WO2022127007A1 - 手术器械、从操作设备及手术机器人 - Google Patents

手术器械、从操作设备及手术机器人 Download PDF

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Publication number
WO2022127007A1
WO2022127007A1 PCT/CN2021/092655 CN2021092655W WO2022127007A1 WO 2022127007 A1 WO2022127007 A1 WO 2022127007A1 CN 2021092655 W CN2021092655 W CN 2021092655W WO 2022127007 A1 WO2022127007 A1 WO 2022127007A1
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WO
WIPO (PCT)
Prior art keywords
tensioning
cable
guide
push rod
block
Prior art date
Application number
PCT/CN2021/092655
Other languages
English (en)
French (fr)
Inventor
王建辰
高元倩
Original Assignee
深圳市精锋医疗科技有限公司
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Publication of WO2022127007A1 publication Critical patent/WO2022127007A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Definitions

  • the present invention relates to the field of medical instruments, in particular to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • the minimally invasive surgical robot usually includes a master operation console and a slave operation device.
  • the master operation console is used to send control commands to the slave operation device according to the operation of the doctor to control the slave operation device, and the slave operation device is used to respond to the transmission of the master operation console. control commands and perform corresponding surgical operations.
  • a surgical instrument that can be detached from the operating device is connected to the operating device.
  • the surgical instrument includes a driving device and a terminal instrument for performing surgery, and a long shaft for connecting the terminal instrument and the driving device, and the driving device is used for the operation.
  • the instrument is connected to the slave operating device and receives a driving force from the slave operating device to drive the movement of the end device, the drive device is connected to the end device through a cable, and the drive device manipulates the movement of the end device through the cable.
  • the driving device includes a plurality of driving units, the plurality of driving units are engaged with a plurality of actuators on the slave operating device, the proximal end of the cable is wound around the driving unit, and the distal end of the cable is connected with the end instrument to drive
  • the unit drives the movement of the end instrument through the cable.
  • the existing tensioning device has the problem of large volume, which increases the volume of the entire surgical instrument. It becomes inconvenient to operate and use surgical instruments.
  • the present invention provides a surgical instrument, comprising a driving device, an end instrument and a plurality of cables, the plurality of cables are connected between the driving device and the end instrument, and the driving device include:
  • the base includes a base body and a mounting portion on the base body;
  • the plurality of drive units are mounted in the mounting portion, the plurality of drive units drive the end instrument to move through the plurality of cables;
  • a guide assembly the guide assembly is installed in the middle area of the installation portion, the guide assembly includes a housing, a holding mechanism and a plurality of tensioning mechanisms, the holding mechanism and the plurality of tensioning mechanisms are installed on the In the housing, the holding mechanism is located in the middle of the plurality of tensioning mechanisms and the plurality of driving units, and the plurality of cables are extended to the plurality of tensioning mechanisms after being guided by the holding mechanism, so The plurality of tensioning mechanisms are used to tension the plurality of cables.
  • the guide assembly further includes a first guide mechanism, the first guide mechanism is installed in the middle area of the housing, and the plurality of cables are converged into a cable bundle after being guided by the first guide mechanism extend to the end device.
  • the housing includes a first housing and a second housing mounted within the first housing, the retaining mechanism is mounted on the first housing, and the plurality of tensioning mechanisms are mounted on between the first casing and the second casing.
  • the first housing comprises a first body, a side wall and a top, the side wall extends from the first body, and an end of the side wall away from the first body is connected to the top,
  • the retaining mechanism is mounted on the side wall.
  • the second housing includes a second body and a central column extending from the second body, the central column is installed in the cavity formed by the side wall and the top, the plurality of A tensioning mechanism is mounted between the central column and the side wall of the first housing.
  • the top portion and the top end of the central column are provided with a plurality of wire holes, and the plurality of cables are guided by the first guiding mechanism and then pass through the plurality of wire holes and converge into the cable bundle.
  • the first guide mechanism includes a plurality of first pulley groups for guiding the plurality of cables, the first pulley group at the proximal end of the guide mechanism is installed on the top, and the distal end of the guide mechanism is installed on the top.
  • a first pulley block at the end is mounted within the center column.
  • the surgical instrument further includes a second guide mechanism, the second guide mechanism is located at the proximal end or the distal end of the first guide mechanism, and the cable bundle is located between the first guide mechanism and the second guide mechanism.
  • the drive device further comprises a third guide mechanism located at the edge of the drive device, the cable harness has a second segment of the cable harness between the second guide mechanism and the third guide mechanism, the cable harness The second length of cable bundle is substantially perpendicular to the first length of cable bundle.
  • the plurality of tensioning mechanisms include at least one first tensioning mechanism, and the first tensioning mechanism includes:
  • the first tensioning member includes a first tensioning block and a first push rod, and the first push rod and the first tensioning block are connected by threads;
  • the end of the first push rod abuts the resisting part
  • the first tensioning block has a first guide part for guiding the cable
  • the first guide part is located on the cable and the blocking portion
  • the blocking portion is used to prevent the first push rod from moving in a direction close to the blocking portion when the first push rod drives the tensioning block to move, so that the The first push rod drives the first tensioning block to move in a first direction away from the resisting portion so as to tension the cable guided by the first guiding portion.
  • the first tensioning mechanism further includes a second tensioning member
  • the second tensioning member of the tensioning member includes a second tensioning block and a second push rod
  • the second push rod is used for driving
  • the second tension block moves along the first direction to tension the cable guided by the second tension block, and the first push rod and the second push rod are located in the second tension block.
  • the resisting portion is arranged between the first push rod and the second push rod.
  • the first tensioning mechanism further includes a third tensioning member
  • the third tensioning member includes a third tensioning block and a third push rod
  • the third push rod and the third tensioning member The blocks are connected by threads
  • the third push rod is used to drive the third tension block to move along the first direction to tension the cable guided by the third tension block
  • the third push rod The end of the abutting part is in contact with the resisting part, so that the resisting part prevents the third push rod from moving in the opposite direction to the first direction when the third tensioning block is driven to move in the first direction. Move in the second direction.
  • the blocking portion includes a baffle plate extending from the side wall and/or the side surface of the central column, the baffle plate being arranged between the first tension block and the second tension block , the end of the second push rod abuts against the baffle.
  • the inner side of the side wall has a groove
  • the outer side of the central column has a center groove corresponding to the groove
  • the first tension block, and/or the second tension block and/or
  • the side surface of the third tensioning block has guide protrusions, and the guiding protrusions are accommodated in the groove and the central groove for guiding the first tensioning block and/or the first tensioning block and/or the first tensioning block. Movement of the two tensioning blocks, and/or the third tensioning block.
  • the first groove extends through the tensioning opening to the distal end of the base body.
  • the top has a plurality of tensioning holes
  • the bottom of the base body has tensioning openings
  • the first push rod passes through the tensioning holes and abuts against the first tensioning block, so The second push rod is connected to the second tension block through the tension port.
  • the central column further has grooves for guiding cables on both sides of the central groove.
  • the plurality of tensioning mechanisms further include at least one second tensioning mechanism, the second tensioning mechanism includes a fourth tensioning block and a fourth push rod, and the fourth tensioning block is one of the plurality of tensioning blocks. Two of the cables are guided, and the fourth push rod is used to drive the fourth tension block to move in the first direction to tension the two cables.
  • a slave operation device includes a mechanical arm and the surgical instrument, the surgical instrument is mounted on the mechanical arm, and the mechanical arm is used for manipulating the movement of the surgical instrument.
  • a surgical robot includes a master operation device and the slave operation device, and the slave operation device performs corresponding operations according to the instructions of the master operation device.
  • the tensioning device and the guiding mechanism for guiding the cables are arranged on a guiding component, and the guiding component is arranged at the center of the driving device as a whole, so that a plurality of cables enter the guiding device. After the assembly, it is tensioned by the tensioning device and then guided to form a wire harness.
  • the tensioning device and the guiding components are integrated into a guiding assembly, which makes the structure of the entire driving device more compact and makes the assembly of the entire driving device more convenient. .
  • FIG. 1 is a schematic structural diagram of a main operation console of a surgical robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a slave operating device of a surgical robot according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a surgical instrument according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a surgical instrument according to an embodiment of the present invention.
  • FIG. 5 is a top view of a driving device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a state in which the long axes of a plurality of surgical instruments are close together according to an embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a surgical instrument according to another embodiment of the present invention.
  • FIG. 8 is a top view of the cable routing of the drive device according to an embodiment of the present invention.
  • FIG. 9 is a top view of the cable routing of the drive device according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a first guide mechanism and a second guide mechanism of a driving device according to an embodiment of the present invention
  • FIG. 11 and 12 are schematic diagrams of cable wiring of the surgical instrument according to the embodiment shown in FIG. 3 of the present invention.
