CN214908030U - Surgical instrument and surgical robot - Google Patents

Abstract

The utility model relates to the field of medical instruments, in particular to a surgical instrument and a surgical robot, wherein the surgical instrument comprises a loop bar, a push-pull rod, a flexible rope and a surgical tool, and a sliding cavity extending along the axial direction of the loop bar is arranged in the loop bar; the push-pull rod and the flexible rope are slidably arranged in the sliding cavity; the surgical tool comprises a first swing arm and a second swing arm which are rotatably connected to the end portion of the loop bar, the flexible rope is connected to the first swing arm in a driving mode, the push-pull rod is connected to the second swing arm in a driving mode, and the push-pull rod and the flexible rope can respectively and independently drive the first swing arm and the second swing arm to swing. So, push-and-pull rod and flexible rope drive two swing arms respectively and swing at the tip of loop bar, and two swing arms can cooperate and realize opening and shutting and the swing of operation instrument, simultaneously, when connecting the drive structure in order to form actuating mechanism on the surgical instruments, flexible rope drive department can arrange in a flexible way, reduces overall structure's space and occupies.

Description

Surgical instrument and surgical robot

Technical Field

The utility model relates to the field of medical equipment, especially relate to a surgical instruments and surgical robot.

Background

The minimally invasive surgery is to open a tiny wound on the body of a patient, part of an actuating mechanism of a surgical robot penetrates through the tiny wound and enters the focus position, the telecentric motionless point of the actuating mechanism is enabled to coincide with the wound position, an operator controls a mechanical arm part of the surgical robot to drive the actuating mechanism to do spatial swing within a certain angle range by taking the telecentric motionless point as a hinged point, and the action of the actuating mechanism is assisted to complete the minimally invasive surgery. In recent years, minimally invasive surgery is gaining favor of medical staff and patients due to small wound and less bleeding.

The structure of the actuator generally includes: the surgical instrument is used for stretching into the focus position, and the driving component is used for driving the surgical instrument to rotate, open and close, and the like. In order to ensure that the action of the surgical instrument is accurate and controllable and can meet the narrow installation space requirement of a surgical robot, a single hard rod is adopted as a driving piece in some existing schemes, and a connecting rod mechanism similar to a parallelogram mechanism is driven to jointly realize the opening and closing movement of an operation end. Although this solution can obtain relatively high motion precision, the operation end only has one motion form of opening and closing motion, and the operation space that the doctor can control is relatively limited.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a surgical instrument and a surgical robot, in which a hard push-pull rod and a flexible rope are used to drive two swing arms to swing, respectively, so that a surgical tool at an operation end can perform both opening and closing movements and swinging movements.

The embodiment of the utility model provides an at first provide a surgical instrument, including loop bar, push-and-pull rod, flexible rope to and surgical tool, wherein:

a sliding cavity extending along the axial direction of the sleeve rod is arranged in the sleeve rod;

the push-pull rod and the flexible rope are slidably arranged in the sliding cavity;

the surgical tool comprises a first swing arm and a second swing arm which are rotatably connected to the end portion of the loop bar, the flexible rope is connected to the first swing arm in a driving mode, the push-pull rod is connected to the second swing arm in a driving mode, and the push-pull rod and the flexible rope can respectively and independently drive the first swing arm and the second swing arm to swing.

So, push-and-pull rod and flexible rope drive two swing arms respectively and swing at the tip of loop bar, two swing arms can cooperate and realize opening and shutting and the swing of surgical tool, compare in single rod driven form, surgical tool's degree of freedom is bigger, and simultaneously, the form that push-and-pull rod and flexible rope combined use, make surgical instrument enough establish force feedback through this push-and-pull rod driven second swing arm, and simultaneously, when connecting the drive structure in order to form actuating mechanism on the surgical instrument, flexible rope drive department can arrange in a flexible way, avoid the drive hookup location of push-and-pull rod, reduce overall structure's space and occupy.

In a possible solution, the first swing arm has a first connection portion for rotatably connecting to the end portion of the loop bar, the flexible rope is wound on the first connection portion and has two connection ends, and the two connection ends are arranged so that pulling different connection ends can drive the first swing arm to swing in opposite directions.

