding connection point.

Optionally, the surgical instrument further comprises an instrument rod driving shaft and an instrument rod, the instrument rod is detachably or fixedly connected with the tail end of the instrument, and the instrument rod driving shaft is used for driving the instrument rod to rotate.

Optionally, the distal end of the surgical instrument includes at least three degrees of freedom, the wire transmission structure includes a first transmission module, a second transmission module, and a third transmission module, and the first transmission module, the second transmission module, and the third transmission module respectively drive one degree of freedom of the distal end of the surgical instrument; the first transmission module comprises a first tail end driving shaft, a first traction body, a second traction body, a first guide wheel and a second guide wheel; the second transmission module comprises a second tail end driving shaft, a third traction body, a fourth traction body, a third guide wheel and a fourth guide wheel; the third transmission module comprises a third tail end driving shaft, a fifth traction body, a sixth traction body, a fifth guide wheel and a sixth guide wheel; the first traction body, the second traction body, the third traction body, the fourth traction body, the fifth traction body and the sixth traction body respectively correspond to the first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel and the sixth guide wheel.

Optionally, the instrument tip further comprises an end effector comprising: the first opening and closing piece and the second opening and closing piece are rotatably connected with the actuator supporting seat to form at least two opening and closing degrees of freedom; the actuator support base is rotatably connected with the proximal end portion to form at least one degree of freedom of oscillation; the first transmission module is used for driving the first opening and closing piece to move, the second transmission module is used for driving the second opening and closing piece to move, and the third transmission module is used for driving the actuator supporting seat to move relative to the proximal end portion.

Optionally, the through holes on the proximal end portion include a first through hole, a second through hole, a third through hole, a fourth through hole, a fifth through hole, and a sixth through hole, which are respectively used for constraining the extending directions of the first traction body, the second traction body, the third traction body, the fourth traction body, the fifth traction body, and the sixth traction body;

the rotation axes of the first opening and closing sheet and the second opening and closing sheet are not parallel to the rotation axis of the actuator supporting seat;

the fifth through hole, the third through hole, the first through hole, the sixth through hole, the second through hole and the fourth through hole are circumferentially arranged around the center of the proximal end portion.

Optionally, the fifth through hole and the sixth through hole are symmetrical about the center of the proximal portion; the third through hole and the second through hole are symmetrical about the center of the proximal portion; the first through hole and the fourth through hole are symmetrical about a center of the proximal portion.

Optionally, the departure tangent points of the first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel and the sixth guide wheel are a first departure tangent point, a second departure tangent point, a third departure tangent point, a fourth departure tangent point, a fifth departure tangent point and a sixth departure tangent point, respectively;

the first traction body located at the first departure tangent point position is projected at the proximal end part to form a first projection;

the second traction body located at the second departure tangent point position is projected at the proximal end part to form a second projection;

the third traction body located at the third exit tangent point position is projected at the proximal end part to form a third projection;

the fourth traction body located at the fourth exit tangent point position is projected at the proximal end portion to form a fourth projection;

the fifth traction body located at the fifth exit tangent point is projected at the proximal end part to form a fifth projection;

the sixth traction body located at the sixth exit tangent point is projected at the proximal end portion to form a sixth projection;

the first projection, the second projection, the third projection, the fourth projection, the fifth projection and the sixth projection are configured to be arranged in an order of circumferential arrangement of the through holes at the proximal end portion.

Optionally, the distal end of the instrument is further provided with an axis from the proximal end to the distal end, and the diameters of the six traction bodies are d; the projection of the tractor at the proximal end is configured to:

the centers of the sixth projections are distributed in: a circular area which takes a symmetrical point of the center of the fifth projection about the axis as a circle center and takes 5d as a radius;

the centers of the second projections are distributed in: a circular area which takes a symmetrical point of the center of the third projection about the axis as a circle center and takes 5d as a radius;

the centers of the fourth projections are distributed in: and a circular area which takes a symmetrical point of the center of the first projection about the axis as a circle center and takes 5d as a radius.

Optionally, the surgical instrument further comprises an instrument rod coaxial with the axis, and the instrument rod is provided with a through cavity for the traction body to penetrate through; wherein the portion of all of the traction bodies within the instrument shaft is configured to: the distance between the centers of any two projections is larger than d; the distance from the center of any projection to the inner wall of the instrument rod is more than 0.6 d; any projection is greater than 0.5d to the centre of the instrument stem 2.

Alternatively to this, the first and second parts may,

the surgical instrument also comprises an instrument rod which is coaxial with the axis and is provided with a through cavity for the traction body to penetrate through;

with the center of the fifth projection being A1, the projection of the axis of the instrument shaft being O1, the center of the third projection being B1, the center of the first projection being C1, and the inner diameter of the instrument shaft being D, the third projection and the first projection satisfy:

and

optionally, a first guide seat and a second guide seat which are opposite to each other are arranged on the base, three guide wheels are arranged on the first guide seat, and the other three guide wheels are arranged on the second guide seat.

Optionally, the first guide wheel, the sixth guide wheel and the second guide wheel are arranged on the first guide seat, and the third guide wheel, the fifth guide wheel and the fourth guide wheel are arranged on the second guide seat; the distance of first leading wheel, sixth leading wheel and second leading wheel for the base reduces in proper order, third leading wheel, fifth leading wheel and fourth leading wheel for the distance of base reduces in proper order.

Optionally, the third guide wheel, the first guide wheel and the sixth guide wheel are arranged on the first guide seat, and the fifth guide wheel, the second guide wheel and the fourth guide wheel are arranged on the second guide seat; the distance of the third guide wheel, the distance of the first guide wheel and the distance of the sixth guide wheel relative to the base are sequentially reduced, and the distance of the fifth guide wheel, the distance of the second guide wheel and the distance of the fourth guide wheel relative to the base are sequentially reduced.

Optionally, the distal end of the instrument is further provided with an axis from the proximal end to the distal end, the base plate is provided with a first symmetrical plane and a second symmetrical plane which are perpendicular to each other, and an intersection line of the first symmetrical plane and the second symmetrical plane is parallel or collinear with the axis; the second end drive shaft and the third end drive shaft are symmetrically arranged about the first plane of symmetry, the first end drive shaft and the second end drive shaft are symmetrically arranged about the second plane of symmetry, and the second end drive shaft is further from the axis relative to the third end drive shaft.

Optionally, the distal end of the instrument is further provided with an axis from the proximal end to the distal end, the base plate is provided with a first symmetrical plane and a second symmetrical plane which are perpendicular to each other, and an intersection line of the first symmetrical plane and the second symmetrical plane is parallel or collinear with the axis; the second end drive shaft and the third end drive shaft are symmetrically arranged about the first plane of symmetry, the first end drive shaft and the third end drive shaft are symmetrically arranged about the second plane of symmetry, and the third end drive shaft is further from the axis relative to the second end drive shaft.

Optionally, the distal end of the surgical instrument includes at least two degrees of freedom, the wire transmission structure includes a fourth transmission module and a fifth transmission module, and the fourth transmission module and the fifth transmission module respectively drive one degree of freedom of the distal end of the surgical instrument; the fourth transmission module comprises a fourth tail end driving shaft, a seventh traction body, an eighth traction body, a seventh guide wheel and an eighth guide wheel; the fifth transmission module comprises a fifth tail end driving shaft, a ninth traction body, a tenth traction body, a ninth guide wheel and a tenth guide wheel; the seventh traction body, the eighth traction body, the ninth traction body and the tenth traction body respectively correspond to the seventh guide wheel, the eighth guide wheel, the ninth guide wheel and the tenth guide wheel.

Optionally, the instrument tip further comprises: the snake joint comprises a plurality of snake bones which are sequentially and axially arranged, and the snake bones can swing in at least two directions to form at least two degrees of freedom;

the seventh traction body, the eighth traction body, the ninth traction body and the tenth traction body sequentially penetrate through each snake bone and are connected with the snake bones at the far ends, and the fourth transmission module and the fifth transmission module are respectively used for driving the snake-shaped joints to swing in two directions.

Optionally, the through holes on the proximal end portion include a seventh through hole, an eighth through hole, a ninth through hole and a tenth through hole, which are respectively used for constraining the extending directions of the seventh pulling body, the eighth pulling body, the ninth pulling body and the tenth pulling body;

the seventh through hole, the ninth through hole, the eighth through hole and the tenth through hole are circumferentially arranged along the proximal end portion.

Optionally, the seventh through hole and the eighth through hole are symmetrical about a center of the proximal portion; the ninth through hole and the tenth through hole are symmetrical with respect to a center of the proximal portion.

Optionally, the departure tangent points of the seventh leading wheel, the eighth leading wheel, the ninth leading wheel and the tenth leading wheel are a seventh departure tangent point, an eighth departure tangent point, a ninth departure tangent point and a tenth departure tangent point, respectively;

the seventh lead at the seventh exit tangent point location projects at the proximal end to form a seventh projection;

the eighth tractor at the eighth exit tangent point projects at the proximal end to form an eighth projection;

the ninth traction body located at the ninth exit tangent point is projected at the proximal end portion to form a ninth projection;

the tenth lead at the tenth exit tangent point location projects at the proximal end to form a tenth projection;

the seventh projection, the eighth projection, the ninth projection, and the tenth projection are configured to be arranged in an order in which the through holes are arranged in the circumferential direction of the proximal portion.