  • FIG. 13A is a top view of the cable routing of the embodiment shown in FIG. 11;
  • FIG. 13B is a schematic diagram of the distribution of a plurality of contact points between the cable and the second guide mechanism according to the embodiment shown in FIG. 13A of the present invention
  • 14A to 14D are schematic diagrams illustrating other distributions of a plurality of contact points between the cable and the second guide mechanism according to an embodiment of the present invention.
  • FIG. 15 is a side view of cable routing according to an embodiment of the present invention.
  • Fig. 16 is a schematic diagram of the wiring of the cable at the fourth guide mechanism of the embodiment shown in Fig. 15;
  • Fig. 17 is a perspective view of the fourth guide mechanism in the embodiment shown in Fig. 15;
  • FIG. 18 is a schematic view of the cable passing through the fourth guiding mechanism in the embodiment shown in FIG. 15;
  • 19A-19D are schematic diagrams of the fourth guiding mechanism in some other embodiments of the present invention.
  • FIG. 20 is a schematic diagram of a state in which the first tensioning mechanism is connected to a cable according to an embodiment of the present invention
  • FIG. 21 is a perspective view of a first tensioning mechanism according to an embodiment of the present invention.
  • Figure 22 is an exploded view of the first tensioning mechanism of the embodiment shown in Figure 21;
  • FIG. 23 is a schematic diagram of a first tensioning mechanism according to another embodiment of the present invention.
  • 24A-24C are schematic diagrams of the process of straightening the wrist by the first tensioning mechanism according to an embodiment of the present invention.
  • 25 is a schematic diagram of a second tensioning mechanism according to an embodiment of the present invention.
  • FIG. 26 is a schematic diagram of the installation of a drive device base and a guide assembly according to an embodiment of the present invention.
  • FIG. 27 is an exploded view of a guide assembly according to an embodiment of the present invention.
  • Figure 28 is a bottom view of the first housing of the guide assembly of the embodiment shown in Figure 26;
  • FIG. 29 is a bottom view of the stand of the embodiment shown in FIG. 26 .
  • a minimally invasive surgical robot generally includes a slave operation device and a master operation console.
  • FIG. 1 shows a master operation console 100 according to an embodiment of the present invention
  • FIG. 2 shows a slave operation device 200 according to an embodiment of the invention.
  • the relevant control operations on the slave operation device 200 are performed on the master operation console 100, and the slave operation device 200 performs a surgical operation on the human body according to the input instructions of the master operation console 100.
  • the master operation console 100 and the slave operation device 200 can be set In one operating room, it can also be placed in different rooms, and even the master operation console 100 and the slave operation device 200 can be far apart.
  • the master operation console 100 and the slave operation device 200 are located in different cities, and the master operation console 100 and the slave operation device 200 can transmit data in a wired manner or wirelessly.
  • the master operation console 100 and the slave operation equipment 200 are located in an operating room, and the two are in a wired manner.
  • data transmission another example is that the master operation console 100 and the slave operation device 200 are in different cities, and long-distance data transmission is performed between the two through 5G wireless signals.
  • the slave operating device 200 includes a robotic arm 210 and an actuating device 220 disposed at the distal end of the robotic arm 210.
  • the surgical instrument 300 for performing a surgical operation is connected to the actuating device 220, and the actuating device 220 passes through a plurality of actuating devices inside it.
  • the actuator drives the movement of the surgical instrument.
  • a plurality of surgical instruments 300 can be connected to one actuating device 220, and the distal ends of the plurality of surgical instruments 300 enter the human body through an incision, thereby reducing the number of surgical incisions and making postoperative recovery faster.
  • the surgical instrument 300 includes a driving device 310 , a long shaft 320 and an end instrument located at the distal end of the long shaft 320 .
  • the end instrument includes a wrist 330 and/or an end effector instrument 340
  • the driving device 310 is engaged with the actuating device 220 through the joint part 390
  • a plurality of driving units inside the driving device 310 are connected to the wrist 330 and the end effector 340 by a plurality of cables, and the driving units operate the plurality of cables to thereby
  • the cable can be flexible, and can also include flexible segments and rigid segmented strips
  • the end effector 340 can be electrocautery, scissors, clamps, imaging device etc.
  • the distal end of the long axis is only connected to the wrist, and the movement of the wrist performs the action of pressing or lifting the tissue.
  • the driving device 410 of the surgical instrument 400 has a plurality of driving units 411 , 421 , 431 , 441 , 451 , and 461 , and a plurality of driving units 411 , 421 , 431 , 441 , 451, 461 are surrounded by a polygon, each of the plurality of driving units 411, 421, 431, 441, 451, 461 is located on the vertex of the polygon, and the plurality of driving units in this embodiment is six , so that the plurality of driving units 411 , 421 , 431 , 441 , and 451 are respectively located on the vertices of the hexagon.
  • the number of the driving units may also be other numbers, such as five, seven and so on.
  • the proximal ends of the plurality of cables 412, 422, 432, 442, 452 are respectively wound around the plurality of driving units 411, 421, 431, 441, 451, and the distal ends of the plurality of cables 412, 422, 432, 442, 452
  • the plurality of drive units 411, 421, 431, 441, 451 are rotated about their axes to draw or release the plurality of cables 412, 422, 432 , 442 , 452 to drive movement of wrist 430 and end effector 440 .
  • the plurality of cables 412 , 422 , 432 , 442 and 452 extend into the long shaft 420 after being guided by a plurality of guiding mechanisms in the driving device 410 .
  • the plurality of guiding mechanisms include a first guiding mechanism 471 , a second guiding mechanism 472 and The third guide mechanism 473, the first guide mechanism 471 is located in the polygonal middle area enclosed by the plurality of driving units 411, 421, 431, 441, 451, and the second guide mechanism 472 is located closer to the driving device 410 than the first guide mechanism 471.
  • the third guide mechanism 473 is located at the proximal end of the long shaft 420 .
  • One end of the cable 462 is wound around the driving unit 461, and the other end of the cable 462 is wound around the proximal end of the long shaft 420.
  • the driving unit 461 rotates around its rotation axis to pull or release the cable 462 to drive the long shaft 420 around the long shaft 420.
  • Shaft 420 rotates.
  • the second guide mechanism 472 may be located closer to the distal end of the drive device 410 than the first guide mechanism 471 .
  • a plurality of cables 412, 422, 432, 442, 452 are guided by the first guiding mechanism 471 and then converge into a cable bundle and extend the end instrument in the form of a cable bundle.
  • the cable bundle includes a first cable bundle Z1 and a second cable bundle Z1. Harness Z2 and the third cable harness Z3.
  • the first cable bundle Z1 extends along the first direction to the second guide mechanism 472 and is guided by the second guide mechanism 472 to form a second cable bundle Z2, which is substantially non-parallel to the first direction.
  • the second direction extends to the third guide mechanism 473 and is guided by the third guide mechanism 473 to form a third cable bundle Z3 , and the third cable bundle Z3 extends through the long axis 420 to the wrist 430 and the end effector 440 .
  • the first guide mechanism 471 is located in the middle of the polygonal shape of the plurality of driving units 411, 421, 431, 441, 451, and the plurality of cables 412, 422, 432, 442, 452 extend from the circumference of the polygon to the middle of the polygon.
  • the first guide mechanism 471 is then guided by the first guide mechanism 471 and then converges to form the first segment of the cable bundle Z1.
  • the plurality of cables 412, 422, 432, 442, 452 form a plurality of first cable segments 4121, 4221, 4321 between the plurality of driving units 411, 421, 431, 441, 451 and the first guide mechanism 471 , 4421, 4521, the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are projected onto the projection plane S1 perpendicular to the rotational axis of any one of the plurality of drive units 411, 421, 431, 441, 451 The projected line segments do not intersect.
  • the plurality of projection line segments 4121a, 4221a, 4321a, 4421a, 4521a of the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521 on the projection plane S1 do not intersect, and the plurality of first cable segments
  • the center of the vertices is used as the vertex, and the edges of multiple first included angles x1, x2, x3, x4, x5 pass through multiple projected line segments 4121a, 4221a, 4321a, 4421a, 4521a, multiple first included angles x1, x2, x3, x4 , x5 refers to the smaller included angle formed by two adjacent projected line segments in the projected line segments 4121a, 4221a,
  • the first guide mechanism 471 Since the first guide mechanism 471 is located in the middle of the plurality of driving units 411, 421, 431, 441, and 451, the sum of the plurality of first included angles x1, x2, x3, x4, and x5 is equal to 360°, so that the plurality of Each of the first included angles x1, x2, x3, x4, and x5 is as large as possible, so that there is more space for wiring between the multiple cables 412, 422, 432, 442, 452, avoiding Mutual interference occurs between the plurality of cables 412, 422, 432, 442, 452.