In a possible solution, a connection groove extending along the winding direction of the flexible rope is formed in the first connection portion in a concave manner, a notch shape of the connection groove at least partially covers the flexible rope, a via hole is formed in the connection portion, and the connection groove extends through the via hole. The outer surface of the groove wall cladding part or all the flexible ropes of spread groove can make the frictional force increase of flexible rope and first connecting portion, is convenient for make both reliably link, and this via hole is passed when first connecting portion is located in the winding to flexible rope for can't throw off between flexible rope and the first connecting portion.

In a possible solution, the surgical instrument further comprises a connecting rod, one end of the connecting rod is connected to the second swing arm and staggers the rotating connection between the second swing arm and the loop bar, and the other end of the connecting rod is connected to the push-pull rod. The arrangement of the connecting rod enables two positions of rotary connection to be increased between the push-pull rod and the second swing arm, and the second swing arm moves more flexibly.

In a feasible scheme, a pair of rotation supporting parts extending towards the end part far away from the loop bar is arranged at the end part of the loop bar, the pair of rotation supporting parts are arranged at two sides of the loop bar in the axial direction at intervals, and the first swing arm and the second swing arm are rotatably connected between the pair of rotation supporting parts. An approximately U-shaped swing space can be formed between the two rotating supporting parts outside the sliding cavity of the loop bar, and the swing motion range of the swing arm can be enlarged.

In a feasible scheme, a first pivot used for rotatably connecting the first swing arm and the second swing arm penetrates through the rotating support portion, and the connecting rod is provided with an avoiding portion used for avoiding the first pivot. The arrangement of the avoiding part enables: even when the connecting rod swings in a large range, the connecting rod does not interfere with the movement of the first pivot.

In one possible solution, the second swing arm comprises a second connecting portion; the connecting rod is a flat rod piece, and the second connecting portion is clamped between the connecting rod and one side face of the avoidance concave portion along the thickness direction of the connecting rod.

In a feasible scheme, the surgical instrument further includes a guide limiting member for limiting the sliding positions of the push-pull rod and the flexible rope, the guide limiting member is fixedly disposed on the push-pull rod, and sliding holes for guiding the two ends of the push-pull rod and the flexible rope to slide are formed in the guide limiting member at intervals. The guide limiting part can ensure that the push-pull rod and the flexible rope do not interfere with each other when moving in a sliding space, and the movement precision of the surgical instrument is higher.

The embodiment of the utility model provides a still provide a surgical robot, including foretell surgical instrument.

Among above-mentioned surgical instruments and surgical robot, through two swing arm swings among the push-and-pull rod and the flexible rope drive surgical instruments respectively for two swing arms can enough accomplish the motion of opening and shutting, can also accomplish the horizontal hunting respectively or jointly, and the motion degree of freedom is bigger, simultaneously, because the arrangement form of flexible rope can design in a flexible way, when being connected to this surgical instruments department of drive structure, can make the connection of flexible rope arrange dodge the connection of push-and-pull rod, in order to reduce holistic actuating mechanism's size. And the push-pull rod itself is the stereoplasm pole, and it can experience the environmental moment of second swing arm department, consequently, the utility model provides a surgical instrument can establish force feedback through second swing arm department.

Drawings

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

FIG. 2 is a schematic view of the surgical instrument illustrated in FIG. 1 shown in an exploded configuration with the loop bar moved away from the surgical tool along its axis;

FIG. 3 is a partial, schematic, cross-sectional view of the surgical instrument illustrated in FIG. 1 with the loop bar removed;

fig. 4 is a schematic structural diagram of a first swing arm according to an embodiment of the present invention;

FIG. 5 is a partial schematic structural view of the surgical instrument configuration illustrated in FIG. 1;

fig. 6 is a structural view of the push-pull rod and the guide limit piece integrally arranged;

FIG. 7 is a schematic view of a connecting rod;

FIG. 8 is a half sectional view of the loop bar construction;

FIG. 9 is a schematic view of the partial structure of FIG. 3 from another perspective;

FIG. 10 is a diagrammatic view of the movement of the surgical instrument with the second swing arm in a zero position;

fig. 11 is a diagrammatic view of the movement of the surgical instrument with the second swing arm deployed to a 180 position.

