CN218979179U

CN218979179U - Surgical instrument, surgical robot and surgical system

Info

Publication number: CN218979179U
Application number: CN202320032864.6U
Authority: CN
Inventors: 吴忠胜; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2023-01-06
Filing date: 2023-01-06
Publication date: 2023-05-09
Anticipated expiration: 2033-01-06

Abstract

The application discloses a surgical instrument, comprising: the end effector comprises an argon gas knife, an electrode wire for providing high-frequency current for the argon gas knife and a pipeline for providing argon gas for the argon gas knife; and the driving device is in driving connection with the end effector and is configured to receive external torque so as to drive the argon gas knife to act. The application also discloses a surgical robot and a surgical system. The end effector of the utility model has the argon knife, the argon knife can respond the external torque and execute the action to satisfy the requirement of position, gesture etc. in the operation process, compare the handheld argon knife operation of doctor, doctor only need at the operation of main operation control console can the accurate control operation process, improved the convenience of operation, the reliability and the security of operation are also higher.

Description

Surgical instrument, surgical robot and surgical system

Technical Field

The embodiment of the application relates to the technical field of medical instruments, in particular to a surgical instrument, a surgical robot and a surgical system.

Background

The argon knife is a high-frequency electric knife, and generates argon plasma to conduct high-frequency current through ionization of argon gas, so that a target tissue generates a thermal effect, and the hemostatic effect and the tissue inactivation effect are realized. Because the argon knife does not need to be in direct contact with tissues, has less surgical smoke, can effectively control large-area bleeding in a short time, is widely applied to hemostasis of diffuse bleeding, tissue inactivation and electrotomy under the support of argon, and can be used for various operations, such as open operation, endoscopic operation and endoscopic operation.

Traditional argon gas sword is constructed into handheld structure generally, and the operation in-process is handheld argon gas sword of doctor stands and carries out the operation at patient's operation table side, and doctor need adjust the operation posture in order to adapt to patient's position, and it is inconvenient to operate, and doctor operation in-process produces tired easily moreover, is difficult to guarantee the reliability and the security of operation.

Disclosure of Invention

In view of the defects in the prior art, the surgical instrument, the surgical robot and the surgical system are provided, the convenience of surgical operation is improved, and the reliability and the safety of the surgical operation can be ensured.

In order to achieve the above purpose, the present application adopts the following technical scheme:

a surgical instrument, comprising:

the end effector comprises an argon gas knife, an electrode wire for providing high-frequency current for the argon gas knife and a pipeline for providing argon gas for the argon gas knife;

and the driving device is in driving connection with the end effector and is configured to receive external torque so as to drive the argon gas knife to act.

As one implementation mode, the pipeline is sleeved at the proximal end of the argon knife, and a channel for argon circulation is formed between the argon knife and the inner wall of the pipeline.

As one of the implementation manners, the electrode wire is arranged in the pipeline in a penetrating way, and the distal end of the electrode wire is connected with the argon knife.

As one implementation mode, a first through hole is formed in the argon knife, the distal end of the electrode wire is bent to form a hook part, and the hook part is inserted into and fixed in the first through hole.

As one embodiment, the surgical instrument further comprises a housing, a second through hole penetrating through the housing in the length direction is formed in the housing, the distal end of the pipe is accommodated in the second through hole, and the argon knife is accommodated in the housing.

As one embodiment, the inner wall of the second through hole is provided with an annular step part, and the argon gas knife comprises a convex part arranged at the far end of the argon gas knife; the distal end of the tube abuts the protrusion against the step, and/or the portion of the argon gas knife located at the proximal end of the protrusion is in tension fit with the inner wall of the tube.

As one embodiment, the argon gas knife is in a sheet shape, and the two convex parts are symmetrically arranged at two sides of the argon gas knife in the width direction.

As one embodiment, the distal surface of the housing is arcuate.

As one embodiment, the surgical instrument further comprises a flexible long shaft connected between the drive device and the end effector; the long shaft and the shell are axially connected through clamping and matching of the limiting block and the limiting strip.