  • the first section of the cable bundle Z1 is located between the first guide mechanism 471 and the second guide mechanism 472 , and the first section of the cable bundle Z1 includes the length directions of the plurality of cables 412 , 422 , 432 , 442 , 452
  • a plurality of second cable segments 4122, 4222, 4322, 4422, 4522 that are substantially identical, and a plurality of second cable segments 4122, 4222, 4322, 4422, 4522 are substantially parallel to each other and are closely spaced so that the second cable segment
  • the space occupied by the wire harness Z1 is as small as possible, so as to make full use of the space in the driving device 410 to arrange other mechanisms, such as a cable tensioning mechanism.
  • the multiple second cable segments in the second segment cable bundle Z1 may not all be parallel, but the directions of the multiple second cable segments need to be substantially consistent.
  • the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are in a state of divergent from the first guide mechanism 471 to the plurality of driving units 411, 421, 431, 441, 451, so the plurality of first cable segments 4121, 4221 , 4321 , 4421 , and 4521 occupy the first space in the horizontal direction at the distal end of the driving device 470 .
  • the direction of the first cable bundle Z1 is perpendicular to the direction of any one of the first cable segments 4121, 4221, 4321, 4421, 4521, and the second guide mechanism 472 is located at the proximal end of the first guide mechanism 471, Therefore, the first section of the cable harness Z1 located between the first guide mechanism 471 and the second guide mechanism 472 occupies the second space in the vertical direction located in the middle area of the driving device 470 , and the first space is basically the same as the second space. It is perpendicular and only intersects at the first guide mechanism 471, but the first space and the second space do not overlap, so the first cable bundle Z1 does not affect the plurality of first cable segments 4121, 4221, 4321, 4421, 4521.
  • the wiring also does not interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, 4521.
  • the first cable bundle Z1 may not be perpendicular to the plurality of first cable segments 4121 , 4221 , 4321 , 4421 , 4521 , or the cable segments in the first cable bundle Z1 may not be perpendicular to the plurality of first cable segments.
  • the cable segments 4121, 4221, 4321, 4421, and 4521 are perpendicular, so that the second space where the first cable bundle Z1 is located has a certain angle with the first spaces where the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521 are located.
  • the first cable bundle Z1 will still not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, 4521, nor will it be connected with the multiple first cable segments 4121, 4221, 4321, 4421, 4521 interfere.
  • the second cable bundle Z2 is located between the second guide mechanism 472 and the third guide mechanism 473, the second cable bundle Z2 includes a plurality of third cable segments 4123 of the plurality of cables 412, 422, 432, 442, 452, 4223, 4323, 4423, 4523, and the plurality of third cable segments 4123, 4223, 4323, 4423, 4523 have approximately the same direction and are spaced close together, so that the third space occupied by the second cable bundle Z2 is also as little as possible, In some other embodiments, at least two or more cable segments are parallel to each other among the plurality of third cable segments of the second cable bundle Z2, so that the second cable bundle Z2 occupies less third space.
  • the second cable bundle Z2 extends toward the position where the proximal end of the long axis 420 is located, and the direction (first direction) of the first cable bundle Z1 is substantially perpendicular to the direction (second direction) of the second cable bundle Z2.
  • the two guiding mechanisms 472 isolate the second cable harness Z2 and the plurality of first cable segments 4121 , 4221 , 4321 , 4421 , 4521 on different horizontal planes in the driving device 410 respectively, that is, the second cable harness Z2 is located in the driving device 410, and the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located at the distal end of the driving device 410, so the third space where the second cable bundle Z2 is located will not be connected to the plurality of first cable segments 4121.
  • the second cable bundle Z2 may not be perpendicular to the first cable bundle Z1, because the third guide mechanism 473 is not located where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located In the first space, even if the second cable bundle Z2 is not perpendicular to the first cable bundle Z1, the third space where the second cable bundle Z2 is located will still not be perpendicular to the plurality of first cable segments 4121, 4221, 4321 , the first spaces of 4421, 4521 overlap, the second wire harness Z2 will not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, 4521, and the third space where the second cable bundle Z2 is located will not It overlaps in the second space where the first segment of the cable bundle Z1 is located, so the second segment of the cable bundle Z2 will not affect the wiring of the first segment of the cable bundle Z1.
  • the first guide mechanism 471 includes a plurality of first pulleys 413, 423, 433, 443, 453
  • the second guide mechanism 472 includes a plurality of second pulleys 414, 424, 234, 444, 454, and a plurality of first pulleys 413, 423 , 433, 443, 453 and each of the plurality of second pulleys 414, 424, 234, 444, 454 includes an axle and a guide for guiding the plurality of cables 412, 422, 432, 442, 452
  • the guide portion is rotatably installed on the axle, and in other embodiments, the guide portion of the pulley and the axle can also be fixedly connected, so that the guide portion of the pulley and the axle rotate together.
  • the wheel axis of the plurality of first pulleys 413, 423, 433, 443, 453 is substantially perpendicular to the rotation axis of any one of the plurality of driving units 411, 421, 431, 441, 451, and the length of the first cable harness Z1
  • the direction is the same or approximately the same as the rotation axis of the plurality of driving units 411, 421, 431, 441, and 451.
  • the proximal or distal direction of the 410 adjusts the position of the first guide mechanism 471 on the drive device 410, without routing the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 and the orientation of the first cable bundle Z1 Therefore, the height of the first guide mechanism 471 can be adjusted according to different cable wiring requirements or layout requirements of various components of the driving device 410 .
  • the first cable 412 is guided by the first pulley 413 of the first guide mechanism 471 and then extends to the second guide mechanism 472 , the axle of the first pulley 413 and the rotation axis of the driving unit 411 D1 is vertical, the first cable 412 enters the groove along the tangential direction of the groove on the guide portion of the pulley 413 for accommodating the first cable 412, so that the height of the first pulley 413 in the driving device 410 can be adjusted no matter what , the first cable 412 can enter or leave the groove along the tangent of the groove of the first pulley 413 , so that adjusting the height of the first pulley 413 will not affect the first cable 412 entering the groove of the first pulley 413 The direction of the groove will not affect the efficiency of the transmission driving force of the first cable 412, so that the height of the first pulley 413 can be adjusted, that is, the height of the first guide mechanism 471 can be adjusted.
  • the axles of the plurality of second pulleys 414, 424, 234, 444, 454 are also substantially perpendicular to the rotation axis of any one of the plurality of driving units 411, 421, 431, 441, 451, so the second guide mechanism is adjusted 472 and/or the height of the tensioning mechanism, will not affect the efficiency of the transmission of driving force of the first cable harness Z1 and the second cable harness Z3.
  • the first cable 412 as an example, the first cable 412 extends to the third guide mechanism 473 after being guided by the second pulley 414 of the second guide mechanism 472 .
  • D1 is vertical, no matter how the height of the pulley 414 is adjusted at the driving device 410 , the second cable segment 4122 and the third cable segment 4123 of the first cable 412 can enter along the tangential direction of the groove on the guide portion of the second pulley 412 Or leave the groove of the second pulley 414, so that the height of the second guide mechanism 472 in the driving device 410 can be adjusted like the first guide mechanism 471.
  • the proximal end of the long shaft 420 is located at the edge of the housing 410a of the drive device 410 (the so-called edge means near the periphery of the housing, that is, near the intersection of two or three sides of the housing), which can make the operation of multiple surgical instruments possible.
  • the long shafts 420 can be brought together, so that the distal ends of the plurality of long shafts 420 can be brought together to enter the human body from one incision, thereby reducing the number of surgical incisions.
  • FIG. 6 is a top view of a plurality of surgical instruments 300.
  • the long axes 320 of the surgical instruments 300 are located at the edges of the surgical instruments 300. Therefore, the surgical long axes 320 of the plurality of surgical instruments 300 can be close together, so that the long axes of the plurality of surgical instruments 300 can be close together.
  • the distal end instrument is introduced into the body through an incision.
  • the third cable bundle Z3 includes a plurality of third cable segments 4124, 4224, 4324, 4424, 4524 of a plurality of cables 412, 422, 432, 442, 452, third cable segments 4124, 4224 , 4324, 4424, 4524 are substantially parallel to each other, the third guide mechanism 473 is located at the edge of the surgical instrument 400, and the third guide mechanism 473 is located near the proximal end of the long axis 420.
  • the third guide mechanism 473 includes a plurality of third pulleys for guiding the plurality of cables 412 , 422 , 432 , 442 and 452 .
  • Each of the plurality of third cable segments 4124, 4224, 4324, 4424, 4524 of the segment cable bundle Z3 is brought closer to each other so that the third segment cable bundle Z3 can extend through the long axis 420 with less space to Wrist 430 and end effector 440.
  • the axles of the plurality of third pulleys are the same as the axles of the plurality of first pulleys, and the axles of the plurality of second pulleys are also driven by any of the plurality of driving units 411 , 421 , 431 , 441 , and 451
  • the rotation axis of the unit is vertical, therefore, the height of the third guide mechanism 473 in the driving device 410 can be adjusted like the first guide mechanism 471 and the second guide mechanism 472 .