Description of reference numerals: 1. a loop bar; 11. a rotation support; 12. a glide chamber; 2. a push-pull rod; 21. avoiding the concave part; 22. pushing and pulling the driving end; 3. a flexible cord; 31. a first connection end; 32. a second connection end; 4. a connecting rod; 41. a first surface; 42. a second surface; 43. an avoidance part; 44. a second pivot; 5. a first pivot; 6. a surgical tool; 61. a first swing arm; 611. a first connection portion; 6111. connecting grooves; 6112. a via hole; 612. a first clamping portion; 62. a second swing arm; 621. a second connecting portion; 622. a second clamping portion; 7. a guide limit piece; 71. and (6) sliding holes.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Referring to fig. 1, a surgical instrument according to an embodiment of the present invention includes a loop bar 1, a push-pull rod 2, and a flexible cord 3, and a surgical tool 6, wherein: the surgical tool 6 comprises a first swing arm 61 and a second swing arm 62 which are rotatably connected to the end of the loop bar 1, and the first swing arm and the second swing arm can be folded to complete the clamping action, so that the surgical tool acts like a surgical clamp.

As further shown in fig. 8, a sliding chamber 12 is provided in the loop bar 1 and extends substantially along the axial direction of the loop bar 1, and the push-pull rod 2 and the flexible rope 3 are movably disposed in the sliding chamber 12. The push-pull rod 2 and the flexible rope 3 are respectively connected to the first swing arm 61 and the second swing arm 62 in a driving manner so as to respectively and independently drive the corresponding swing arms to swing. Thus, when the first swing arm 61 and the second swing arm 62 are combined and swing to one side, the surgical tool 6 can complete the swing of the clamping state; when the first swing arm 61 and the second swing arm 62 swing from the involution state to both sides, the surgical tool 6 can be opened, and in the opening process of the surgical tool 6, the first swing arm 61 and the second swing arm 62 can swing at different angles according to the needs, so as to adapt to different surgical operation needs.

Generally, in the driving of the surgical tool in the prior art, the flexible cable driving is widely adopted to flexibly control the motion of the surgical tool, however, the flexibility of the cable causes the cable to creep after being used for a period of time, and when the creeping cable is continuously used as a driving member, the motion precision of the surgical tool is reduced. Although the use of special steel as a blank for the wire rope alleviates the problem of creep in use, the material itself is relatively expensive to manufacture, and in particular the wire rope is flexible and does not provide feedback to the control end of the surgical robot of environmental forces to which the surgical tool is subjected. Although some surgical robot designers have proposed using a single rigid rod to connect a linkage mechanism resembling a scissor arm to effect opening and closing of the two parts of the surgical tool. However, in this method, a single hard rod is used as a driving member, which can only drive the link mechanism to perform the opening and closing actions, but cannot drive the link mechanism to drive the surgical tool to perform the swinging actions.

When a surgical robot performs a minimally invasive surgery, an operator often wants a surgical tool to touch a lesion in a large range as much as possible due to the small size of the lesion, so as to complete the surgical operation efficiently. The single-rod driving mode has the defect of swinging freedom, so that the access range of the surgical tool needs to be enlarged by the related structure for driving the surgical instrument to swing. Different from this, the embodiment of the present invention provides a surgical instrument, the swing driving of the first swing arm 61 and the second swing arm 62 is separately realized by the hard flexible rope 3 and the push-pull rod 2, so that the swings of the two swing arms in the surgical instrument 6 are mutually independent in the driving layer, in practical operation, the pulling direction and the pulling distance of the flexible rope 3 can be controlled, and the sliding direction and the sliding distance of the push-pull rod 2 are extended, so that the first swing arm 61 and the second swing arm 62 cooperatively complete the actions of clamping, opening, swinging, etc., and the freedom of movement of the surgical instrument 6 is higher.

Although the form of the flexible rope 3 driving the first swing arm 61 still has the problem of the flexible rope 3 creeping after a period of use, because the driving structure of the second swing arm 62, i.e. the push-pull rod 2, is a hard rod, there is no creeping problem, so that in use, the motion error of the first swing arm 61 can be compensated by the motion precision of the second swing arm 62. Simultaneously, because second swing arm 62 is driven by the stereoplasm member, it can experience outside environment moment, consequently, the utility model provides a when surgical instruments is applied to surgical robot, can establish corresponding force feedback mechanism.

Compared with common equipment, the size of the equipment of the surgical robot has great influence on the flexibility of final movement and obviously influences the surgical effect. The push-pull rod 2 and the flexible rope 3 are finally driven to move through the driving mechanism, and the flexible rope 3 is more flexible in spatial arrangement compared with the rigid push-pull rod 2, so that the two driving parts can be more flexibly connected when the rear driving mechanism is arranged, and the local size of the surgical robot is reduced.