As one embodiment, the driving device comprises a plurality of transmission discs and two groups of driving wires for connecting the end effector and the corresponding transmission discs, wherein the distal ends of the two groups of driving wires are respectively fixed on different radial directions of the end effector so as to drive the end effector to deflect along two different degrees of freedom.

As one embodiment, the driving device is provided with a first interface and a second interface which are respectively communicated with the proximal end of the pipeline and the proximal end of the electrode wire, and the first interface and the second interface are respectively configured to be externally connected with an argon source and a high-frequency generator.

Another object of the present utility model is to provide a surgical robot including a master operation console and a slave operation device including one of the above-mentioned surgical instruments, which perform corresponding operations according to instructions of the master operation console.

It is a further object of the present utility model to provide a surgical system comprising a high frequency generator, a neutral electrode and a surgical instrument as described above, wherein the high frequency generator monopolar electrode receptacle and the neutral electrode receptacle are connected to the electrode wire and the neutral electrode, respectively.

The end effector of the utility model has the argon knife, the argon knife can respond the external torque and execute the action to satisfy the requirement of position, gesture etc. in the operation process, compare the handheld argon knife operation of doctor, doctor only need at the operation of main operation control console can the accurate control operation process, improved the convenience of operation, the reliability and the security of operation are also higher.

Drawings

Fig. 1 is a schematic view of a slave operating device of a surgical robot according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a main operation console of a surgical robot according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a mechanical arm of a slave operation device according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a surgical instrument according to an embodiment of the present utility model;

FIG. 5 is a schematic view of an end effector according to an embodiment of the present utility model;

FIG. 6 is an exploded view of an end effector according to one embodiment of the present utility model;

FIG. 7A is a schematic cross-sectional view of an end effector according to one embodiment of the present utility model;

FIG. 7B is another schematic cross-sectional view of an end effector according to one embodiment of the present utility model;

FIG. 8 is a schematic view of the proximal structure of an end effector according to an embodiment of the present utility model;

FIG. 9 is a schematic view of a surgical system according to an embodiment of the present utility model;

the realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

In this application, the terms "disposed," "configured," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

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

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

In this application, "distal" and "proximal" are used as directional terms that are conventional in the art of interventional medical devices, where "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The minimally invasive surgical robot generally includes a slave operation device and a master operation console, fig. 1 illustrates a slave operation device 100 according to an embodiment of the present utility model, fig. 2 illustrates a master operation console 200 according to an embodiment of the present utility model, a surgeon performs related control operations on the slave operation device 100 on the master operation console 200, and the slave operation device 100 performs a surgical operation on a human body according to input instructions of the master operation console 200. The master operation console 200 and the slave operation device 100 may be placed in one operating room, or may be placed in different rooms, or even the master operation console 200 and the slave operation device 100 may be far apart, for example, the master operation console 200 and the slave operation device 100 may be located in different cities, respectively, the master operation console 200 and the slave operation device 100 may perform data transmission in a wired manner, or may perform data transmission in a wireless manner, for example, the master operation console 200 and the slave operation device 100 may be located in one operating room, perform data transmission in a wired manner, or may perform remote data transmission in a 5G wireless signal between the two, for example, the master operation console 200 and the slave operation device 100 may be located in different cities, respectively.

As shown in fig. 1, the slave manipulator 100 includes a plurality of manipulator arms 110, each manipulator arm 110 including a plurality of joints and one manipulator arm 130, the plurality of joints being linked to achieve movement of the manipulator arm 130 in a plurality of degrees of freedom, the manipulator arm 130 being mounted with a surgical instrument 120 for performing a surgical operation according to an instruction of a main operation console, the surgical instrument 120 being passed through a trocar 140 fixed to a distal end of the manipulator arm 130 into a human body, the manipulator arm 110 being for manipulating the surgical instrument 120 to move to perform a surgery. The surgical instrument 120 is detachably mounted on the holding arm 130 so that different types of surgical instruments 120 can be replaced or the surgical instrument 120 can be removed at any time to flush or sterilize the surgical instrument 120. As shown in fig. 3, the holding arm 130 includes a holding arm body 131 and an instrument mounting rack 132, the instrument mounting rack 132 is used for mounting the surgical instrument 120, and the instrument mounting rack 132 can slide on the holding arm body 131, so as to drive the surgical instrument 120 to advance or withdraw along the holding arm body 131.