Optionally, the end of the instrument is further provided with an axis from the proximal end to the distal end, and the diameters of the four traction bodies are d; the projection of the tractor at the proximal end is configured to:

the centers of the eighth projections are distributed in: a circle region which takes a symmetrical point of the center of the seventh projection about the axis as a circle center and takes 5d as a radius;

the centers of the tenth projection are distributed as follows: and a circular area with the center of the ninth projection as the center of a circle and 5d as the radius, wherein the point of symmetry of the center of the ninth projection with respect to the axis is the center of the circle.

Alternatively to this, the first and second parts may,

taking the projection center of the axis of the instrument rod as O1, the center of the eighth projection as Q1, the center of the ninth projection as P1, and the inner diameter of the instrument rod as D, the ninth projection and the eighth projection satisfy:

optionally, a third guide seat and a fourth guide seat which are opposite to each other are arranged on the base, the seventh guide wheel and the eighth guide wheel are arranged on the third guide seat, and the ninth guide wheel and the tenth guide wheel are arranged on the fourth guide seat; the distance between the seventh guide wheel and the base is smaller than the distance between the eighth guide wheel and the base, and the distance between the ninth guide wheel and the base is smaller than the distance between the tenth guide wheel and the base.

In order to solve at least one of the above technical problems, the utility model provides a surgical robot, it includes: the robot arm and the surgical instrument are hung at the tail end of the robot arm, and the robot arm is used for adjusting the position and/or the posture of the surgical instrument.

In summary, in the utility model provides an among surgical robot and surgical instrument, surgical instrument includes that silk transmission structure and apparatus are terminal, silk transmission structure includes base and a n transmission module, every transmission module includes at least one terminal drive shaft, two traction bodies and two leading wheels, every the leading wheel is including being used for holding the silk groove of traction body, the silk groove includes the silk groove plane of revolution, gets into the tangent point and leaves the tangent point, and terminal drive shaft and the contained angle that gets into between the traction body that the tangent point was injectd and the silk groove plane of revolution are 0 ~ 0.2, all leave the traction body of tangent point position and be in the order of arranging of the projection of proximal end portion with the through-hole that corresponds along circumference is sequenced. According to the configuration, the wire transmission structure of the surgical instrument can reduce or eliminate the friction resistance between the wire groove of the guide wheel and the traction body through fewer guide wheels, and the traction bodies cannot be overlapped and scratched mutually, so that the transmission efficiency of the wire transmission structure of the surgical instrument is improved, and the service life of the surgical instrument is prolonged.

Drawings

Those skilled in the art will appreciate that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. Wherein:

FIG. 1 is a schematic view of an overall configuration of a surgical instrument according to an embodiment of the present invention;

fig. 2 is a schematic view of an internal structure of a surgical instrument according to an embodiment of the present invention;

fig. 3 is a schematic view of a wire transmission structure according to an embodiment of the present invention;

fig. 4 is a schematic view of a guide seat according to an embodiment of the present invention;

fig. 5 is a schematic view of a first transmission module according to an embodiment of the present invention;

fig. 6 is a schematic view of a second transmission module according to an embodiment of the present invention;

fig. 7 is a schematic view of a third transmission module according to an embodiment of the present invention;

fig. 8 is a schematic transmission plane view of a wire transmission structure according to an embodiment of the present invention;

FIG. 9 is a schematic illustration in cross-section of a proximal end of an instrument shaft provided in accordance with an embodiment of the present invention;

FIG. 10 is a cross-sectional view of an instrument shaft according to an embodiment of the present invention, wherein ∠ A1O1B1 and ∠ A1O1C1 are at a minimum and a maximum;

FIG. 11 is a schematic view of an instrument tip provided in accordance with an embodiment of the present invention;

fig. 12 is a schematic view of a proximal portion of an instrument tip provided in accordance with an embodiment of the present invention;

fig. 13 is a schematic view of the connection of the wire drive structure to the distal end of the instrument according to an embodiment of the present invention;

fig. 14 is a top view of the wire drive structure provided in the second embodiment of the present invention;

fig. 15 is a perspective view of a wire transmission structure provided in the second embodiment of the present invention;

fig. 16 is a schematic transmission plane view of the wire transmission structure provided in the third embodiment of the present invention;

fig. 17 is a schematic view of a surgical instrument provided in accordance with a fourth embodiment of the present invention;

FIG. 18 is a schematic view of the instrument tip oscillation of the surgical instrument illustrated in FIG. 17;

fig. 19 is a schematic view of an instrument tip provided in accordance with a fourth embodiment of the present invention;

fig. 20 is a schematic view of a wire drive structure according to a fourth embodiment of the present invention;

fig. 21 is a schematic view of a fourth transmission module provided in accordance with a fourth embodiment of the present invention;

fig. 22 is a schematic diagram of a fifth transmission module provided in accordance with a fourth embodiment of the present invention;

fig. 23 is a schematic cross-sectional view of a proximal end of an instrument shaft provided in accordance with a fourth embodiment of the present invention;

fig. 24 is a schematic view of a proximal portion of an instrument tip provided in accordance with a fourth embodiment of the present invention;

fig. 25 is a schematic transmission plan view of a wire transmission structure according to a fourth embodiment of the present invention;

fig. 26 is a cross-sectional view of an instrument shaft according to a fourth embodiment of the present invention, illustrating ∠ P1O1Q1 minimum and maximum;

fig. 27 is a schematic view of a first portion of a first idler wheel and a first tractor according to an embodiment of the present invention.

In the drawings:

1-a wire drive structure; 11-a base; 12-a first end drive shaft; 13-a second end drive shaft; 14-a third end drive shaft; 15-a guide frame base; 16-a second guide seat; 161-a third guide wheel; 162-third leading wheel axle; 163-fifth guide wheel; 164-fifth leading wheel axle; 165-a fourth guide wheel; 166-a fourth guide wheel shaft; 17-a first guide seat; 171-a first guide wheel; 172-first guide wheel shaft; 173-sixth guide wheel; 174-sixth leading wheel axle; 175-a second guide wheel; 176-a second guide wheel shaft; 181-third guide seat; 182-a fourth guide holder; 191-a fifth end drive shaft; 192-a sixth end drive shaft; 193-seventh leading wheel; 194-an eighth guide wheel; 195-a ninth guide wheel; 196-a tenth directive wheel;

2-an instrument rod; 21-a fifth tractor; 22-a third tractor; 23-a first traction body; 24-a sixth lead; 25-a second tractor; 26-a fourth tractor; 201-a ninth lead; 202-eighth tractor; 203-tenth tractor; 204-a seventh lead;

3-the instrument tip; 300-proximal end portion; 21 b-a fifth via; 22 b-a third via; 23 b-a first via; 24 b-a sixth via; 25 b-a second via; 26 b-a fourth via; 201 b-a ninth via; 202 b-eighth via; 203 b-tenth via; 204 b-a seventh via;

301-actuator support seat; 302-a first opening and closing sheet; 303-a second opening and closing sheet; 304-a first rotating shaft; 305-a second rotation axis; 306-a first end guide wheel; 307-a second end guide wheel; 308-a third end guide wheel; 309-fourth end guide wheel; 311-snake bone.

Detailed Description

To make the objects, advantages and features of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, the term "proximal" generally being the end near the operator and the term "distal" generally being the end near the operative object of the surgical instrument.

The core idea of the utility model is to provide a surgical robot and a surgical instrument, wherein the surgical instrument comprises a wire transmission structure and an instrument end; the wire drive structure includes: the device comprises a base and n transmission modules, wherein each transmission module comprises at least one tail end driving shaft, two traction bodies and two guide wheels; the instrument tip has at least n degrees of freedom, and comprises a proximal end part which is provided with 2n through holes along the circumferential direction; the tail end driving shaft is rotatably arranged on the base and drives the tail end of the instrument to move through the traction body; the proximal ends of the jth traction body and the jth +1 traction body surround the ith tail end driving shaft in opposite directions, and the distal ends of the jth traction body and the jth +1 traction body respectively pass through the jth guide wheel and the jth +1 guide wheel to be steered and then pass through the jth through hole and the jth +1 through hole, wherein i is a natural number, and j is 2 i-1; the guide wheel includes: the wire groove is used for accommodating a traction body, the wire groove comprises a wire groove rotating surface, an entering tangent point and an exiting tangent point, and the traction body enters the guide wheel from the entering tangent point and exits the guide wheel from the exiting tangent point; the guide wheel is configured in such a way that the included angle between the traction body defined by the tail end driving shaft and the entering tangent point and the rotation surface of the wire groove is 0-0.2 degrees, and the projections of all the traction bodies at the position of the leaving tangent point on the proximal end part are sequenced in the arrangement sequence of the corresponding through holes along the circumferential direction.

According to the configuration, the wire transmission structure of the surgical instrument can reduce or eliminate the friction resistance between the wire groove of the guide wheel and the traction body through fewer guide wheels, and the traction bodies cannot be overlapped and scratched mutually, so that the transmission efficiency of the wire transmission structure of the surgical instrument is improved, and the service life of the surgical instrument is prolonged.

The following description refers to the accompanying drawings.