In addition, it should be understood that the push-pull rod 2 and the flexible rope 3 are drivingly connected to the corresponding swing arm, and are not limited to the push-pull rod 2 and the flexible rope 3 being directly connected to the corresponding swing arm, or being indirectly connected through a link mechanism, a gear transmission mechanism, or the like.

Referring to fig. 2 and 3, the first swing arm 61 has a first connection portion 611 for rotatably connecting to an end of the loop bar 1, the flexible cord 3 is wound around the first connection portion 611 and has a first connection end 31 and a second connection end 32, and pulling the first connection end 31 can swing the first swing arm 61 in one direction, and simultaneously, pulling the second connection end 32 can swing the first swing arm 61 in the opposite direction. In a possible solution, the first connection end 31 and the second connection end 32 may extend out of the loop bar 1 and be connected to a suitable tensioning drive structure to achieve the above-mentioned movement.

Referring to fig. 4, a connection groove 6111 is formed inward on the first connection portion 611 of the first swing arm 61, and the connection groove 6111 extends in the winding direction of the flexible cord 3. The shape of the notch of the connection groove 6111 (or the shape of the cross section of the connection groove 6111) may be an arc shape, a trapezoid shape, or the like, which can at least partially cover the outer surface of the flexible rope 3. The first connection portion 611 is provided with a via hole 6112, and the connection groove 6111 extends through the via hole 6112, so that the flexible rope 3 can pass through the via hole 6112 when being wound in the connection groove 6111, thereby preventing the flexible rope 3 and the connection groove 6111 from being separated from each other.

It can be understood that, in order to enable the flexible rope 3 to reliably drive the first swing arm 61 to rotate, when the two ends of the flexible rope 3 receive the tensile force, the problem of slipping between the two ends of the flexible rope 3 and the slot wall of the slot 6111 should be avoided as far as possible, so that the flexible rope 3 and the first connecting portion 611 can reliably maintain the linkage relationship by increasing the area of the flexible rope 3 covered by the slot 6111 or directly clamping the flexible rope and the via hole 6112.

Referring to fig. 2 and 3, in one embodiment, the surgical instrument may further include a link 4, wherein one end of the link 4 is connected to the push-pull rod 2, and the other end is connected to the second swing arm 62, and the position of the second swing arm 62 rotatably connected to the sleeve rod 1 is staggered. Thus, the action of pushing and pulling the push-pull rod 2 can drive the connecting rod 4 to swing within a certain angle range, and further drive the second swing arm 62 to swing at the end of the loop bar 1.

As shown in fig. 2 and 3, the end of the loop bar 1 is provided with a pair of rotation supports 11, the pair of rotation supports 11 extends in a direction away from the end of the loop bar 1, and the pair of rotation supports 11 is disposed at both sides of the axis of the loop bar 1 at intervals so that a swing space having an approximately U-shape is formed between the rotation supports 11.

The first swing arm 61 and the second swing arm 62 are rotatably connected to the pair of rotation support portions 11 by a first pivot 5 passing through the pair of rotation support portions 11, so that the pair of swing arms can perform a large swing motion in the U-shaped swing space formed between the pair of rotation support portions 11.

It should be understood that the first pivot 5 is not necessarily an independent pin shaft independent from the first swing arm 61 and the second swing arm 62, but may be a protruding structure fixed on the first swing arm 61 or the second swing arm 62 and capable of serving as a pivot, or a protruding structure fixed on or formed on the pair of rotation supports 11 and capable of serving as a pivot.

Referring to fig. 7, the link 4 is further provided with an escape portion 43, when the link 4 drives the second swing arm 62 to swing to a certain angle range, there is a certain degree of motion interference between the link 4 and the first pivot 5, and to eliminate the possible motion interference, the link 4 is recessed or bent to form the aforementioned escape portion 43.

Referring to fig. 6, the end portion of the push-pull rod 2 is concavely formed with an escape recess 21, and the link 4 is rotatably connected to the escape recess 21, so that the size of the connection of the push-pull rod 2 and the link 4 is reduced. As further shown in fig. 5, the second swing arm 62 has a structure similar to that of the first swing arm 61, including a second connecting portion 621 and a second clamping portion 622.