As shown in fig. 4, the surgical instrument 120 includes a driving device 170 and a distal end effector 150, respectively, at a proximal end of the surgical instrument 120, and a long shaft 160 between the driving device 170 and the end effector 150, the driving device 170 being adapted to be coupled to an instrument mount 132 of the arm 130, the instrument mount 132 having a plurality of actuators (not shown) therein, the plurality of actuators being engaged with the driving device 170 to transmit driving forces of the actuators to the driving device 170. The long shaft 160 is used to connect the driving device 170 and the end instrument 150, the long shaft 160 is hollow for the driving wire to pass through, and the driving device 170 is operated by the driving wire to move the end effector 150 so that the end effector 150 performs the related operation. With the aid of an endoscope on the current surgical instrument 120 or on another surgical instrument 120, a physician can conveniently view the motion of the end effector 150 of the current surgical instrument 120 in real time, thereby providing timely feedback.

Referring to fig. 4-6, one embodiment of the present application provides a surgical instrument 120, the surgical instrument 120 including an end effector 150 and a drive device 170. The end effector 150 includes an argon gas knife 11, an electrode wire 12 for supplying high frequency current to the argon gas knife 11, and a tube 13 for supplying argon gas to the argon gas knife 11, and a driving device 170 is in driving connection with the end effector 150 and configured to receive external torque to drive the argon gas knife 11 to operate.

By introducing argon gas from the proximal end of the surgical instrument 120 toward the tube 13 and supplying high-frequency current to the argon gas knife 11 through the electrode wire 12, high-speed argon gas is continuously sprayed to tissues after the argon gas reaches the argon gas knife 11 at the distal end, and meanwhile, a current channel is established between human tissues and the argon gas knife 11 by the high-speed argon gas sprayed from the argon gas knife 11, so that the tissues can be electrically coagulated. Because the current formed by spraying has extremely strong fluidity, the formed current channel has extremely strong diffusivity, so that the surgical instrument 120 has larger coagulation area and is particularly suitable for the coagulation of a large-area bleeding surface.

In one embodiment, the pipe 13 is sleeved on the proximal end of the argon gas knife 11, and a channel for flowing argon gas is formed between the argon gas knife 11 and the inner wall of the pipe 13. The electrode wire 12 may also be disposed through the tube 13, and its distal end is connected to the argon knife 11. Illustratively, the proximal end of the tubing 13, the proximal end of the electrode wire 12, may be led out to the drive device 170.

By forming the argon gas knife 11 in the pipe 13, the sectional area of the argon gas passage at the distal end of the pipe 13 can be reduced to some extent, so that the injection speed of the argon gas is improved. The electrode wire 12 is formed in the pipe 13, so that the internal space can be fully utilized, and the electrode wire and the driving wire in the long shaft 160 can be prevented from being wound.

Fig. 7A and 7B are schematic cross-sectional views of two different orientations of an end effector, respectively. As shown in fig. 7A and 7B, in one embodiment, the argon gas knife 11 is in a sheet shape and is inserted in the middle of the cross section of the pipe 13, and the argon gas led to the end of the pipe 13 can be ejected from the gap between the surfaces of the two sides of the argon gas knife 11 and the inner wall of the pipe 13.

In order to achieve reliable connection and fixation of the argon gas knife 11 and the electrode wire 12, in one embodiment, a first through hole 11A is formed in the argon gas knife 11, the distal end of the electrode wire 12 is bent to form a hook portion 12A, and the hook portion 12A is inserted into and fixed in the first through hole 11A. Optionally, the hook portion 12A inserted into the first through hole 11A can be further fixed by welding, so that the fixing effect is improved, and the electrode wire 12 and the argon gas knife 11 are prevented from being accidentally disconnected in the use process.