[ EXAMPLES one ]

Please refer to fig. 1 to 13 and 27, wherein, fig. 1 is a schematic diagram illustrating the overall structure of a surgical instrument according to an embodiment of the present invention, fig. 2 is a schematic diagram illustrating the internal structure of a surgical instrument according to an embodiment of the present invention, fig. 3 is a schematic diagram illustrating a wire transmission structure according to an embodiment of the present invention, fig. 4 is a schematic diagram illustrating a guide seat according to an embodiment of the present invention, fig. 5 is a schematic diagram illustrating a first transmission module according to an embodiment of the present invention, fig. 6 is a schematic diagram illustrating a second transmission module according to an embodiment of the present invention, fig. 7 is a schematic diagram illustrating a third transmission module according to an embodiment of the present invention, fig. 8 is a schematic diagram illustrating a transmission plane of a wire transmission structure according to an embodiment of the present invention, fig. 9 is a schematic diagram illustrating a cross section of a proximal end of an instrument rod according to an embodiment of the present invention, fig. 10 is a schematic diagram illustrating a cross section of an instrument rod according to an embodiment of the present invention, ∠ A1O1B1 and a ∠ a C1C 35 are schematic diagrams illustrating a minimum and maximum end of a first end of a traction wire transmission mechanism, and a schematic diagram illustrating a first end of an embodiment of a traction device according to an embodiment of the present invention, and a first end of the present invention, a second embodiment of the present invention, and a second end of the present invention, a second embodiment of the present invention, and a traction device is a second end of the present invention, and a traction device.

As shown in fig. 1 and 2, a surgical instrument according to a first embodiment of the present invention includes: the device comprises a wire transmission structure 1 and a device tail end 3, wherein a traction body of the wire transmission structure is connected with the device tail end 3, and the wire transmission structure is used for driving the device tail end 3. Preferably, the surgical instrument further comprises an instrument shaft 2, and the wire drive 1 is connected to the instrument tip 3 via the instrument shaft 2.

Referring to fig. 11, the instrument tip 3 includes a proximal portion 300 and an end effector. Preferably, the instrument tip 3 further includes one or more joints between the proximal end portion 300 and the end effector to drive end effector pitch or yaw motion. In one embodiment, the instrument tip has three degrees of freedom. Accordingly, six tractors are required to achieve control of the instrument tip 3. Referring to fig. 12 in conjunction with fig. 13, the proximal portion 300 is circumferentially provided with 6 through holes for six tractor bodies to pass through; these 6 through-holes are respectively: a first through hole 23b, a second through hole 25b, a third through hole 22b, a fourth through hole 26b, a fifth through hole 21b, and a sixth through hole 24 b. The relative positional relationship of the through holes is here dependent on the arrangement of the individual joints of the instrument tip 3. The joint arrangement and the corresponding through hole relative positions can be designed as required by those skilled in the art.

Referring to fig. 11, a distal end 3 of the instrument according to a first embodiment of the present invention is shown, wherein fig. 11(a) and 11(B) are schematic views of two opposite sides (left side and right side) of the distal end 3 of the instrument, respectively. The end effector is rotatably coupled to the proximal portion 300. The end effector includes: the actuator supporting seat 301, the first opening and closing piece 302 and the second opening and closing piece 303, wherein the first opening and closing piece 302 and the second opening and closing piece 303 are rotatably connected with the actuator supporting seat 301 to form at least two degrees of freedom; the actuator support base 301 is pivotally connected to the proximal portion 300 to provide at least one degree of freedom. In an exemplary embodiment, the actuator support base 301 is rotatably coupled to the distal end of the proximal section 300 about a first rotational axis 304. The first opening and closing piece 302 and the second opening and closing piece 303 are both rotatably connected with the actuator supporting seat 301 around a second rotating shaft 305. The actuator support base 301 rotates relative to the proximal portion 300 to form a degree of freedom of oscillation, and the rotation of the two opening and closing pieces rotates relative to the actuator support base 301 to form two degrees of freedom of opening and closing. Thus, the instrument tip has three degrees of freedom. Preferably, the axis of the instrument tip 3, the axis of the first rotation shaft 304 and the axis of the second rotation shaft 305 are mutually perpendicular two by two.

Referring to fig. 3, a wire drive structure 1 according to a first embodiment of the present invention will be described with reference to fig. 2. The wire transmission structure 1 comprises a base 11 and three transmission modules, wherein each transmission module comprises at least one tail end driving shaft, two traction bodies and two guide wheels. All distal drive shafts are rotatably mounted on the base 11 and drive the movement of the instrument distal end 3 via the tractor. The three transmission modules are respectively a first transmission module, a second transmission module and a third transmission module. The first transmission module includes at least a first end drive shaft 12, a first traction body 23, a second traction body 25, a first guide wheel 171, and a second guide wheel 175. The second transmission module comprises at least a second end drive shaft 13, a third traction body 22, a fourth traction body 26, a third guide wheel 161 and a fourth guide wheel 165. The third transmission module comprises at least a third end drive shaft 14, a fifth traction body 21, a sixth traction body 24, a fifth guide wheel 163 and a sixth guide wheel 173. Preferably, the substrate 11 has a first symmetrical surface and a second symmetrical surface, and the first symmetrical surface is perpendicular to the second symmetrical surface. Further, the intersection of the first and second planes of symmetry is parallel or collinear with the axis of the instrument tip 3. The second end drive shaft 13 and the third end drive shaft 14 are arranged symmetrically about the first plane of symmetry, and the second end drive shaft 13 is further away from the axis of the instrument end 3 than the third end drive shaft 14. The first end drive shaft 12 and the second end drive shaft 13 are arranged symmetrically with respect to a second plane of symmetry.

Referring to fig. 5 to 7 in combination with fig. 11 and 13, the three transmission modules of the wire transmission structure 1 are used to drive the instrument tip 3 to move. Specifically, the first driving module is used for driving the first opening and closing piece 302 to rotate; the second transmission module is used for driving the second opening and closing sheet 303 to rotate; the third drive module is configured to drive the end effector in rotation relative to the proximal portion 300. More specifically, the fifth traction body 21 and the sixth traction body 24 of the third transmission module respectively extend from two sides of the first rotating shaft 304 and are fixedly connected to the actuator supporting seat 301 to control the actuator supporting seat 301 to rotate around the first rotating shaft 304. Further, the first rotating shaft 304 is further sequentially sleeved with four end guiding rotating wheels rotatably connected with the first rotating shaft 304, that is, a first end guiding rotating wheel 306, a second end guiding rotating wheel 307, a third end guiding rotating wheel 308 and a fourth end guiding rotating wheel 309. The first end guide wheel 306 and the fourth end guide wheel 309 are arranged symmetrically with respect to the axis of the instrument end 3, and the second end guide wheel 307 and the third end guide wheel 308 are also arranged symmetrically with respect to the axis of the instrument end 3. Further, the second end guide wheel 307 and the third end guide wheel 308 are closer to the axis of the instrument end 3 than the first end guide wheel 306 and the fourth end guide wheel 309. The first end guide roller 306, the second end guide roller 307, the third end guide roller 308 and the fourth end guide roller 309 are respectively used for guiding and changing the extending directions of the fourth traction body 26, the second traction body 25, the third traction body 22 and the first traction body 23. The first pulling body 23 and the second pulling body 25 are respectively fixedly connected with the first opening and closing sheet 302 and are used for driving the first opening and closing sheet 302 to open and close so as to form a degree of freedom for opening and closing; the third pulling body 22 and the fourth pulling body 26 are respectively and fixedly connected with the second opening and closing sheet 303, and are used for driving the opening and closing of the second opening and closing sheet 303 to form another opening and closing degree of freedom. Preferably, the second end guide roller 307 and the third end guide roller 308 have the same diameter, and the first end guide roller 306 and the fourth end guide roller 309 have the same diameter, so that the third traction body 22 and the fourth traction body 26 controlling the movement of the second opening and closing plate 303 can be consistent in length change.

Referring to fig. 12 and 13, six through holes sequentially formed around the center of the proximal portion 300 are respectively used for restricting the extending direction of six traction bodies in the three transmission modules toward the distal end; the proximal end of each traction body is connected with the corresponding tail end driving shaft, and the distal end of each traction body penetrates through the corresponding through hole and is connected with the tail end 3 of the instrument. In this embodiment, the first pulling body 23 passes through the first through hole 23b, the second pulling body 25 passes through the second through hole 25b, the third pulling body 22 passes through the third through hole 22b, the fourth pulling body 26 passes through the fourth through hole 26b, the fifth pulling body 21 passes through the fifth through hole 21b, and the sixth pulling body 24 passes through the sixth through hole 24 b. Further, the fifth through hole 21b, the third through hole 22b, the first through hole 23b, the sixth through hole 24b, the second through hole 25b, and the fourth through hole 26b are arranged counterclockwise around the center of the proximal portion 300. Wherein the fifth through hole 21b and the sixth through hole 24b are arranged symmetrically with respect to the center of the proximal portion 300 for accommodating the fifth traction body 21 and the sixth traction body 24, respectively. Preferably, a connecting line of the fifth through hole 21b and the sixth through hole 24b is perpendicular to the axis of the first rotating shaft 304, so that the fifth traction body 21 and the sixth traction body 24 can be smoothly and fixedly connected with the actuator supporting seat 301 after passing through the fifth through hole 21b and the sixth through hole 24b, so as to realize that the actuator supporting seat 301 rotates around the first rotating shaft 304. The third through hole 22b and the second through hole 25b are symmetrically arranged with respect to the center of the proximal portion 300, the first through hole 23b and the fourth through hole 26b are symmetrically arranged with respect to the center of the proximal portion 300, and the distance from the third through hole 22b to the center of the proximal portion 300 is smaller than the distance from the first through hole 23b to the center of the proximal portion 300. The third through hole 22b and the second through hole 25b are used to accommodate the third traction body 22 and the second traction body 25, respectively. The first through hole 23b and the fourth through hole 26b are used to accommodate the first traction body 23 and the fourth traction body 26, respectively. So configured, the third and fourth through holes 22b, 26b are configured to accommodate a puller driving one degree of freedom, and the first and second through holes 23b, 25b are configured to accommodate a puller driving the other degree of freedom. And because the third and

second tractor bodies

22, 25 are closer to the center of the proximal portion 300 than the first and

fourth tractor bodies

23, 26, the configuration makes the movement of the four tractor bodies smoother. The line connecting the third through hole 22b and the first through hole 23b may or may not be parallel to the axis of the first rotating shaft 304. In an alternative embodiment, the fifth through hole 21b, the third through hole 22b, the first through hole 23b, the sixth through hole 24b, the second through hole 25b, and the fourth through hole 26b are circumferentially arranged clockwise along the proximal portion 300.