As further shown in connection with fig. 7, the link 4 is provided as a flat bar and has a first surface 41 and a second surface 42 which are substantially parallel. Both side surfaces of the second connecting portion 621 abut against the second surface 42 and one side surface of the avoiding recess 21, respectively, so that the second connecting portion 621 is held between the link 4 and the avoiding recess 21, and the mounting space is occupied the minimum when the surfaces of the three are sequentially abutted.

Referring back to fig. 1, the surgical instrument may further include a guide stopper 7, wherein the guide stopper 7 is used for limiting the sliding and extending direction of the push-pull rod 2, and the direction in which the first connecting end 31 and the second connecting end 32 of the flexible cord 3 are pulled, and keeping them out of contact. With further reference to the structure shown in fig. 6, in the illustrated embodiment, the guide limiting member 7 may be fixed to or integrally formed with the push-pull rod 2, and the guide limiting member 7 is provided with sliding holes 71 at intervals for allowing the push-pull rod 2 to pass through (when the two are separately processed and then fixed) and for allowing the two ends of the flexible rope 3 to pass through.

The end of the push-pull rod 2 adjacent to the guiding and limiting member 7 has a push-pull driving end 22, and the push-pull driving end 22, like the first connecting end 31 and the second connecting end 32 of the flexible rope 3, can be connected to an external suitable driving mechanism to drive the push-pull rod 2 and the flexible rope 3 to move.

It is understood that in other embodiments, the guide limiting member 7 may take other forms, and the position of the guide limiting member 7 is not limited to being fixed to the push-pull rod 2, and the guide limiting member 7 may be other structures capable of slidably guiding the push-pull rod 2 and the flexible rope 3.

In order to achieve precise control of the second swing arm 62 in the surgical instrument, the following mathematical relationship between the displacement s of the push-pull rod 2 and the swing angle of the second swing arm 62 is derived as follows, with reference to fig. 9 to 11:

referring first to fig. 9, a second pivot 44 is provided through the connection of the link 4 and the second swing arm 62, and the axis of the second pivot 44 is offset from the first pivot 5.

With further reference to fig. 10 and 11, fig. 10 provides a diagrammatic view of the movement of the surgical instrument with the second swing arm 62 in a zero position; the movement diagram of the surgical instrument is shown in fig. 11, in which the second swing arm 62 is deployed to the 180 position.

According to the push-pull rod 2, the connecting rod 4, the second swing arm 62 and the rotary connection structure therebetween, the driving structure of the second swing arm 62 approximately constitutes an eccentric slider-crank mechanism, wherein: the connecting line between the second pivot 44 at the rotary connection of the connecting rod 4 and the second swing arm 62 and the first pivot 5 on the second swing arm 62 forms a virtual crank, and the virtual crank and the second swing arm 62 have the same rotary motion law. The push-pull rod 2 slides in the sliding hole 71 in a manner that can be regarded as sliding by a slider having a predetermined sliding direction.

The orientation of the second swing arm 62 when arranged in the extending direction of the push-pull rod 2 is defined as a zero position, and a position where the second swing arm 62 is stopped after swinging 180 ° away from the first swing arm 61 based on the zero position is a position where the second swing arm 62 is unfolded to 180 ° (i.e., a position of the second swing arm 62 shown in a simplified diagram in fig. 11). Further, the respective symbols in the definition diagrams have the following meanings:

a is the length of the crank formed by the connection line between the second pivot 44 and the first pivot 5;

b is the length of the connecting rod 4;

c is the vertical distance between the central axis of the push-pull rod 2 and the zero position of the second swing arm 62, and is a fixed value;

d is the horizontal distance from the first pivot 5 to the connecting point of the connecting rod 4 and the push-pull rod 2, and is a variable;

alpha is an included angle between the virtual crank and the zero position of the second swing arm 62 and is a variable;

theta is the angle of the virtual crank rotating around the first pivot 5 or the angle of the second swing arm 62, and is a vector with a direction;

beta is an included angle between the connecting rod 4 and the vertical direction and is a variable;

s is the displacement of the push-pull rod 2 along with the sliding of the sliding block and is a vector with a direction;

when the push-pull rod 2 moves rightward with a displacement of s, the following equation set can be obtained with reference to the geometrical relationship in fig. 11:

the mathematical relationship between s and theta can be obtained by combining the above equations as follows:

as described above, θ represents the angle and direction of rotation of the second swing arm 62, and therefore, based on the above mathematical relationship, it can be known that the second swing arm 62 swings to the corresponding angle in the corresponding direction by controlling the displacement of the push-pull rod 2 in a predetermined manner, including the distance and the direction.