  • the above-mentioned first guide mechanism 471, second guide mechanism 472 and third guide mechanism 473 are adjustable in height of the driving device 410, not only the first guide mechanism 471 or the second guide mechanism 472 or the third guide mechanism 473 as a whole It can be adjusted, or the height of a certain part of the first guide mechanism 471 or the second guide mechanism 472 or one of the third guide mechanism 473 in the driving device 410 can be adjusted.
  • the first guide mechanism 471 is used as a The height of the whole in the driving device 410 can be adjusted, which can be one of the plurality of first pulleys 413, 423, 433, 443, 453 of the first guide mechanism 471 or the height of the plurality of pulleys in the driving device 410 can be adjusted. .
  • the plurality of cables 412, 422, 432, 442, 452 can be adjusted.
  • the first cables 412 of the plurality of cables 412 , 422 , 432 , 442 and 452 are guided by the first pulley 413 of the first guide mechanism 471 and then extended to the second pulley 414 of the second guide mechanism 472 .
  • the third guide mechanism 473, the first cable 412 has a first cable segment 4121 between the drive unit 411 and the first pulley 413, a second cable segment 4122 between the first pulley 413 and the second pulley 423, There is a third cable segment 4223 between the second pulley 423 and the third guide mechanism 473, the first cable segment 4121 and the second cable segment 4122 are located on the first plane, and the second cable segment 4122 and the third cable segment 4123 are located on the second plane
  • the angle between the axle of the first pulley 413 and the axle of the second pulley 414 is an acute angle, that is, the axle of the pulley 413 and the axle of the pulley 414 are non-perpendicular and non-parallel to the first plane, so that the first plane and the second The planes intersect and do not overlap.
  • the first cable segment 4221 of the second cable 422 and the second cable segment 4222 of the second cable 422 of the plurality of cables 412, 422, 432, 442, 452 are located on the third plane
  • the second cable segment 4222 and the third cable segment 4223 of the second cable 422 are located on a fourth plane
  • the axis of the first pulley 423 for guiding the second cable 422 is substantially perpendicular to the axis of the second cable 422 for guiding the second cable 422.
  • the axis of the pulley 424 so that the third plane is substantially perpendicular to the fourth plane.
  • the first cable segment 4321 of the third cable 432 and the second cable segment 4322 of the third cable 422 of the plurality of cables 412, 422, 432, 442, 452 are located on the fifth plane
  • the second cable section 4322 and the third cable section 4323 of the second cable 432 are located on a sixth plane
  • the axle of the first pulley 433 for guiding the third cable 432 is substantially parallel to the second cable section for guiding the third cable 432.
  • the axle of the pulley 434 so that the fifth plane is substantially parallel to the sixth plane.
  • the plurality of cables 412, 422, 432, 442, 452 in the driving device 400 may all be wired as the first cable 412; or the plurality of cables 412, 422, 432, 442, 452 part of the cable is routed as the first cable 412, while other part of the cable is routed as part of the second cable 422 or as the third cable 432; or a plurality of cables 412, Parts of the cables 422 , 432 , 442 , and 452 are wired in the way of the second cable 422 , and other parts are wired in the way of the wiring of the third cable 432 .
  • the plurality of cables 412 , 422 , 432 , 442 , and 452 in the driving device 400 are wired in the above-mentioned wiring manner, at least one of the plurality of cables 412 , 422 , 432 , 442 , and 452 passes through the second guide mechanism 472 .
  • the planes are changed again, that is, the plane where at least one of the plurality of cables 412, 422, 432, 442, 452 is located on both sides of the first guiding mechanism 471 and the second guiding mechanism 472 of the cable is located on the plane.
  • the planes where the cable segments on the sides intersect do not overlap.
  • the plurality of cables 412, 422, 432, 442, 452 extend along the edge of the driving device 410 after being guided by the second guide mechanism 472 to form the second cable bundle Z2, and the plurality of cables 412, 422, 432 , 442 , 452 can enter the long shaft 472 from the edge of the driving device 472 after being guided by the second guiding mechanism 472 , so that the long shaft 420 can be set at the edge of the driving device 410 .
  • the second cable bundle Z2 enters the long shaft 420 at the edge of the driving device 410 after being guided by the third guiding mechanism 473 , and the axis of the long shaft 420 is perpendicular to the joint 490 , The proximal end of the actuating device 220 is thereby engaged with the engaging portion 490 of the driving device 410 .
  • the engagement portion 490 of the drive device 410 is located at the proximal end of the drive device 470 such that the distal end of the actuation device 220 engages the engagement portion 490 of the drive device 140 .
  • FIG. 7 A surgical instrument according to an embodiment of the present invention is shown in FIG. 7 , the proximal ends of the plurality of cables 512 , 522 , 532 , 542 , and 552 are fixed to the plurality of driving units 511 , 521 , 531 , 541 , and 551 .
  • the plurality of cables The distal ends of 512, 522, 532, 542, 552 are guided by the first guiding mechanism 571 and the second guiding mechanism 572 and extend to the edge of the driving device 410 in the form of a cable bundle, then directly enter the long axis 520 and finally extend to Compared with the embodiment shown in FIG.
  • the wrist 530 and the end device 540 only use two guiding mechanisms for guiding, and a smaller number of guiding mechanisms can The friction between the cable and the guiding mechanism is reduced, the driving force consumption of the cable transmission is less, and the transmission efficiency of the cable to the driving force is higher.
  • the joint portion 590 of the driving device 510 is parallel to the axis of the long shaft 520 , the side surface of the actuating device 220 is engaged with the joint portion 590 of the driving device 510 , which makes the process of installing the surgical instrument 510 on the actuating device 220 inconvenient. .
  • FIG. 8 is a top view of the driving device 610 .
  • the mechanism 671 is located on one side of the plurality of driving units 611, 621, 631, 641, 651, and the plurality of cables 612, 622, 632, 642, 652 are drawn out from the plurality of driving units 611, 621, 631, 641, 651 and pass through
  • the first cable bundle Z1 is collected.
  • Z1 is collected into the second cable bundle Z2.
  • the second cable bundle Z2 extends to the drive
  • the edge of the device 610 directly enters or enters the long shaft after being guided by the third guiding mechanism.
  • the first guiding mechanism 671 in this embodiment is not located in the middle of the plurality of driving units 611, 621, 631, 641, 651, Although the angles between the cable segments of the plurality of cables 612, 622, 632, 642, 652 between the plurality of driving units 611, 621, 631, 641, 651 and the first guide mechanism 671 are not as shown in FIG.
  • the included angle shown is large, but still larger than the similar included angle in the prior art.
  • FIG. 9 is a top view of the driving device 710 .
  • the driving device 710 includes a plurality of driving units 701 , 711 , 721 , 731 , 741 , 751 , 761 , and 771 , 781, 791, there are two first guide mechanisms and two second guide mechanisms ( Not shown), a plurality of cables 702, 712, 722, 732, 742 are led out from a plurality of drive units 701, 711, 721, 731, 741 and then guided by a first guiding mechanism to converge into a first cable bundle Z1 , Z1 is guided by the second guiding mechanism and then converges into a second cable bundle Z2.
  • Many cables 752, 762, 772, 782, 792 are drawn out from multiple drive units 751, 761, 771, 781, 791 and then pass through another After being guided by the first guide mechanism, the first cable bundle Z1' is collected, and Z1' passes through another second guide mechanism and then converges into a second cable bundle Z2'.
  • the second cable bundles Z2 and Z2' extend to the drive device.
  • the edge of 710 directly enters or enters into the long axis of the surgical instrument after being guided by the third guiding mechanism. Since the driving device 710 has a greater number of driving units, it can drive the wrist of the surgical instrument and the end instrument more freely. degree of movement.
  • the guide mechanism of the driving device As shown in FIG. 10 , the guide mechanism of the driving device according to an embodiment of the present invention, the first guide mechanism 871 and the second guide mechanism 872 are both in the form of pipes, and the first guide mechanism 871 includes a plurality of guide pipes 871a, 871b in a dispersed state , 871c, 871d, 871e, a plurality of cables 812, 822, 832, 842, 852 are guided by a plurality of guide tubes 871a, 871b, 871c, 871d, 871e and converge into a first cable bundle Z1, Z1 passes through the second
  • the guide mechanism 3872 forms the second guide beam Z2 after the guide.
  • the plurality of guide tubes 871a, 871b, 871c, 871d, 871e of the first guide mechanism 871 may be located at different heights to receive cables from drive units at different heights.
  • the guiding mechanism in the form of a pipe does not have the complicated layout of pulleys for guiding the cable, and the structure is simpler.
  • the first guiding mechanism may be a pipe-type structure as shown in FIG. 10 and the second guiding mechanism may be a multi-pulley-type structure shown in FIG. 4 , or the first guiding mechanism may be a multi-pulley structure shown in FIG. 4 .