In this embodiment, the first traction body is redirected by the respective guide wheel, extending to the distal end, each guide wheel comprises a wire groove for accommodating the traction body, the wire groove comprises a wire groove rotation surface Gr, an entry tangent point and an exit tangent point, the respective traction body enters the guide wheel from the entry tangent point and exits the guide wheel from the exit tangent point, the wire groove rotation surface Gr herein is a surface perpendicular to the guide wheel rotation axis, referring to fig. 5, which includes a first entry tangent point and a first exit tangent point, the first traction body 23 enters the first guide wheel 171 from the first entry tangent point and exits the first guide wheel 171 from the first exit tangent point, i.e. the first guide wheel 171 is adapted to change the direction of the first traction body 23, referring to fig. 27, the first guide wheel 171 comprises a wire groove for accommodating the first traction body 23, the wire groove comprises a wire groove, the wire groove is further adapted to prevent the first traction body 23 from being axially displaced, preferably by a rotational angle between the first traction body and the first traction body, which is further adapted to prevent a rotational displacement of the first traction body, which is caused by a rotational displacement of the first traction body, which, preferably occurs between the first traction body, and the first traction body, which is further, preferably caused by a rotational displacement of the first traction body, and a rotational angle, which is equal angle, i.1, i.e. 0, and a rotational displacement of the first traction body, preferably 0, and a rotational displacement of the first traction body, 2, which is not caused by a rotational displacement of the first traction body, preferably caused by a rotational displacement of the first traction body, and a rotational displacement of the first traction body, preferably caused by a rotational displacement of the first traction surface Gr, preferably 0, 2, preferably caused by a rotational displacement of the first traction body, between the first traction surface, a rotational displacement of the first traction body 171, a rotational displacement of the first traction body, a rotational displacement of the guide wheel 171, and a rotational displacement of the first traction body, a rotational displacement of the guide wheel 23, and a rotational displacement of the guide wheel 171, and a first traction body, a rotational displacement of the guide wheel 171, which is equal angular displacement of the first traction body, and a first traction body, which is equal angle Gr, and a rotational displacement of the first traction body, which is equal to 0, which is equal traction body, which is equal angle Gr 0, and a rotational displacement of the first traction body, 2, which is equal to 0, 2, and a first traction body, preferably 0, and a first.

The off-tangent position of all guide wheels constrains the position of the projection of the tractor at the off-tangent position at the proximal end 300. Thus, all guide wheels are configured such that all traction bodies at the off-tangent position are ordered in the projection of the proximal portion 300 in the circumferential order of the corresponding through-holes. Specifically, the projections of the traction bodies of all the guide wheels at the positions away from the tangent point at the proximal end portion 300 are arranged according to a certain circumferential sequence, and the through holes of the proximal end portion 300 are arranged according to the same circumferential sequence. Referring to fig. 8 and 9 in combination with fig. 3, the fifth through hole 21b, the third through hole 22b, the first through hole 23b, the sixth through hole 24b, the second through hole 25b and the fourth through hole 26b are arranged counterclockwise around the center of the proximal portion 300. The exit tangent points of the first guiding wheel 171, the second guiding wheel 175, the third guiding wheel 161, the fourth guiding wheel 165, the fifth guiding wheel 163 and the sixth guiding wheel 173 are respectively a first exit tangent point, a second exit tangent point, a third exit tangent point, a fourth exit tangent point, a fifth exit tangent point and a sixth exit tangent point, and the first guiding wheel 171 to the sixth guiding wheel 173 are configured to make a first projection of the first traction body 23 at the first exit tangent point position at the proximal end portion 300, a second projection of the second traction body 25 at the second exit tangent point position at the proximal end portion 300, a third projection of the third traction body 22 at the third exit tangent point position at the proximal end portion 300, a fourth projection of the fourth traction body 26 at the fourth exit tangent point position at the proximal end portion 300, a fifth projection of the fifth traction body 21 at the fifth exit tangent point position at the proximal end portion 300 and a sixth projection of the sixth traction body 21 at the sixth exit tangent point position at the proximal end portion 300 And the through holes are arranged in the circumferential direction. Due to the configuration, the parts of the traction bodies between the corresponding departure tangent points and the through holes are also arranged in sequence, so that the situation that the traction bodies are overlapped and scraped can be avoided, and the transmission efficiency and the service life of the wire transmission structure 1 are further improved.

Preferably, the guide wheel is also configured to enable the included angle between the traction body defined by the departure tangent point and the corresponding through hole and the axis of the instrument end 3 to be 0-5 degrees. Taking the first guide wheel 171 as an example, after being steered by the first guide wheel 171, the first traction body 23 leaves the first guide wheel 171 from the first exit tangent point to a section passing through the first through hole 23b, which is called a second portion 23a, in practice, the angle between the second portion 23a of the first traction body 23 and the axis of the instrument tip 3 is configured to be 0-5 °, indicating that the second portion 23a of the first traction body 23 extends substantially along the axis of the instrument tip 3. Similarly, the angle between the second portion of the remaining pulling bodies and the axis of the instrument tip 3 from the tangent point of the corresponding guide wheel to the portion passing through the corresponding through hole is also referred to as a second portion, and the included angles between the second portion of the remaining pulling bodies and the axis of the instrument tip 3 are also configured to be 0 to 5 ° (the second portion 25a of the second pulling body 25, the second portion 22a of the third pulling body 22, the second portion 26a of the fourth pulling body 26, the second portion 21a of the fifth pulling body 21, and the second portion 24a of the sixth pulling body 24), respectively, that is, the included angles between the extending directions of the second portions of all the pulling bodies and the axis of the instrument tip 3 are not more than 5 °. In general, the distribution of the traction bodies at the distal end of the surgical instrument for coupling to the instrument tip 3 differs from the distribution of the traction bodies at the proximal end of the surgical instrument in that the second portions of the traction bodies do not extend all parallel to the axis of the instrument tip 3, but may have an angle of not more than 5 °, which results in less frictional resistance between the traction bodies and the corresponding guide wheels due to the angle of deflection. The second parts of all the traction bodies extend along the direction of the axis of the tail end 3 of the instrument and have included angles with the axis of the tail end 3 of the instrument of not more than 5 degrees, so that the situation that the traction bodies are overlapped and scraped can be avoided. Further, the instrument rod 2 and the axis of the instrument tail end 3 are coaxially arranged, the instrument rod 2 is provided with a through cavity for the traction body to penetrate through, specifically, the second part of the traction body is mostly positioned in the instrument rod 2, and a small part of the second part of the traction body extends out of the instrument rod 2 to be connected with each corresponding guide wheel. The configuration can also avoid the friction and scratch between the traction body and the instrument rod 2. Further, the guide wheels are also configured in a way that the included angles between the second part of each traction body and the corresponding wire groove rotating surface Gr of the guide wheel are respectively configured to be 0-1.5 degrees. For example, the first traction body 23 exits the first guide wheel 171 from the first exit tangent point of the first guide wheel 171, extends to the first through hole 23b, and forms the second portion 23a of the first traction body 23. The included angle between the second part 23a and the wire groove rotating surface Gr of the first guide wheel is 0-1.5 degrees. The other guide wheels and the traction body are also configured in this way.