To facilitate integration of the argon knife 11, electrode wire 12, tubing 13, etc., the surgical instrument, in one embodiment, further includes a housing 14. The housing 14 is provided with a second through hole 14A penetrating the length direction thereof, the distal end of the pipe 13 is accommodated in the second through hole 14A, and the argon gas knife 11 is retracted into the housing 14 to be accommodated therein. The distal end of the argon knife 11 is further spaced from the distal end of the housing 14 such that the argon knife 11 does not directly contact human tissue in any event.

During surgery, the housing 14 should be held at around 10mm with the tissue, the greater the voltage generated by the electrodes, the greater the argon ion concentration. For example, the housing 14 may be made of ceramic to ensure high temperature resistance and insulation, and to absorb heat generated during the electrocoagulation to some extent, for example, the housing 14 may be made of alumina ceramic, silicon nitride ceramic, or the like. In other embodiments, the housing 14 may be made of Polytetrafluoroethylene (PTFE), polyetheretherketone (PEEK), or the like. In one embodiment, the distal surface of housing 14 is arcuate, i.e., configured as a spherical or ellipsoidal surface, such that the end effector 150 ends in a smooth surface that is difficult to damage tissue even if accidentally contacted by human tissue.

In one embodiment, the inner wall of the second through hole 14A is provided with an annular step portion 14B, and accordingly, the argon gas knife 11 includes a convex portion 11B provided at the distal end thereof, and the distal end portion of the pipe 13 abuts the convex portion 11B against the step portion 14B. Illustratively, the distal end of the tube 13 is comparable to the diameter of the second through hole 14A, i.e. the diameter of the distal end of the tube 13 is slightly smaller than the diameter of the second through hole 14A, along which second through hole 14A the tube 13 can be slid in for assembly. In one embodiment, the protruding portion 11B cooperates with the step portion 14B, so that the installation and limitation of the argon gas knife 11 in the housing 14 can be realized, the length of the proximal end of the argon gas knife 11 extending into the pipeline 13 can be limited, excessive insertion is prevented, and the length of the argon gas knife 11 extending out of the pipeline 13 is ensured. In addition, the part of the argon gas knife 11 positioned in the pipeline 13 can be in tight fit with the inner wall of the pipeline 13, and the shaking of the argon gas knife 11 can be avoided to a certain extent, so that the influence on the coagulation effect in the operation process is avoided.

The argon gas sword 11 is installed in the distal end of pipeline 13, and in the assembly process, when inserting the pipeline 13 of dress argon gas sword 11 along the second through-hole 14A of casing 14, the convex part 11B of argon gas sword 11 can the butt at step 14B for pipeline 13 can't go deep yet, at this moment, only need with pipeline 13 and casing 14 utilize the binder to bond together, can realize the fixed of argon gas sword 11 in casing 14. Illustratively, the diameter of the second through-hole 14A at the distal end portion of the stepped portion 14B is smaller than the diameter of the proximal end thereof and smaller than the outer diameter of the tube 13, so that the second through-hole 14A forms a stepped hole and the ejection speed of the argon ion beam at the distal end of the tube 13 can also be increased. In other embodiments, an annular protrusion may be provided on the inner wall of the second through hole 14A, and the step portion 14B may be formed on the surface of the annular protrusion, and the annular protrusion may limit the further penetration of the pipe 13.

In this embodiment, the argon gas knife 11 is in a sheet shape, and the two convex portions 11B are symmetrically provided on both sides of the argon gas knife 11 in the width direction. It will be appreciated that in other embodiments, the argon gas knife 11 may not be in a sheet shape, for example, the argon gas knife 11 may be made into a column shape, and an argon gas channel is formed between the outer wall of the argon gas knife 11 and the pipe 13, or the argon gas knife 11 is internally hollowed out, and the internal hollowed-out structure of the argon gas knife 11 may provide a channel for passing argon gas. In addition, the number of the convex portions 11B of the argon gas knife 11 may be larger.

Illustratively, the distal end of the argon knife 11 is tapered, the tapered end facilitating guiding the argon knife 11 into alignment with the second through bore 14A of the housing 14, facilitating entry of the argon knife 11 into the housing 14. After the argon gas knife 11 is clamped between the distal end of the pipe 13 and the step portion 14B of the housing 14 by the convex portion 11B thereof, the tapered end portion of the argon gas knife 11 may also partially enter the portion of the second through hole 14A located at the distal end of the step portion 14B, and the tapered end portion does not protrude outside the housing 14.