  • Form structure, the second guide mechanism is the pipeline form shown in Figure 10.
  • the driving device 310 has a plurality of driving units, a first guiding mechanism 371 , a second guiding mechanism 372 and a third guiding mechanism 373 , the plurality of driving units include a plurality of first driving units 311, 321 and a plurality of second driving units 331, 341, 351, the first guiding mechanism 371 is located in the central area of the plurality of driving units, and the second guiding mechanism 372 is located in the first The proximal end of the guide mechanism 371, the third guide mechanism 373 is located at the edge of the housing 310a.
  • One end of the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d is wound around the first driving unit 311, 321, and one end of the plurality of cables 332a, 332b, 342a, 342b, 351a, 351b is wound around In the second driving units 331, 341, 351, a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are guided by the first guide mechanism 371 It is then extended in the form of a cable bundle, and the cable bundle has multiple layers of sub-cable bundles, and each layer of the sub-cable bundles is substantially parallel to each other.
  • the cable bundle includes a first cable bundle Z1, a second cable bundle Z2 and a third cable bundle Z3, wherein the cables in the first cable bundle Z1 are substantially parallel to each other.
  • the first wire harness Z1 extends along (the direction B1 shown in FIG. 12 ) to the second guide mechanism 372 and is guided by the second guide mechanism 372 to form a second segment of cable harness Z2.
  • the cables are parallel to each other, and the second cable bundle Z2 extends along the second direction (the direction B2 shown in FIG. 12 ) to the third guide mechanism 373 , and is guided by the third guide mechanism 373 along the third direction ( B3 direction shown in FIG.
  • the driving device 310 is only provided with the first guide mechanism 371 and the second guide mechanism 372 , so that the second cable bundle Z2 directly enters the long shaft 320 as in the embodiment shown in FIG. 7 .
  • the first driving unit 311 includes an integrally formed main shaft 311a, a first capstan 316a, a second capstan 316b, a first fixing block 317a, a second fixing block 317b and a third fixing block 317c.
  • the second fixing block 317b is provided on the main shaft 311a.
  • the third fixing block 317c is arranged at the distal end of the main shaft 311a, the diameters of the first capstan 316a and the second capstan 316b are different, and the first capstan 316a is arranged between the first fixing block 317a and the second fixing
  • the second winch 316b is provided between the second fixing block 317b and the third fixing block 317c.
  • the first driving unit 311 is integrally formed, which facilitates the manufacture and assembly of the first driving unit 311 .
  • the first drive unit may not be integrally formed, that is, the second capstan of the first capstan of the first drive unit is independently installed on the main shaft and can rotate relative to the main shaft respectively.
  • the first end of the cable 312a is fixed on the first fixing 317a, the cable 312a is wound on the first winch 316a in a first winding manner (eg, counterclockwise), and the first end of the cable 312b is fixed on the second fixing Block 317b, the cable 312b is wound around the first winch 316a in a second winding method (eg, clockwise) opposite to the first winding method, and the first ends of the cables 312c and 312d are respectively fixed on the third fixing block 317c the cables 312a, 312b, 312c, 312d extend from the first drive unit 311 to the second winch 316b in a first winding manner and a second winding manner, respectively.
  • the first pulley group 313 of a guide mechanism 371 still extends to the second guide mechanism 372 in a manner substantially parallel to each other after being guided by the first pulley group 313 .
  • the first driving unit 311 can drive two joints on the wrist 330 with different distances from the end effector 340 by manipulating the cables 312a, 312b, 312c, 312d exercise.
  • the first driving unit 321 and the first driving unit 311 have substantially the same structure, and the same cables 322a, 322b, 322c, 322d also extend from the first driving unit 311 to the first guiding mechanism 370 in a substantially parallel manner with each other.
  • the first pulley 323 is guided by the first pulley 323 and still extends to the second guide mechanism 372 in a manner substantially parallel to each other.
  • the second driving unit 341 is also integrally formed.
  • the second driving unit 341 includes a first fixing block 347a and a second fixing block 347b respectively disposed at the distal end and the proximal end of the main shaft 341a.
  • the first capstan 346 is disposed on the first fixing block 347a and Between the second fixing blocks 347b, one end of the cable 342a is fixed on the first fixing block 347a, one end of the cable 342b is fixed on the second fixing block 347b, the cables 342a, 342b are connected from the second driving unit 341 to each other It extends from the second driving unit 341 to the first pulley group 343 of the first guide mechanism 371 in a substantially parallel manner, and after being guided by the first pulley group 343, it still extends to the second guide mechanism 372 in a substantially parallel manner.
  • the unit 341 drives the movement of the joints of the wrist 330 or the end effector 340 by manipulating the cables 342a, 342b.
  • the structures of the second driving units 331, 351 and the second driving unit 341 are basically the same, and the cables 332a and 332b extend from the second driving unit 331 through the first pulley 333 to the second guiding mechanism 372 in a substantially parallel manner with each other,
  • the cables 352a and 352b extend from the second driving unit 351 to the second guide mechanism 372 through the first pulley 333 in a manner substantially parallel to each other.
  • the plurality of driving units of the driving device may all be the first driving unit or all the second driving units.
  • FIG. 13 is a top view of FIG. 11 with the second guide mechanism 372 hidden to more clearly show the routing of the cables.
  • the cable segments between the driving unit and the first guide mechanism 371 of a plurality of cables drawn from the same driving unit are substantially parallel to each other, so the plurality of cables 312a, 312b, 312c, 312d , 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b will not interfere with each other in the first space between the driving units 311, 321, 331, 341, 351 and the first guide mechanism 371.
  • the plurality of first pulley groups 313, 323, 333, 343, and 353 of the first guide mechanism 371 are located on three different horizontal planes.
  • the first pulleys are located on different horizontal planes, so that the entire first guide mechanism 371 occupies a smaller volume in the horizontal direction on the premise that the cables in the first cable bundle Z1 do not interfere with each other.
  • the first pulley group 313 and the first pulley group 323 are located on the same horizontal plane at the proximal end of the driving device 310
  • the first pulley group 333 and the first pulley group 353 are located on the same horizontal plane at the distal end of the driving device 310
  • the first pulley group 343 is located on the first The horizontal plane between the pulley block 313 and the first pulley block 333 .
  • the second guide mechanism 372 includes a plurality of second pulley sets 372a, 372b, 372c, 372d for guiding the first wire harness Z1, and each pulley in each pulley set in the plurality of second pulley sets 372a, 372b, 372c, 372d Sharing one axle, the axles of the plurality of second pulley groups 372a, 372b, 372c, 372d are substantially parallel to each other, and the plurality of second pulley groups 372a, 372b, 372c, 372d are respectively located on a plurality of first planes C1, C2, C3, On C4, each second pulley set can guide multiple cables, and one second pulley set can guide multiple cables from the same drive unit or guide multiple cables from different drive units.
  • the second pulley group 372 a of the second guide mechanism 372 includes a wheel shaft 3721 and a plurality of pulley guide portions 3722 , 3723 , and 3724 provided on the wheel shaft 3721 .
  • the guide portion 3722 , the guide portion 3723 and the guide portion 3724 are respectively The cable 322c from the second driving unit 321, the cable 342a from the first driving unit 341 and the cable 312d from the second driving unit 311 are guided.
  • the plurality of third pulley groups 373a, 373b, 373c, and 373d of the third guide mechanism 373 are also respectively located on the plurality of first planes C1, C2, C3, C4, so that the third pulley group 373a, 373b, 373c, 373d and the plurality of second pulley groups 372a, 372b, 372c, 372d are arranged in pairs on the plurality of first planes C1, C2, C3, C4, that is, the first The second pulley group 372a and the third pulley group 373a are basically located on the first plane C1, the second pulley group 372b and the third pulley group 373b are basically located on the first plane C2, the second pulley group 372c and the third pulley group 373c are basically located on the first plane C3, The second pulley group 372d and the third pulley group 373d are substantially located on the first plane C4, and the planes of the plurality of
  • the plurality of second pulley groups of the second guide mechanism 372 372a, 372b, 372c, 372d each of the pulley sets has the same number of guides as the guides of the third pulley set on the same first plane, and at least one second pulley set has the same number of guides as the guides on the same first plane.
  • the number of guide parts of the third pulley group on the first plane is exactly the same, so that the cables of the second cable bundle Z2 are distributed in layers.
  • the second cable bundle Z2 is divided into multi-layer sub-layers
  • the cable bundles Z2a, Z2b, Z2c, Z2d and the sub-cable bundles Z2a, Z2b, Z2c, Z2d of different layers are basically parallel to each other, so that the sub-cable bundles Z2a, Z2b, Z2c, Z2d of different layers will not interfere with each other .