With continued reference to fig. 8 and 9, the fifth traction body 21, the third traction body 22, the first traction body 23, the sixth traction body 24, the second traction body 25 and the second portion of the fourth traction body 26 are sequentially arranged circumferentially around the axis of the surgical instrument by configuring the guide wheels, and the arrangement sequence of the second portions of the six traction bodies is the same before and after passing through the instrument rod 2. The six tractors are illustrated as being arranged circumferentially around the axis of the surgical instrument counterclockwise, taking as an example that fig. 9 shows the projections of the six tractors away from the tangent point. The influence of the inner diameter of the instrument shaft 2 on the traction body is further taken into account here, while the axis of the instrument shaft 2 is arranged co-linear with the axis of said instrument tip 3. If the diameters of the six traction bodies are D, the diameter of the projection of each corresponding traction body is D, the inner diameter of the instrument rod 2 is D, and the fifth projection of the fifth traction body 21 is taken as a reference for specific description. The center of the sixth projection of the sixth traction body 26 is arranged within a circular area centered on the point of symmetry of the center of the fifth projection of the fifth traction body 21 with respect to the axis of the instrument tip 3, with radius 5 d. The center of the second projection of the second traction body 25 is arranged within a circular area centered on the point of symmetry of the center of the third projection of the third traction body 22 with respect to the axis of the instrument tip 3, with a radius 5 d. The center of the fourth projection of the fourth traction body 26 is arranged within a circular area centered on the point of symmetry of the center of the first projection of the first traction body 23 with respect to the axis of the instrument tip 3, with a radius 5 d. Further, the distance between the centers of the projections of the six traction bodies is larger than d, so that the rubbing caused by the mutual contact of any two traction bodies is avoided. Meanwhile, the distance from the center of any projection to the inner wall of the instrument rod 2 is more than 0.6d, so that the traction body is prevented from being rubbed with the inner wall of the instrument rod 2. The selected 0.6d reserves a certain space compared with the 0.5d when the traction body is contacted with the inner wall of the instrument rod 2, so that the traction body can not rub the inner wall of the instrument rod 2 when the traction body is sometimes bounced and fluctuated. The distance from the center of any projection to the center of the instrument rod 2 is more than 0.5d, and mutual extrusion and friction between the traction bodies can also be avoided.

More preferably, if the center of the fifth projection of the fifth tractor 21 is a1, the projection of the axis of the instrument tip 3 is O1, the center of the third projection of the third tractor 22 is B1, the center of the first projection of the first tractor 23 is C1, the center of the sixth projection of the sixth tractor 24 is D1, the center of the second projection of the second tractor 25 is E1, the center of the fourth projection of the fourth tractor 26 is F1, and the inner diameter of the instrument shaft 2 is D, then the third projection of the third tractor 22 and the first projection of the first tractor 23 satisfy:

and

referring to fig. 10(a) and 10(B), fig. 10(a) illustrates the case when ∠ A1O1B1 and ∠ A1O1C1 are smallest, fig. 10(B) illustrates the case when ∠ A1O1B1 and ∠ A1O1C1 are largest, wherein H is the farthest point of the projection O1 of the fifth projection of the fifth tractor 21 with respect to the axis of the instrument tip 3, I is the contact point when the fifth projection of the fifth tractor 21 contacts the third projection of the third tractor 22, as shown in fig. 10(a), when a is ∠ A1O1B1 smallest, the fifth projection of the fifth tractor 21 is connected to the third projection of the third tractor 22, B is 85 ∠ a smallest, B is 8584 A1O1C1, the third projection of the third tractor 22 is connected to the first projection of the first tractor 23 when a is ∠ A1B 38 smallest, the sixth projection of the third tractor 22 is connected to the sixth projection of the first tractor 23, so that the sixth projection of the third tractor 22 is connected to the sixth projection of the sixth tractor 22, and the sixth projection of the third tractor 22 is found to be symmetrical about the sixth projection of the fifth tractor 8924, when a — B2, the sixth projection of the fifth tractor 21 is found to be located adjacent to the sixth projection of the fifth tractor 2, so that the second tractor 2, the projection of the second tractor 2, the second tractor 21, the projection of the second tractor 2, the third tractor:

as shown in fig. 10(a), when a is ∠ A1O1B1 and B is ∠ A1O1C1 is the smallest,

sinθ＝1.2*A1I/(O1H-1.2*A1H)

a＝∠A1O1B1＝2θ

A1I＝A1H*0.5d，O1H＝0.5D

when a is obtained ∠ A1O1B1 is the minimum,

the same principle is easy to obtain, when b is ∠ A1O1C1 is minimum,

as shown in fig. 10(B), when a ═ ∠ A1O1B1 and B ═ ∠ A1O1C1 are maximum, it is easy to obtain:

∠ A1O1B1 is maximum,

∠ A1O1C1 is maximum,

in the above formula, D should be large enough to allow the retractor to be received in the lumen of the instrument shaft 2. By the arrangement, the six traction bodies are not in contact with each other, and the six traction bodies are not in contact with the inner wall of the instrument rod 2, so that the friction resistance can be reduced when the tail end 3 of the traction instrument is pulled.

Further, the two traction bodies in one transmission module are configured to move in opposite directions driven by the corresponding end drive shafts, and the movement change amounts are equal. For example, the proximal ends of the two tractor bodies are wrapped in opposite directions around to the distal drive shaft. By the configuration, the length of one traction body can be shortened, the length of the other traction body can be lengthened when the tail end driving shaft rotates, and then the joint connected with the two traction bodies can rotate.

Referring to fig. 5, a first transmission module is taken as an example for explanation. The first and

second pullers

23, 25 are configured such that when the first end drive shaft 12 is rotated, the first and

second pullers

23, 25 move in opposite directions and the first and

second pullers

23, 25 change in length by an equal amount. Further, the first and

second traction bodies

23 and 25 may be windingly coupled to the first end drive shaft 12 in different directions, respectively. Specifically, the proximal end of the first pulling body 23 is wound around the first distal end driving shaft 12 in the forward direction, and the distal end of the first pulling body 23 is connected to the distal end 3 of the instrument after passing through the first guiding wheel 171 and the first through hole 23b, so as to drive the distal end 3 of the instrument to move (in this embodiment, fixedly connected to the first opening and closing piece 302, so as to drive the first opening and closing piece 302 to open and close); the proximal end of the second pulling body 25 is reversely wound around the first distal driving shaft 12, and the distal end of the second pulling body 25 is connected to the distal end of the instrument after passing through the second guiding wheel 175 and the second through hole 25b, so as to drive the distal end 3 of the instrument to move (in this embodiment, fixedly connected to the first opening/closing plate 302, so as to drive the first opening/closing plate 302 to open and close). When the first end driving shaft 12 rotates, the first pulling body 23 is driven to rotate around the axis of the first end driving shaft 12 in a forward direction (e.g., clockwise rotation) to wind around the first end driving shaft 12, and the second pulling body 25 is driven to rotate around the axis of the first pulling body 23 in a reverse direction (e.g., counterclockwise rotation) to unwind from the first end driving shaft 12. In this way, the first traction body 23 and the second traction body 25 move in opposite directions and have equal length variations. It should be noted that the forward rotation and the reverse rotation of the traction body around the axis of the end driving shaft only represent two opposite rotation directions, and are not limited to the forward direction being clockwise and the reverse direction being counterclockwise.

Similarly, the proximal ends of the third pulling body 22 and the fourth pulling body 26 surround the second distal driving shaft 13 in opposite directions, and the distal ends of the third pulling body 22 and the fourth pulling body 26 respectively turn through the third guiding wheel 161 and the fourth guiding wheel 165, and are connected to the device distal end 3 after passing through the third through hole 23b and the fourth through hole 24b (in this embodiment, the distal ends of the third pulling body 22 and the fourth pulling body 26 are respectively fixedly connected to the second opening and closing piece 303 to drive the second opening and closing piece 303 to open and close). The proximal ends of the fifth traction body 21 and the sixth traction body 24 surround the third end driving shaft 14 in opposite directions, and the distal ends of the fifth traction body 21 and the sixth traction body 24 respectively turn via the fifth guide wheel 163 and the sixth guide wheel 173, and are connected to the instrument end 3 after passing through the fifth through hole 25b and the sixth through hole 26b (in this embodiment, the distal ends of the fifth traction body 21 and the sixth traction body 24 respectively are fixedly connected to the actuator support base 301 to control the actuator support base 301 to rotate about the first rotating shaft 304).

The wire drive 1 further comprises at least two guide shoes, namely a first guide shoe 17 and a second guide shoe 16. The guide shoe is preferably closer to the instrument shaft 2 than the distal drive shaft. Preferably, the first guide seat 17 and the second guide seat 16 are symmetrical with respect to the second plane of symmetry. The guide wheel can be arranged on the guide seat in a rotating or fixed mode. Referring to fig. 4, the second guide seat 16, the second end driving shaft 13 and the third end driving shaft 14 are located on one side of the second symmetry plane, and the first guide seat 17 and the first end driving shaft 12 are located on the other side of the second symmetry plane. Three of the six guide wheels (i.e., the first guide wheel 171, the second guide wheel 175, the third guide wheel 161, the fourth guide wheel 165, the fifth guide wheel 163, and the sixth guide wheel 173) are located at the first guide block 17, and the other three are located at the second guide block 16. The distances of the three guide wheels on each guide seat relative to the base 11 are reduced in sequence. For example, the first guide base 17 is provided with a first guide wheel 171, a sixth guide wheel 173, and a second guide wheel 175, and the second guide base 16 is provided with a third guide wheel 161, a fifth guide wheel 163, and a fourth guide wheel 165. Further, the distances of the first guide wheel 171, the sixth guide wheel 173, and the second guide wheel 175 from the base 11 decrease in order, and the distances of the third guide wheel 161, the fifth guide wheel 163, and the fourth guide wheel 165 from the base 11 decrease in order. Due to the configuration, the traction bodies corresponding to the three guide wheels in each guide wheel group are not at the same horizontal height, and are staggered, so that scraping and rubbing between the traction bodies are avoided. And the arrangement of two or more than two guide seats avoids that too many guide wheels are overlapped on the same position of the base 11, and is favorable for reducing the volume of the wire transmission structure. Optionally, each guide seat includes three guide wheel mounting seats, each guide wheel mounting seat is provided with one guide wheel rotating shaft (in this embodiment, the first guide wheel rotating shaft 172, the second guide wheel rotating shaft 176, the third guide wheel rotating shaft 162, the fourth guide wheel rotating shaft 166, the fifth guide wheel rotating shaft 164, and the sixth guide wheel rotating shaft 174, respectively), each guide wheel rotating shaft is provided with one guide wheel, and an axis of each guide wheel rotating shaft is perpendicular to the wire groove rotating surface Gr of the corresponding guide wheel wire groove. The guide wheel can rotate or be fixed on the guide wheel mounting seat through the corresponding guide wheel rotating shaft.