The second aspect of the present invention further provides an actuator, which comprises the surgical instrument according to any of the above embodiments, and a driving assembly for driving the push-pull rod 2 to slide telescopically and/or to pull one end of the flexible rope 3 at both ends. It will be appreciated that the drive assemblies may drive the push-pull rod 2 and the flexible cord 3 separately, but need not be implemented as two separate drive assemblies, and in a possible embodiment the drive assemblies may be in the form of a set, having only two motion output positions, which may be connected to the push-pull rod 2 and the flexible cord 3, respectively.

Furthermore, the utility model also provides a surgical robot, this surgical robot includes foretell actuating mechanism. In some embodiments, the surgical robot may employ a stewart platform structure as the telecentric steering mechanism, and the actuator may be correspondingly mounted on the movable platform of the telecentric steering mechanism.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be taken as limiting the present invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims (10)

1. A surgical instrument comprising a loop bar, a push-pull rod, a flexible cord, and a surgical tool, wherein:

a sliding cavity extending along the axial direction of the sleeve rod is arranged in the sleeve rod;

the push-pull rod and the flexible rope are slidably arranged in the sliding cavity;

the surgical tool comprises a first swing arm and a second swing arm which are rotatably connected to the end portion of the loop bar, the flexible rope is connected to the first swing arm in a driving mode, the push-pull rod is connected to the second swing arm in a driving mode, and the push-pull rod and the flexible rope can respectively and independently drive the first swing arm and the second swing arm to swing.

2. A surgical instrument as recited in claim 1, wherein the first swing arm has a first connection portion for pivotal connection to an end of the loop bar, the flexible cable being routed around the first connection portion and having two connection ends, the two connection ends being configured such that pulling on different ones of the connection ends causes the first swing arm to swing in opposite directions.

3. The surgical instrument as claimed in claim 2, wherein the first connecting portion has a connecting groove formed therein and extending along the winding direction of the flexible cord, the connecting groove has a notch shape at least partially covering the flexible cord, the connecting portion has a through hole formed therein, and the connecting groove extends through the through hole.

4. The surgical instrument of claim 1, further comprising a link having one end connected to the second swing arm and offset from the rotational connection of the second swing arm to the loop bar and another end connected to the push-pull rod.

5. A surgical instrument as recited in claim 4, wherein the displacement of the push-pull rod and the angle through which the second swing arm pivots satisfy the following relationship:

wherein: s is the displacement of the sliding rod and is a vector with a direction;

a is the distance from the rotation center of the second swing arm to the joint of the connecting rod and the second swing arm;

b is the length of the connecting rod;

c is the vertical distance between the central axis of the push-pull rod and the zero position of the second swing arm;

d is the horizontal distance from the rotation center of the second swing arm to the joint of the connecting rod and the push-pull rod;

alpha is an included angle between the zero position of the second swing arm and a connecting line between the rotation center of the second swing arm and the connecting position of the connecting rod and the second swing arm;

theta is the angle rotated by the second swing arm and is a vector with a direction.

6. A surgical instrument according to claim 4, wherein a pair of rotation support portions extending away from the end portion of the loop bar are provided at the end portion of the loop bar, the pair of rotation support portions are provided at both sides of the loop bar in the axial direction at intervals, and the first swing arm and the second swing arm are rotatably connected between the pair of rotation support portions.

7. A surgical instrument as recited in claim 6, wherein a first pivot for rotatably connecting the first swing arm and the second swing arm passes through the rotation support portion, and the link is provided with an avoiding portion for avoiding the first pivot.

8. A surgical instrument as recited in claim 7, wherein the second swing arm includes a second connection;

the connecting rod is a flat rod piece, and the second connecting portion is clamped between the connecting rod and one side face of the avoidance concave portion along the thickness direction of the connecting rod.

9. The surgical instrument according to any one of claims 1 to 8, further comprising a guide position-limiting member for limiting a sliding position of the push-pull rod and the flexible rope, wherein the guide position-limiting member is fixedly disposed on the push-pull rod, and sliding holes for slidably guiding two ends of the push-pull rod and the flexible rope are formed at intervals on the guide position-limiting member.

10. A surgical robot comprising a surgical instrument according to any one of claims 1 to 9.

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