  • the distance between the second pulley set and the third pulley set on the same first plane gradually decreases from the distal end to the proximal end of the driving device, so that the first cable harness Z1 and the third cable harness Z3 are located at the second guide mechanism 372 and the outside of the third guide mechanism 373, the first cable bundle Z1 and the third cable bundle Z3 are substantially parallel to each other, and the second cable bundle Z2 is located between the second guide mechanism 372 and the third guide mechanism 372 , the second cable bundle Z2 is substantially perpendicular to the first cable bundle Z1 and the third cable bundle Z3, so that the first cable bundle Z1 and the third cable bundle Z3 will not be different from the second cable bundle Z2.
  • the sub-cable bundles Z2a, Z2b, Z2c, Z2d are crossed so that the first cable bundle Z1 and the third cable bundle Z3 do not affect the wiring of the second cable bundle Z2.
  • each cable is rerouted, eg, the cable segment of the first cable 312a between the first pulley 313 and the drive unit 311 and the first cable 312a between the first pulley 313 and the second pulley 372d
  • the cable segment in between lies on the second plane, the cable segment of the first cable 312a between the first pulley 313 and the second pulley 372d and the cable segment of the first cable 312a between the second pulley 372d and the third pulley 373c.
  • the cable segment lies on a third plane, and the second plane intersects the third plane without overlapping. Therefore, the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are guided by the second guide mechanism 372 to form a second cable bundle Z2 Extends along the edge of the drive device 310 so that the long shaft 320 can be positioned at the edge of the drive device 310 .
  • the plurality of first pulley groups 313, 323, 333, 343, 353 include a plurality of first coaxial pulleys 313, 323, 343 and a plurality of first split-shaft pulleys 353, 333, and a plurality of first coaxial pulleys 313, 323,
  • Each pulley in 343 shares one axle, that is, one axle has multiple guide parts
  • each pulley in each pulley of the plurality of first split-axis pulleys 353 and 333 includes one axle and one guide part, that is, each The guides are individually mounted on one axle.
  • axles of the plurality of first coaxial pulleys 313, 323, 343 are parallel to the axles of the plurality of second pulleys 372a, 372b, 372c, 372d, wherein the first The axle of the coaxial pulley 343 forms an acute angle with the axles of the plurality of second pulleys 372a, 372b, 372c, 372d, the axles of the first coaxial pulleys 313 and 323 and the plurality of second pulleys 372a, 372b, 372c, 372d.
  • the axles are basically vertical.
  • the axle 3131 of the first coaxial pulley 313 is provided with guide parts 3132, 3133, 3134, 3135, and the cables 312d, 312b, 312a, 312c guided by the guide parts 3132, 3133, 3134, 3135 are respectively guided by the second guide mechanism 372
  • the second pulleys 372a, 372b, 372c, 372d are guided and extend to the third pulleys 373a, 373b, 373c, 373d of the third guide mechanism 373.
  • the first cable harness Z1 enters the grooves of the plurality of guide parts 3722 , 3723 and 3724 on the second pulley group 372 a of the second guide mechanism 372 , the plurality of guide parts 3722 , 3723 , the grooves of 3724 are in contact, and the multiple contact points of the first cable harness Z1 and the plurality of guide parts 3722, 3723, 3724 are located on the straight line r1.
  • the first cable harness Z1 and the second pulley group 372b , 372c, 372d also have multiple contact points when they start to contact, and the contact points are shown as black dots in FIG.
  • the contact point of the cable guided by the second pulley group, a plurality of circular black dots represent the adjustable contact point P2, and the adjustable contact point P2 is the cable guided by the first sub-axis pulleys 333, 353.
  • the contact points between the wire and the second pulley group, the plurality of contact points P1 and P2 are respectively located on the straight lines r2, r3 and r4 which are substantially parallel to each other.
  • the positions of the plurality of second pulley groups 372a, 372b, 372c, and 372d are fixed, so the distances between the straight lines r1, r2, r3, and r4 are basically fixed. Therefore, the first coaxial pulleys 313, 323, The positions of the axles of 343 relative to the straight lines r1, r2, r3, and r4 are also fixed. If the positions of the first coaxial pulleys 313, 323, and 343 relative to the straight lines r1, r2, r3, and r4 change, the first cable harness may appear. The case where some of the cable segments in Z1 are not parallel to each other.
  • the included angle between the axle of the first coaxial pulley 343 and the straight line r1 is about 45°.
  • the cable 342a is guided by a guide portion of the first coaxial pulley 343 and then extends to the second pulley 372a.
  • the cable 342a is connected to the second pulley 372a.
  • the contact point of the pulley 372a is located on the straight line r1
  • the cable 342b is guided by another guide portion of the first coaxial pulley 343 and then extends to the second pulley 372b
  • the contact point of the cable 342b and the second pulley 372b is located on the straight line r2
  • the contact point of the cable 342a and the second pulley 372a is deviated from the straight line r1
  • the contact point of the cable 342b and the second pulley 372b is deviated out of the line r1.
  • Straight line r2. Either of the above two situations will cause the cable 342a or the cable 342a to be non-parallel with other cables in the first cable bundle Z1, thereby affecting the efficiency of the cable transmission driving force.
  • the rigid wiring method can be changed.
  • the second pulley group can flexibly configure the number of cables guided by each pulley on the second pulleys 372a, 372b, 372c, 372d.
  • the first split-axis pulley 353 includes sub-pulleys 353a, 353b, and the sub-pulley 353a and the sub-pulley 353b do not share the axle, so that the sub-pulley 353a and the sub-pulley 353b can move relatively on the horizontal plane, so that the pulleys guided through the first split-axis pulley 353 can be moved.
  • the cables 352a, 352b are both guided by the second set of pulleys 372b of the second guide mechanism 372, rather than requiring multiple cables guided through the coaxial pulley to be guided by different second sets of pulleys as with the first coaxial pulley.
  • the first split-axis pulleys 333, 353 are disposed at the farthest end of the first guide mechanism 371, so that when adjusting the sub-pulleys of the first split-axis pulleys 333, 353, the respective sub-pulleys of the first split-axis pulleys 333, 353 Does not interfere with the cables in the first cable harness Z1.
  • FIG. 13B is an enlarged schematic view of the contact point of FIG. 13A , as shown in FIG. 13B , the cables 322c, 342a, 352a are guided by the first guide mechanism 371 and then extend to the second pulley 372a of the second guide mechanism 372 and pass through the second pulley 372a of the second guide mechanism 372.
  • the guide of the pulley 372a extends to the third pulley group 373a of the third guide mechanism, so that there are three fixed contact points P1 on the straight line r1.
  • the cables 322a, 342b, 352b, 352a, 312b are guided by the first guide mechanism 371 and then extend to the second pulley group 372b of the second guide mechanism 372 and extend to the second pulley group 372b of the third guide mechanism 373 after being guided by the second pulley 372b.
  • the three-pulley set 373b thus has five contact points on the straight line r2, the five contact points including three fixed contact points P1 and two adjustable contact points P2.
  • the cables 322b, 332a, 332b, 312a extend to the second pulley 372c of the second guide mechanism 372 through the first guide mechanism 371 and extend to the third pulley group 373c of the third guide mechanism 373 after being guided by the second pulley group 372c, Therefore, there are four contact points on the straight line r3, and the four contact points include two fixed contact points P1 and two adjustable contact points P2.
  • the cables 322d and 312c are guided by the first guide mechanism 371 and then extend to the second pulley group 372d of the second guide mechanism 372 and extend to the third pulley group 373d of the third guide mechanism 373 after being guided by the second pulley group 372d, so that the cables 322d and 312c extend straight
  • the plurality of adjustable contact points P2 can be located at any position on the straight line r1 to the straight line r4.
  • the second pulley group 372b has 4 guide parts and the second group pulley 372d has 3 guide parts.
  • the guide portion there are four contact points on the straight line r2 and three contact points on the straight line r4.
  • the driving device 310 may only include the first guide mechanism 371 and the second guide mechanism 372, but not the third guide mechanism 373, as in the embodiment shown in FIG. It extends in a direction perpendicular to the rotation direction of the drive unit.
  • FIG. 15 is a side view of FIG. 12 , in order to more clearly show the cable routing of the drive device 310 , part of the drive unit is hidden and some components not shown in FIG. 12 are shown in FIG. 15 .
  • the cables in the first cable harness Z1 are substantially parallel to each other, and the first cable harness Z1 forms multiple
  • the structure of the layered cable harness that is, the first segment of the cable harness Z1 includes the multi-layered sub-cable harnesses Z1a, Z1b, Z1c, Z1d, and the multi-layered sub-cable harnesses Z1a, Z1b, Z1c, Z1d pass through a plurality of second pulleys of the second guide mechanism 372 372a, 372b, 372c, 372d are guided to form multilayer sub-cable bundles Z2a, Z2b, Z2c, Z2d.