Optionally, the wire transmission structure 1 further includes an instrument rod driving shaft (not shown), the instrument rod 2 is rotatably connected to the base, and the instrument rod driving shaft is used for driving the instrument rod 2 to rotate. Preferably, the instrument shaft drive shaft and the third end drive shaft 14 are symmetrically disposed about a second plane of symmetry. The instrument shaft driving shaft, which may be of a similar structure to the first end driving shaft 12, is rotatably disposed on the base 11, and is coaxially provided with a gear, through which the instrument shaft 2 can be driven to rotate or by a transmission member, so as to provide more degrees of freedom for the surgical instrument, and facilitate operation and use.

Further, the wire transmission device further comprises a guide frame base 15, wherein the guide frame base 15 is parallel to the base 11, through holes are formed in the positions, corresponding to the tail end driving shafts and the instrument rod driving shafts, of the guide frame base 15, and the guide frame base is connected with the tail end driving shafts and the instrument rod driving shafts through bearings so as to prevent the tail end driving shafts and the instrument rod driving shafts from swinging when rotating. Further, a first rod guide assembly 16 and a second rod guide assembly 17 are provided on the rod guide base 15.

In summary, in the present embodiment, after the fifth traction body 21 and the sixth traction body 24 of the third transmission module rotate around the third end driving shaft 14 in opposite directions, the extension directions are changed by the fifth guide wheel 163 and the sixth guide wheel 173, and after passing through the instrument rod 2, the fifth through hole 21b and the sixth through hole 24b, the fifth traction body and the sixth traction body rotate around the first rotating shaft 304 in opposite directions and are connected to the actuator supporting seat 301, so as to drive the actuator supporting seat 301 to rotate around the first rotating shaft 304; after the first traction body 23 and the second traction body 25 of the first transmission module wind around the first end driving shaft 12 in opposite directions, the extension directions are changed through the first guide wheel 171 and the second guide wheel 175, respectively, and after passing through the instrument rod 2, the first traction body and the second traction body pass through the first through hole 23b and the second through hole 25b, respectively, wind around the second rotating shaft 305 in opposite directions and are fixed on the first opening and closing sheet 302, so as to drive the first opening and closing sheet 302 to rotate around the second rotating shaft 305; after the third traction body 22 and the fourth traction body 26 of the second transmission module wind around the second end driving shaft 13 in opposite directions, the extension directions are changed by the third guide wheel 161 and the fourth guide wheel 165, and after passing through the instrument rod 2, the third traction body and the fourth traction body pass through the third through hole 22b and the fourth through hole 26b respectively and wind around the second rotating shaft 305 in opposite directions and are fixed on the second opening and closing piece 303, so as to drive the second opening and closing piece 303 to rotate around the second rotating shaft 305. Further, the first to sixth guide wheels are configured to enable the circumferential arrangement of six projections of six traction bodies to be consistent with the circumferential arrangement of six through holes at the far end of the instrument, and the included angle between the traction body defined by the tail end driving shaft and the entering tangent point and the wire groove rotating surface Gr of the corresponding guide wheel wire groove is 0-0.2 degrees. Compared with the existing wire transmission structure of the surgical instrument, the wire transmission structure of the surgical instrument in the embodiment only needs six guide wheels, and each guide wheel can be configured respectively, in the whole driving process, the six traction bodies are not in direct contact and scratch, the deflection angle between each traction body and each guide wheel is controlled within 0.2 degrees, the transmission resistance is small, and the reliability is high. In addition, the arrangement sequence of the six traction bodies in the instrument rod 2 is unchanged, so that the traction bodies can be prevented from being staggered and scratched in the instrument rod 2.

It is to be understood that in some other embodiments, the wire drive structure 1 may not be limited to include only three drive modules, but may also have two, four or more drive modules.

Based on the above surgical instrument, the first embodiment of the present invention further provides a surgical robot, which includes a mechanical arm and a surgical instrument as described above, wherein the surgical instrument is mounted on the end of the mechanical arm, and the mechanical arm is used for adjusting the position and/or posture of the surgical instrument. Since the surgical robot includes the surgical instrument as described above, the surgical robot has advantageous effects of the surgical instrument. Other configurations of the surgical robot can be configured by those skilled in the art according to the prior art, and the present embodiment is not described herein.

[ example two ]

The surgical instrument according to the second embodiment of the present invention is substantially the same as the surgical instrument according to the first embodiment, and the description of the same portions is omitted, and only different points will be described below.

Please refer to fig. 14 and fig. 15, wherein fig. 14 is a top view of the wire transmission structure provided by the second embodiment of the present invention, and fig. 15 is a perspective view of the wire transmission structure provided by the second embodiment of the present invention.

In the second embodiment, the arrangement of the guide wheels corresponding to the traction body on the guide seat is different from the arrangement in the first embodiment. Specifically, as shown in fig. 14 to 15, the first guide base 17 is provided with a third guide wheel 161, a first guide wheel 171 and a sixth guide wheel 173; the second guide base 16 is provided with a fifth guide wheel 163, a second guide wheel 175 and a fourth guide wheel 165. Further, the distances of the third guide wheel 161, the first guide wheel 171, and the sixth guide wheel 173 from the base 11 decrease in this order, and the distances of the fifth guide wheel 163, the second guide wheel 175, and the fourth guide wheel 165 from the base 11 decrease in this order. The first to sixth pulling bodies 23 to 24 correspond to the first to sixth guide wheels 171 to 173 in sequence, and the configuration of each end driving shaft and the pulling body is the same as that in the first embodiment, and will not be described again.

It should be noted that the arrangement of the guide wheels on the guide seat in this embodiment is not limited to the above configuration, and other arrangement relationships are also possible, and those skilled in the art can achieve similar effects by exchanging the positions of several guide wheels. By the arrangement, the first parts of the six traction bodies are parallel or different in surface through the arrangement of the six guide wheels, and the six traction bodies are not contacted and rubbed with each other.

[ EXAMPLE III ]

The surgical instrument according to the third embodiment of the present invention is substantially the same as the surgical instrument according to the first embodiment, and the description of the same portions is omitted, and only different points will be described below.

Please refer to fig. 16, which is a schematic transmission plane diagram of a wire transmission structure according to a third embodiment of the present invention.

In the third embodiment, the arrangement of the end driving shafts corresponding to the traction bodies is different from that in the first embodiment. In particular, as shown in fig. 16, the third end drive shaft 14 of the third transmission module is further from the instrument end than the second end drive shaft 13 of the second transmission module. Further, the first end driving shaft 12 of the first transmission module and the third end driving shaft 14 of the third transmission module are symmetrically arranged about the second symmetry plane; the second end drive shaft 13 of the second transmission module and the third end drive shaft 14 of the third transmission module are arranged symmetrically with respect to the first plane of symmetry. That is, the second end drive shaft 13 and the third end drive shaft 14 are interchanged with respect to the solution of the first embodiment. The arrangement of the first guiding wheel 171 to the sixth guiding wheel 173 and the arrangement of the traction body are the same as those in the first embodiment, and are not described again here.

It should be noted that the arrangement of the end driving shafts on the base in the present embodiment is not limited to the above configuration, and other arrangement relationships may also be adopted, and those skilled in the art may achieve similar effects by exchanging the positions of the end driving shafts.

[ EXAMPLE IV ]

The surgical instrument according to the fourth embodiment of the present invention is substantially the same as the surgical instrument according to the first embodiment, and the description of the same portions is omitted, and only different points will be described below.

Please refer to fig. 17 to 26, wherein, fig. 17 is a schematic diagram of a surgical instrument according to a fourth embodiment of the present invention, fig. 18 is a schematic diagram of an end swing of an instrument of the surgical instrument shown in fig. 17, fig. 19 is a schematic diagram of an end of an instrument according to a fourth embodiment of the present invention, fig. 20 is a schematic diagram of a wire transmission structure according to a fourth embodiment of the present invention, fig. 21 is a schematic diagram of a fourth transmission module according to a fourth embodiment of the present invention, fig. 22 is a schematic diagram of a fifth transmission module according to a fourth embodiment of the present invention, fig. 23 is a schematic diagram of a cross section of a proximal end of an instrument rod according to a fourth embodiment of the present invention, fig. 24 is a schematic diagram of a proximal end portion of an instrument according to a fourth embodiment of the present invention, fig. 25 is a schematic diagram of a transmission plane of a wire transmission structure according to a fourth embodiment of the present invention, and fig. 26 is a schematic diagram of a minimum and maximum ∠ P1O1Q 11 in a cross section of.