In addition, a hollow-out limiting frame can be further disposed between the electrode wire 12 and the pipe 13, and the limiting frame wraps the electrode wire 12 and is fixed relative to the inner wall of the pipe 13, for example, the limiting frame can be an elastomer, such as silica gel or resin. The limiting frame fixes a part of the electrode wire 12 to the inner wall of the pipeline 13, so that the electrode wire 12 can be prevented from being accidentally pulled to influence the electrical connection characteristic of the argon gas knife 11.

In one embodiment, the surgical instrument includes a flexible long shaft 160, the long shaft 160 being connected between a drive 170 and the end effector 150. As shown in fig. 6 and 7A, a stopper 1611 is provided on the outer peripheral surface of one of the distal end portion 161 of the long shaft 160 and the proximal end of the housing 14, and a plurality of arcuate stopper bars 141 are provided on the inner surface of the other of the two, which are circumferentially spaced apart, and the long shaft 160 and the housing 14 are axially connected by the snap fit between the stopper 1611 and the stopper bars 141. In some embodiments, after the stopper 1611 is clamped with the limiting bar 141, the distal end portion 161 of the long shaft 160 may be further glued to fix the housing 14, and the clamping of the stopper 1611 and the limiting bar 141 only plays a pre-installation role.

As shown in fig. 6, the limit bars 141 are formed on the inner surface of the housing 14, the limit block 1611 is formed on the outer circumferential surface of the distal end portion 161 of the long shaft 160, a gap into which the limit block 1611 can be inserted is formed between two adjacent limit bars 141, when the distal end portion 161 of the long shaft 160 is mounted into the housing 14, the limit block 1611 is inserted along the gap between the two limit bars 141, and then the housing 14 is rotated relative to the long shaft 160, so that the limit block 1611 and the gap are dislocated, and the limit block 1611 is clamped on the surface of the distal end of the limit bar 141, thereby preventing the distal end portion 161 of the long shaft 160 from falling off in the axial direction.

In one embodiment, the long shaft 160 comprises a plurality of joints hinged in sequence, and the distal end portion 161 is the most distal joint of the long shaft 160, so that each joint of the long shaft 160 can rotate correspondingly under the driving of the driving device 170, and the position and the posture of the argon gas knife 11 can change correspondingly.

In one embodiment, as shown in fig. 8, the driving device 170 includes two driving discs 171 and two sets of driving wires 172, each set of driving wires 172 includes two driving wires, and each set of driving wires 172 connects the end effector 150 with one driving disc 171, so that the end effector 150 can be driven by the driving disc 171 to move along one degree of freedom.

For example, the distal ends of each set of drive wires 172 are respectively fixed at two ends of the end effector 150 in the radial direction, the proximal ends are wound around the surface of one driving disc 171, and the distal ends of the two sets of drive wires 172 are located in different radial directions. When the surgical instrument is mounted to the robotic arm and coupled to the corresponding actuator, the different drive discs 171 are rotated by the different actuators, thereby driving the end effector 150 to yaw in two different degrees of freedom.

While this embodiment shows a single drive plate driving a set of drive wires in one degree of freedom, it will be appreciated that in some embodiments, each drive plate may independently drive a single drive wire; alternatively, one set of drive wires is driven by one drive disk and a portion of the drive wires is driven by a separate drive disk. In addition, the drive wires may not be limited to two sets, but may be more so as to drive the end effector with more degrees of freedom of movement.

Illustratively, the distal-most joint of the long shaft 160 (i.e., the distal portion 161) has a central aperture 1612 and a plurality of edge apertures 1613 located about the periphery of the central aperture 1612, the central aperture 1612 being configured to receive the tubing 13 therethrough, the edge apertures 1613 being configured to receive the drive wires 172 therethrough, and the drive wires 172 being secured to the distal portion 161 by welding, knotting, or the like after passing through the edge apertures 1613.