  • the second cable bundle Z2 is guided by the third guide mechanism 373 to form a third cable bundle Z3
  • the third cable bundle Z3 is guided by the fourth guide mechanism 374 to form a fourth cable bundle Z4
  • the fourth cable harness Z4 extends through the long axis 320 to the wrist 330 and the end effector 340
  • the fourth guide mechanism 374 includes a body 3741
  • two fixing seats 3742 extend from the body 3741 to the inside of the housing 310a.
  • the fixing seats For fixing the main body 3741 on the housing 310a, the main body 3741 also has a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b passing through A plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b'.
  • the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b pass through the plurality of third pulley groups 372a, 372b, 372c of the third guide mechanism 373, After the guidance of 372d, the plurality of contact points leaving the plurality of third pulley groups 373a, 373b, 373c, 373d are respectively located on the plurality of second straight lines r5, r6, r7, r8, and the plurality of second straight lines r5, r6, r7, r8 is projected onto the fourth guide mechanism 3741 to form a plurality of third straight lines j1, j2, j3, j4, and the plurality of third straight lines j1, j2, j3, j4 are substantially parallel to the plurality of second pulleys 372a, 372b, 372c, 372d
  • the order of the guide holes on each of the plurality of third straight lines j1, j2, j3, and j4 is basically the same as the arrangement of the guide portions on each of the plurality of second straight lines r5, r6, r7, and r8. That is, the number of guide holes on each of the plurality of third straight lines j1, j2, j3, and j4 is the same as the number of guide portions on each of the plurality of second straight lines r5, r6, r7, and r8.
  • the distance between the guide holes on each of the third straight lines j1, j2, j3, j4 is basically the same as the distance between the guide portions on each of the plurality of second straight lines r5, r6, r7, r8 , so that the third section of cable bundle Z3 is still a layered wiring mechanism, and the number of layers of the third section of cable bundle Z3 is the same as that of the second section of cable bundle Z2, and the third section of cable bundle Z3 and the second The number of cables on the corresponding layer cables of the segment cable bundle Z2 is the same.
  • the third segment cable bundle Z3 includes multi-layer sub-cable wire bundles Z3a, Z3b, Z3c, Z3d which are substantially parallel to each other.
  • the three cables 322d, 342b, 312c in the sub-cable harness Z3a are guided by the three guiding parts on the third pulley 373a of the third guiding mechanism 373 and pass through the third
  • the four cables 322b, 332a, 332b, 312a in the sub-cable harness Z3b are guided by the four guide parts on the third pulley 373b, and then pass through arranged in the No.
  • the guide holes 322b', 332a', 332b', 312a' of the three straight lines J2, the four cables 322a, 352b, 352a, 312b in the sub-cable bundle Z3c pass through the guide of the four guide parts on the third pulley 373c.
  • the cables passing through the plurality of guide holes in one of the plurality of third straight lines j1, j2, j3, and j4 can be one-to-one corresponding to the third pulley, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are guided from the fourth guide mechanism 374 by the third guide mechanism 373, the second guide mechanism 372 and the first guide mechanism 371 in order Fitted to a plurality of drive units 311 , 321 , 331 , 341 , 351 .
  • the proximal ends of the cables 322c, 342a, 312d pass through the guide hole 322c' on the third straight line j1 at the edge of the main body 374 on the side away from the mounting seat 3742, 342a', 312d' extend to the third pulley group 373a of the third guide mechanism 373, since the positions of the guide holes 322c', 342a', 312d' on the main body 374 are obviously different from the positions of other guide holes, they will not be assembled during assembly.
  • the cables 322c, 342a, 312d passing through the guide holes 322c', 342a', 312d' are confused with other cables, when the cables 322c, 342a, 312d are assembled to the third pulley group of the corresponding third guide mechanism 373 373a, since the position of the third pulley 373a and the number of its guide parts are uniquely corresponding to the guide holes 322c', 342a', 312d', the cables 322c, 342a, 312d can be assembled to the third pulley group 373a without error. On the other hand, the error of fitting the cables 332d, 342b, 312c to other pulleys is avoided.
  • the second pulley set 372a and the third pulley set 373a on the second guide mechanism 372 are located on the same first plane and have the same number of guide pulleys, the corresponding relationship between the two is unique, so it is very convenient and accurate to connect the 322c, 342a, 312d is assembled from the third pulley 373a to the second pulley 372a, in this process, the error of fitting one of the cables 322c, 342a, 312d to the other second pulley set can be avoided.
  • the cables 322c, 342a, 312d need to be assembled to the guide portions of the first pulley groups 323, 343, 313 of the first guide mechanism 371 that are farthest from the third guide mechanism 373, and the sub-cable harness Z1a can be formed, thereby avoiding An error occurs in assembling the cables 322c, 342a, 312d to other first pulley sets, and the method for assembling cables of other layers is the same, and will not be repeated here.
  • the cable bundle structure for layered wiring and the method of installing cables in layers can improve the accuracy and efficiency of cable assembly.
  • the main body 3741 of the fourth guide mechanism 374 also has a plurality of through holes 374a with different diameters from the diameter of the guide holes, and the plurality of through holes 374a are used for other forms of wires other than cables to pass through, such as the plurality of through holes 374a for power supply wires Pass through, or pass through the line for transmitting image data.
  • a plurality of through holes 374a and a plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b ' are juxtaposed and divided into multiple rows distributed on the main body 3741.
  • a circular area 320a the area of the circular area 320a is substantially equal to the area of the proximal opening of the long axis 320, so that a plurality of cables 312a, 312b, 312c, 312d , 322a , 322b , 322c , 322d , 332a , 332b , 342a , 342b , 351a , 351b are concentrated in the circular area 320a and enter the long axis 320 straight through a plurality of guide holes.
  • a plurality of through holes 374a are arranged on the edge of the main body 3741 on the side away from the mounting seat 3742.
  • the diameter of the through holes 374a is larger than the radius of the guide hole, and one of the through holes 374a occupies the main body 3741.
  • the space occupied by the through hole 374a is larger than the space occupied by one guide hole, and arranging the through hole 374a at the edge of the main body 3741 can reduce the position required for the through hole 374a to occupy the guide hole.
  • both the third straight line j2 and the third straight line j3 have less space.
  • Four guide holes are arranged, and three guide holes are arranged on both the third straight line j1 and the third straight line j4, so that more space on the main body 3741 can be provided for the two through holes 374a.
  • the distribution of the through holes 374 a and the guide holes of the fourth guide mechanism 374 according to an embodiment of the present invention is shown in FIG. 19A , four guide holes are distributed on the third straight lines j1 , j2 , and j3 , and the main body of the fourth guide mechanism 374 is distributed with four guide holes as shown in FIG. 19A .
  • the third straight line j4 at the edge distributes only two guide holes, so that the guide holes on j4 can be offset more towards the edge of the main body of the fourth guide mechanism, so that there is more space at the edge of the other side of the main body
  • Two through-holes 374a are provided to make the through-holes 374a larger in diameter to allow passage of larger diameter wires or data lines.
  • FIG. 19B The distribution of the through holes 374a and the guide holes of the fourth guide mechanism 374 according to an embodiment of the present invention is shown in FIG. 19B , the number of guide holes arranged on the third straight lines j1, j2, j3, and j4 are 3, 5, 4, 2. Compared with the embodiment shown in FIG. 19A , in this embodiment, the number of guide holes on the third straight line j1 in the circular region 320a is smaller, so that the two through holes 374a can have larger diameters.
  • the distribution of the through holes 374b and the guide holes of the fourth guide mechanism 374 is shown in FIG. 19C and FIG. 19D .
  • the through hole 374b is used for
  • the through hole 374b has a larger cross-sectional area than that of the through hole 374a in the above-described embodiment through a data line or an optical cable for transmitting image data.
  • the number of guide holes arranged on the third straight line j1, j2, j3, and j4 are 4, 5, 4, and 1, respectively.
  • the third straight line j4 Since the third straight line j4 has only one guide hole distributed, it can be The through hole 374b can be provided at the edge of the main body of the fourth guide mechanism on the side away from the third straight line j74 with a larger space, so that the through hole 374b can have a larger cross-sectional area.
  • the number of guide holes arranged on the third straight line j1, j2, j3, and j4 are 2, 5, 4, and 3, respectively, and the through hole 374b is located between the two guide holes on the third straight line j1, so that the The through hole 374b can have a larger cross-sectional area.
  • a tensioning device is provided between the plurality of driving units 311, 321, 331, 341, 351 and the first guide mechanism 317, and the tensioning device is used for tensioning the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b, the tensioning device includes a housing and a plurality of first tensioning mechanisms 380 and/or a plurality of second tensioning mechanisms 390 mounted in the housing, a plurality of A tensioning mechanism 380 is provided between the first driving units 311 , 321 and the first guiding mechanism 317 , and a plurality of second tensioning mechanisms are provided between the second driving units 331 , 341 , 351 and the first guiding mechanism 317 .