As shown in fig. 17 and 18, in the fourth embodiment, the degree of freedom, structure and number of transmission modules of the instrument tip 3 are different from those of the first embodiment. Referring to fig. 20 to 22, in particular, the instrument end 3 of the surgical instrument provided in the fourth embodiment includes a serpentine joint. The snake-shaped joint comprises a plurality of snake bones 311 which are sequentially and axially arranged, and the snake bones 311 can swing at least in two directions to form at least two degrees of freedom. For example, the serpentine joint may oscillate about a third axis and a fourth axis, respectively. Preferably, the third axis is perpendicular to the fourth axis. Accordingly, the instrument tip 3 has at least two degrees of freedom.

The wire transmission structure 1 of the surgical instrument at least comprises two transmission modules, namely a fourth transmission module and a fifth transmission module. The fourth transmission module comprises a fourth end driving shaft 191, a seventh traction body 204, an eighth traction body 202, a seventh guide wheel 193 and an eighth guide wheel 194; the fifth transmission module comprises a fifth end driving shaft 192, a ninth traction body 201, a tenth traction body 203, a ninth guide wheel 195 and a tenth guide wheel 196; the seventh traction body 204, the eighth traction body 202, the ninth traction body 201, and the tenth traction body 203 correspond to the seventh guide wheel 193, the eighth guide wheel 194, the ninth guide wheel 195, and the tenth guide wheel 196, respectively.

Referring to fig. 19 and 20, in an alternative embodiment, the seventh tractor 204 and the eighth tractor 202 in the fourth transmission module, and the ninth tractor 201 and the tenth tractor 203 in the fifth transmission module sequentially pass through each snake bone 311 and are connected to the far snake bone 311, so that the fourth transmission module and the fifth transmission module are respectively used for driving the snake joint to swing in two directions to form the two degrees of freedom. For example, the seventh and

eighth tractor bodies

204, 202 are used to control the serpentine joint to oscillate about a third axis; the ninth and

tenth tractor

201, 203 are used to control the serpentine joint to oscillate about a fourth axis.

Further, referring to fig. 19 and 24, the proximal portion 300 is circumferentially provided with four through holes, which are a seventh through hole 204b, a ninth through hole 201b, an eighth through hole 202b and a tenth through hole 203b sequentially arranged around the center of the proximal portion 300, and are respectively used for constraining the extending directions of the seventh pulling body 204, the ninth pulling body 201, the eighth pulling body 202 and the tenth pulling body 203. Further, the centers of the seventh through hole 204b and the eighth through hole 202b are symmetrical with respect to the center of the proximal portion 300 (i.e., the projection of the instrument tip axis at the proximal portion 300); the centers of the ninth through hole 201b and the tenth through hole 203b are symmetrical with respect to the center of the proximal portion 300. Preferably, a line connecting centers of the seventh through hole 204b and the eighth through hole 202b forms an angle of 45 ° with the fourth axis; and a connecting line of the centers of the ninth through hole 201b and the tenth through hole 203b forms an angle of 45 degrees with the third axis.

Referring to fig. 20, 23 and 25, the departure tangent points of the seventh guiding wheel 193, the eighth guiding wheel 194, the ninth guiding wheel 195 and the tenth guiding wheel 196 are a seventh departure tangent point, an eighth departure tangent point, a ninth departure tangent point and a tenth departure tangent point, respectively, and the seventh traction body 204 located at the seventh departure tangent point is projected at the proximal end portion 300 to form a seventh projection; the eighth tractor 202 at the eighth exit tangent point projects at the proximal end 300 to form an eighth projection; the ninth lead 201 at the ninth exit tangent point is projected at the proximal end 300 to form a ninth projection; the tenth lead 203 at the tenth exit tangent point is projected at the proximal end 300 to form a tenth projection. The seventh guide wheel 193, the ninth guide wheel 195, the eighth guide wheel 194, and the tenth guide wheel 196 are arranged such that the circumferential arrangement order of the seventh projection, the ninth projection, the eighth projection, and the tenth projection is the same as the circumferential arrangement order of the seventh through hole 204b, the ninth through hole 201b, the eighth through hole 202b, and the tenth through hole 203 b.

Preferably, the surgical instrument further comprises an instrument rod 2 coaxial with the axis of the distal end of the instrument, the instrument rod 2 has a through cavity for the traction body to pass through, and the seventh traction body 204, the ninth traction body 201, the eighth traction body 202 and the tenth traction body 203 are connected with the distal end 3 of the instrument after passing through the instrument rod 2. Referring to fig. 23, further, the diameters of the four traction bodies are all D, the diameter of the instrument rod 2 is D, and the diameter of each corresponding projection is D. The center of the eighth projection of the eighth tractor 202 is disposed within a circular area centered at the point of symmetry about the axis of the center of the seventh projection of the seventh tractor 204 and having a radius of 5 d. The center of the tenth projection of the tenth traction body 203 is disposed within a circular area having a center at the symmetry point of the center of the ninth traction body 201 with respect to the axis and a radius of 5 d. Further, the distance between the projection centers of any two of the tractors is larger than d, such as 1.1d, 1.2d, 1.3 d; the centre of any one of said retractor projections is at a distance of more than 0.5d, such as 0.6d, 0.7d, 0.8d, 0.9d or d, from the inner wall of said instrument shaft 2; the centre of any of said retractor projections is at a distance of more than 0.5d, such as 0.6d, 0.7d, 0.8d, 0.9d or d, from the centre of the instrument bar 2.

Further, if the center of the seventh projection of the seventh tractor 204 is S1, the projection of the axis of the instrument tip 3 is O1, the center of the eighth projection of the eighth tractor 202 is Q1, the center of the ninth projection of the ninth tractor 201 is P1, the center of the tenth projection of the tenth tractor 203 is R1, and the inner diameter of the instrument shaft 2 is D, the ninth projection of the ninth tractor 201 and the eighth projection of the eighth tractor 202 satisfy:

referring to fig. 26(a) and 26(B), fig. 26(a) illustrates the situation when ∠ P1O1Q1 is smallest and fig. 26(B) illustrates the situation when ∠ P1O1Q1 is largest, wherein H is the farthest point of the projection O1 of the ninth projection of the ninth lead 201 with respect to the axis of the instrument tip 3 and I is the contact point when the ninth projection of the ninth lead 201 comes into contact with the eighth projection of the eighth lead 202, as shown in fig. 26(a), when ∠ P1O1Q1 is smallest, the ninth projection of the ninth lead 201 abuts the eighth projection of the eighth lead 202, as shown in fig. 26(B), when ∠ P1O1Q1 is largest, the tenth projection of the tenth lead 203 and the ninth projection of the eighth lead 201 are symmetrical with respect to the center O1 of the instrument shaft 2, and the eighth projection 203 of the eighth lead 202 abuts the tenth lead 201, as shown in fig. 26(B), the eighth projection 203 is symmetrical with the tenth projection 203 of the tenth lead 201, so that the contact distance between the eighth lead is set to the smallest projection of the two possible projections, so that the two projections of the contact distance between the two projections can be taken into account:

as shown in fig. 26(a), when a is ∠ P1O1Q1 is the smallest,

sinθ＝1.2*P1I/(O1H-1.2*P1H)

a＝∠P1O1Q1＝2θ

P1I＝P1H*0.5d，O1H＝0.5D

when a is obtained ∠ P1O1Q1 is the minimum,

as shown in fig. 26(B), the same is easy to obtain, when a is ∠ P1O1Q1 maximum,

in the above formula, D should be large enough to allow the retractor to be received in the lumen of the instrument shaft 2. By the arrangement, the four traction bodies are not in contact with each other, and the four traction bodies are not in contact with the inner wall of the instrument rod 2, so that the friction resistance can be reduced when the tail end 3 of the traction instrument is arranged. The specific arrangement principle of the projection of the four tractors can be referred to as embodiment one. And will not be repeated here. Preferably, the base 11 is provided with a third guide seat 181 and a fourth guide seat 182 which are opposite to each other. The third guide seat 181 is closer to the fourth end driving shaft 191 than the fourth guide seat 182; the fourth guide holder 182 is closer to the fifth end drive shaft 192 than the third guide holder 181. The seventh guide wheel 193 and the eighth guide wheel 194 are provided on the third guide holder 181, and the ninth guide wheel 195 and the tenth guide wheel 196 are provided on the fourth guide holder 182. Further, the distance of the seventh guide wheel 193 relative to the base 11 is smaller than the distance of the eighth guide wheel 194 relative to the base 11, and the distance of the ninth guide wheel 195 relative to the base 11 is smaller than the distance of the tenth guide wheel 196 relative to the base 11. For the specific configuration and structural principle of the guide seat and the guide wheel, reference may be made to the first embodiment, which is not described herein again.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same and similar parts between the embodiments may be referred to each other, and in addition, different parts between the embodiments may also be used in combination with each other, which is not limited by the present invention. Furthermore, the above embodiments are only exemplary descriptions and not limitations of the present invention, and those skilled in the art can also make various modifications and improvements (such as combining or splitting the base parts therein, changing the relative positions of the end driving shafts, changing the spatial positions of the guide wheels in the space, etc.) without departing from the concept of the present invention, and all fall within the protection scope of the claims.