In one embodiment, as shown in fig. 7A, the distal end portion 161 may further have a flange 1614 protruding from the edge hole 1613, and the flange 1614 protrudes from the end surface of the edge hole 1613, so that when the long shaft 160 is assembled with the housing 14, the distal end of the driving wire 172 may be accommodated in the space enclosed by the flange 1614, the housing 14 and the pipe 13.

In conjunction with fig. 8 and 9, the present application also provides a surgical system including a high frequency generator 300, a neutral electrode 301 and a surgical instrument 120, wherein an argon gas source 400 may be part of the surgical system or an external surgical system for providing argon gas at a suitable pressure to the surgical instrument 120, and the high frequency generator 300 includes a monopolar electrode receptacle and a neutral electrode receptacle, which are connected to the electrode wire 12 and the neutral electrode 301, respectively. In the surgical procedure, the high frequency generator 300 outputs a high frequency current of a certain waveform, which is applied to human tissue through the argon gas knife 11, coagulation treatment is performed on the tissue, and then returns to the high frequency generator 300 through the neutral electrode 301 attached to the human body, thereby forming a loop.

In one embodiment, the driving device 170 is provided with a first interface 170A and a second interface 170B which are respectively communicated with the proximal end of the pipeline 13 and the proximal end of the electrode wire 12, the first interface 170A and the second interface 170B are respectively configured to be externally connected with the argon gas source 400 and the high-frequency generator 300, and the joint of the argon gas source 400 and the monopolar electrode socket joint of the high-frequency generator 300 can be plugged into the corresponding interfaces of the driving device 170 to complete preparation before operation.

The foregoing is merely exemplary of the application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the application and are intended to be comprehended within the scope of the application.

Claims

1. A surgical instrument, comprising:

2. A surgical instrument as recited in claim 1, wherein the tube is sleeved on a proximal end of the argon knife, and wherein a passage for flow of argon is formed between the argon knife and an inner wall of the tube.

3. A surgical instrument as recited in claim 2, wherein the electrode wire is threaded into the tube and has a distal end connected to the argon knife.

4. A surgical instrument according to claim 3, wherein the argon gas knife is provided with a first through hole, and the distal end of the electrode wire is bent to form a hook portion, and the hook portion is inserted into and fixed in the first through hole.

5. A surgical instrument as recited in claim 1, further comprising a housing having a second through hole formed therethrough in a length direction thereof, the distal end of the tube being received in the second through hole and the argon knife being received in the housing.

6. The surgical instrument of claim 5, wherein an inner wall of the second through hole is provided with an annular step, and the argon gas knife comprises a convex portion provided at a distal end thereof; the distal end of the tube abuts the protrusion against the step, and/or the portion of the argon gas knife located at the proximal end of the protrusion is in tension fit with the inner wall of the tube.

7. A surgical instrument according to claim 6, wherein the argon gas knife is in a sheet shape, and the two convex portions are symmetrically provided on both sides in a width direction of the argon gas knife.

8. A surgical instrument as recited in claim 5, wherein the distal surface of the housing is arcuate.

9. The surgical instrument of claim 5, further comprising a flexible long shaft connected between the drive device and the end effector; the long shaft and the shell are axially connected through clamping and matching of the limiting block and the limiting strip.

10. The surgical instrument of claim 1, wherein the drive means comprises a plurality of drive disks and two sets of drive wires connecting the end effector to the respective drive disks, distal ends of the two sets of drive wires being respectively fixed in different radial directions of the end effector to drive the end effector to yaw in two different degrees of freedom.

11. A surgical instrument according to claim 1, wherein the drive device is provided with a first interface and a second interface respectively communicating the proximal end of the tube and the proximal end of the electrode wire, the first interface and the second interface being respectively configured to be externally connected to an argon gas source and a high frequency generator.

12. A surgical robot comprising a master operation console and a slave operation device, the slave operation device comprising the surgical instrument according to any one of claims 1 to 11, the surgical instrument performing a corresponding operation according to an instruction of the master operation console.

13. A surgical system comprising a high frequency generator, a neutral electrode, and the surgical instrument of any one of claims 1-11, the high frequency generator monopolar electrode receptacle and the neutral electrode receptacle being connected to the electrode wire and the neutral electrode, respectively.