Claims

1. A surgical instrument, comprising: a wire drive structure and an instrument tip;

2. A surgical instrument according to claim 1, wherein the instrument tip further defines an axis from the proximal end to the distal end, and wherein the guide wheel is further configured such that the angle between the pull body defined by the exit tangent point and the corresponding through hole and the axis is 0-5 °.

3. The surgical instrument according to claim 1 or 2, wherein the guide wheel is further configured such that an angle between a traction body defined by the exit tangent point and the corresponding through hole and the rotation plane of the wire groove is 0 to 1.5 °.

4. The surgical instrument according to claim 1, wherein the ith end drive shaft and the jth traction body form a jth connection point, and an included angle between the jth connection point and an entry tangent point of the jth guide wheel and the base is 0-10 °; the ith tail end driving shaft and the (j + 1) th traction body form a (j + 1) th connecting point, and an included angle between the traction body between the (j + 1) th connecting point and the entry tangent point of the (j + 1) th guide wheel and the base is 0-10 degrees.

5. A surgical instrument according to claim 4, wherein any two of the retractor bodies are parallel or non-planar to the portion defined by the respective attachment point and the entry tangent point.

6. The surgical instrument of claim 1, further comprising an instrument shaft drive shaft and an instrument shaft, wherein the instrument shaft is detachably or fixedly connected to the distal end of the instrument, and the instrument shaft drive shaft is configured to drive the instrument shaft to rotate.

7. A surgical instrument as recited in claim 1, wherein the instrument tip of the surgical instrument includes at least three degrees of freedom, the wire drive structure including a first drive module, a second drive module, and a third drive module, the first, second, and third drive modules each driving one degree of freedom of the instrument tip; the first transmission module comprises a first tail end driving shaft, a first traction body, a second traction body, a first guide wheel and a second guide wheel; the second transmission module comprises a second tail end driving shaft, a third traction body, a fourth traction body, a third guide wheel and a fourth guide wheel; the third transmission module comprises a third tail end driving shaft, a fifth traction body, a sixth traction body, a fifth guide wheel and a sixth guide wheel; the first traction body, the second traction body, the third traction body, the fourth traction body, the fifth traction body and the sixth traction body respectively correspond to the first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel and the sixth guide wheel.

8. The surgical instrument of claim 7, wherein the instrument tip further comprises an end effector comprising: the first opening and closing piece and the second opening and closing piece are rotatably connected with the actuator supporting seat to form at least two opening and closing degrees of freedom; the actuator support base is rotatably connected with the proximal end portion to form at least one degree of freedom of oscillation; the first transmission module is used for driving the first opening and closing piece to move, the second transmission module is used for driving the second opening and closing piece to move, and the third transmission module is used for driving the actuator supporting seat to move relative to the proximal end portion.

9. The surgical instrument of claim 8, wherein the through-holes in the proximal portion comprise a first through-hole, a second through-hole, a third through-hole, a fourth through-hole, a fifth through-hole, and a sixth through-hole for constraining a direction of extension of the first, second, third, fourth, fifth, and sixth retractor, respectively;

10. A surgical instrument as recited in claim 9, wherein the fifth through-hole and the sixth through-hole are symmetrical about a center of the proximal portion; the third through hole and the second through hole are symmetrical about the center of the proximal portion; the first through hole and the fourth through hole are symmetrical about a center of the proximal portion.

11. The surgical instrument of any one of claims 7 to 10, wherein the exit tangents of the first, second, third, fourth, fifth, and sixth guide wheels are a first exit tangents, a second exit tangents, a third exit tangents, a fourth exit tangents, a fifth exit tangents, and a sixth exit tangents, respectively;

12. A surgical instrument as recited in claim 11, wherein said instrument tip further defines a proximal-to-distal axis, and wherein said six said retractor bodies each have a diameter d; the projection of the tractor at the proximal end is configured to:

13. A surgical instrument as recited in claim 12, further comprising an instrument shaft coaxial with said axis, said instrument shaft having a lumen therethrough for passage of said retractor; wherein the portion of all of the traction bodies within the instrument shaft is configured to: the distance between the centers of any two projections is larger than d; the distance from the center of any projection to the inner wall of the instrument rod is more than 0.6 d; any projection is greater than 0.5d to the center of the instrument shaft.

14. A surgical instrument according to claim 12,

and

15. a surgical instrument as recited in claim 7, wherein the base includes first and second opposed guide blocks, three of the guide wheels being disposed on the first guide block and three of the guide wheels being disposed on the second guide block.

16. A surgical instrument as recited in claim 15, wherein the first, sixth, and second guide wheels are disposed on the first guide base, and the third, fifth, and fourth guide wheels are disposed on the second guide base; the distance of first leading wheel, sixth leading wheel and second leading wheel for the base reduces in proper order, third leading wheel, fifth leading wheel and fourth leading wheel for the distance of base reduces in proper order.

17. A surgical instrument as recited in claim 15, wherein the third, first, and sixth guide wheels are disposed on the first guide base, and the fifth, second, and fourth guide wheels are disposed on the second guide base; the distance of the third guide wheel, the distance of the first guide wheel and the distance of the sixth guide wheel relative to the base are sequentially reduced, and the distance of the fifth guide wheel, the distance of the second guide wheel and the distance of the fourth guide wheel relative to the base are sequentially reduced.

18. A surgical instrument according to claim 7, wherein the instrument tip further defines an axis extending from the proximal end to the distal end, the base having first and second planes of symmetry perpendicular to each other, the intersection of the first and second planes of symmetry being parallel or collinear with the axis; the second end drive shaft and the third end drive shaft are symmetrically arranged about the first plane of symmetry, the first end drive shaft and the second end drive shaft are symmetrically arranged about the second plane of symmetry, and the second end drive shaft is further from the axis relative to the third end drive shaft.

19. A surgical instrument according to claim 7, wherein the instrument tip further defines an axis extending from the proximal end to the distal end, the base having first and second planes of symmetry perpendicular to each other, the intersection of the first and second planes of symmetry being parallel or collinear with the axis; the second end drive shaft and the third end drive shaft are symmetrically arranged about the first plane of symmetry, the first end drive shaft and the third end drive shaft are symmetrically arranged about the second plane of symmetry, and the third end drive shaft is further from the axis relative to the second end drive shaft.

20. A surgical instrument as recited in claim 1, wherein the instrument tip of the surgical instrument includes at least two degrees of freedom, the wire drive structure including a fourth drive module and a fifth drive module, the fourth and fifth drive modules each driving one degree of freedom of the instrument tip; the fourth transmission module comprises a fourth tail end driving shaft, a seventh traction body, an eighth traction body, a seventh guide wheel and an eighth guide wheel; the fifth transmission module comprises a fifth tail end driving shaft, a ninth traction body, a tenth traction body, a ninth guide wheel and a tenth guide wheel; the seventh traction body, the eighth traction body, the ninth traction body and the tenth traction body respectively correspond to the seventh guide wheel, the eighth guide wheel, the ninth guide wheel and the tenth guide wheel.

21. A surgical instrument as recited in claim 20, wherein the instrument tip further comprises: the snake joint comprises a plurality of snake bones which are sequentially and axially arranged, and the snake bones can swing in at least two directions to form at least two degrees of freedom;

22. The surgical instrument of claim 21, wherein the through holes in the proximal portion comprise a seventh through hole, an eighth through hole, a ninth through hole, and a tenth through hole for constraining a direction of extension of the seventh, eighth, ninth, and tenth tractor, respectively;

23. A surgical instrument as recited in claim 22, wherein the seventh through hole and the eighth through hole are symmetrical about a center of the proximal portion; the ninth through hole and the tenth through hole are symmetrical with respect to a center of the proximal portion.

24. The surgical instrument of any one of claims 20 to 23, wherein the exit tangents of the seventh, eighth, ninth, and tenth guide wheels are a seventh, eighth, ninth, and tenth exit tangents, respectively;

25. A surgical instrument as recited in claim 24, wherein said instrument tip further defines a proximal-to-distal axis, and wherein each of said four retractor bodies has a diameter d; the projection of the tractor at the proximal end is configured to:

26. A surgical instrument as recited in claim 25, further comprising an instrument shaft coaxial with said axis, said instrument shaft having a lumen therethrough for passage of said retractor; wherein the portion of all of the traction bodies within the instrument shaft is configured to: the distance between the centers of any two projections is larger than d; the distance from the center of any projection to the inner wall of the instrument rod is more than 0.6 d; any projection is greater than 0.5d to the center of the instrument shaft.

27. A surgical instrument as recited in claim 25,

28. a surgical instrument as recited in claim 20, wherein said base includes third and fourth opposing guide seats, said seventh and eighth guide wheels being disposed on said third guide seat, said ninth and tenth guide wheels being disposed on said fourth guide seat; the distance between the seventh guide wheel and the base is smaller than the distance between the eighth guide wheel and the base, and the distance between the ninth guide wheel and the base is smaller than the distance between the tenth guide wheel and the base.

29. A surgical robot comprising a robotic arm and a surgical instrument according to any one of claims 1 to 28, the surgical instrument being carried at a distal end of the robotic arm, the robotic arm being for adjusting a position and/or attitude of the surgical instrument.