  • the first tensioning mechanism of an embodiment of the present invention is shown in FIGS. 20-22.
  • the first tensioning mechanism 380 is disposed between the first driving unit 311 and the first pulley group 313 of the first guiding mechanism 317.
  • the first tensioning mechanism Mechanism 380 is used to tension the first cables 312a, 312b and the second and third cables 312c, 312d.
  • the first tensioning mechanism 380 includes a first tensioning member 3821 , a second tensioning member 3811 , a third tensioning member 3831 and a resisting portion, and the second tensioning member 3811 is used to simultaneously tension the first cable 312a and the first The cable 312b, the first tensioner 3821 and the third tensioner 3831 are used to tension the second cable 312c and the third cable 312d, respectively.
  • the first tensioning mechanism 380 may also include only the first tensioning member 3821 and the second tensioning member 3811, or only the first tensioning member 3811 without tensioning more cables. Tensioner 3821.
  • the first tension member 3821 includes a first tension block 3822 and a first push rod 3823 , a first guide portion 3824 is provided on the first side of the first tension block 3822 , and the second cable 312 c is guided by the holding mechanism 314 Then, it extends to the first pulley block 313 after being guided by the first guide portion 3824.
  • the first guide portion 3824 is located between the cable segment of the second cable 312c between the holding mechanism 314 and the first pulley block 313 and the blocking portion.
  • the first push rod 3823 is screwed with the first tension block 3822 and passes through the first tension block 3822 to abut against the blocking portion. Rotating the first push rod 3823 can drive the first tension block 3822 in the first direction (Fig.
  • the second tensioning member 3811 includes a second tensioning block 3812 and a second push rod 3813 , the first push rod 3823 and the second push rod 3813 are arranged opposite to each other, and the resisting portion is provided on the first push rod 3823 and the second push rod 3813 In between, a second guide portion 3814 and a third guide portion 3815 are respectively provided on the two first side surfaces of the second tension block 3812 , and the first cable 312 a and the first cable 312 b are guided by the holding mechanism 314 before They are guided by the second guide portion 3814 and the third guide portion 3815 respectively, and then guided by the first pulley group 313 of the first guide mechanism 317 .
  • the second tensioning member may only include a guide portion for guiding a cable, and in this case, the second tensioning member is used for tensioning a cable.
  • a sleeve 3813b is installed on the housing of the first tensioning mechanism 380, the sleeve 3813b is threaded with the second push rod 3813, and the second tensioning block 3812 has a first end 3812a away from the first tensioning block 3822 and a
  • the first end 3812a is opposite and close to the second end 3812b of the first tensioning block 3822, the end of the second push rod 3813 abuts against the first end 3812a of the second tensioning block 3812, and the second push rod is rotated in the tensioning direction
  • the adjusting end 3813a of the 3813 opposite to its end causes the second push rod 3813 to push the second tension block 3812 to move in the first direction, so that the second guide portion 3814 and the third guide portion 3815 on the second tension block 3812 drive the
  • the cable segment of the first cable 312a and the first cable 312b between the holding mechanism 314 and the first pulley set 313 is moved in a first direction to tension the first cable 312a
  • the second push rod 3813 moves in the second direction opposite to the first direction, thereby releasing the second tensioning block 3812, since the first cable 312a and the first The cable 312b itself has a certain tension, so that the second tension block 3812 is driven to move in the second direction by the tension force of the first cables 312a, 312b themselves, so that the first cables 312a, 312b are loosened.
  • the third tension member 3831 includes a third tension block 3832 and a third push rod 3833.
  • a fourth guide portion 3834 is provided on the first side of the third tension block 3832, and the fourth guide portion 3834 is provided on the first guide portion.
  • the third cable 312d is guided by the holding mechanism 314 and then guided by the fourth guide part 3834 to extend to the first pulley group 313, the third push rod 3833 Fitting with the third tensioning block 3832 through threads and passing through the third tensioning block 3823 to abut against the blocking part, rotating the third push rod 3833 can drive the third tensioning block 3832 to move in the first direction or the second direction, thereby
  • the first guide portion 3834 on the third tensioning block 3832 drives the cable segment of the third cable 312d between the holding mechanism 314 and the first pulley group 313 to move between the distal end and the proximal end of the driving device 310, thereby tensioning or slack cable 312d.
  • the first tensioning mechanism 380 further includes a guide protrusion 386 and a guide post 3841 for guiding the movement of the first tension block 3822, the second tension block 3812 and the third tension block 3833.
  • the guide protrusion 386 includes The second protrusions 3816, the first protrusions 3826 and the third protrusions 3836 on the second side of the second tension block 3812, the first tension block 3822 and the third tension block 3833, In the housing of the tensioning mechanism 380 , the second protrusion 3816 , the first protrusion 3826 and the third protrusion 3836 cooperate with the grooves, along the second tension block 3812 , the first tension block 3822 and the third tension block 3833 .
  • the second protrusion 3816, the first protrusion 3826 and the third protrusion 3836 slide in the groove to guide the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3812. Movement of the three tensioning blocks 3833.
  • the guide post 3841 passes through the first tension block 3822, the second tension block 3812 and the third tension block 3833, and the through holes on the second tension block 3812, the first tension block 3822 and the third tension block 3812.
  • the second tensioning block 3812 , the first tensioning block 3822 and the third tensioning block 3833 slide up and down along the guide post 3841 .
  • the first tensioning block 3822 , the second tensioning block 3812 and the third tensioning block 3833 have a plurality of holes, and the resisting part in this embodiment is the second end of the second tensioning block 3812 3812b, the second end 3812b of the second tensioning block 3812 is used as a resisting part to make the mechanism of the first tensioning mechanism 380 more compact.
  • the end of the first push rod 3823 passes through the first hole 382a on the third tension block 3823 and the second hole 382b on the first tension block 3822 and abuts against the second end 3812b of the second tension block 3811
  • the proximal end of the third push rod 3833 passes through the third hole 383a on the third tensioning block 3823 and the fourth hole 383b on the first tensioning block 3822 and abuts against the second end 3812b of the second tensioning block 3811
  • the guide post 3841 passes through the fifth hole 381a of the second tensioning block 3811, the sixth hole 381b of the first tensioning block 3822 and the seventh hole 381c of the third tensioning block 3832, so as to make the second tensioning
  • the block 3811 , the first tension block 3822 and the third tension block 3832 can slide up and down along the guide post 3841 .
  • the second hole 382b of the first tensioning member 3821 has internal threads to cooperate with the external threads on the first push rod 3823.
  • the second cable 312c itself has a certain tensioning force
  • the first tensioning block 3822 is placed on the second cable 312c.
  • the tension force of the lower part moves in the second direction, so that the second cable 312c is loosened.
  • the first tension block 3822 is double guided, that is, the first protrusion 3826 of the first tension block 3822 is in the groove in the housing During the movement, the first tensioning block 3822 moves up and down along the guide post 3841, so that there is no deviation of the movement track during the movement of the first tensioning block 3822 in the first direction or the second direction.
  • the third hole 383a of the third tensioning piece 3833 has internal threads to fit with the external threads on the third push rod 3833.
  • rotating the adjusting end 3833a at the distal end of the third push rod 3833 can make the third protrusion 3836 of the third tension block 3833 move in the groove in the housing, and the third tension block 3832 Move up and down along the guide post 3841 to tension or relax the third cable 312d, and the third tension member 3833 tensions or relaxes the third cable 312d in the same way as the above-mentioned first tension member 3823 tensions or relaxes the second cable
  • the method of line 312c is the same and will not be repeated here.
  • the second tensioning member 3811 is opposite to the adjusting ends of the first tensioning member 3821 and the third tensioning member 3823, that is, the adjusting end 3813a of the second tensioning member 3811 is located at the second tensioning block 3812.
  • One side of one end 3812a, the adjusting end 3823a of the first tensioning member 3821 and the adjusting end 3833a of the third tensioning member 3831 are located on one side of the second end 3812b of the second tensioning block 3812,
  • a push rod 3823 and a third push rod 3833 are staggered from each other, so that the entire first tensioning mechanism 380 is arranged along the axial direction of the push rod, and the first tensioning mechanism 380 occupies space in the longitudinal direction (the axial direction of the push rod).
  • the larger space occupied in the lateral direction can make the lateral volume of the entire driving device 380 smaller, so that when a plurality of surgical instruments 300 are gathered together as shown in FIG. 6 , the overall lateral volume is smaller.
  • the first tensioning mechanism of another embodiment of the present invention is shown in FIG. 23 .
  • the difference between the first tensioning mechanism 480 in this embodiment and the first tensioning mechanism 380 shown in FIG. 21 is the resistance in this embodiment.
  • the first part is a baffle plate 485 arranged between the first tensioning member 3821 and the second tensioning member 3811 , and the baffle plate 485 is fixedly connected with the casing of the first tensioning mechanism 480 .
  • the ends of the first push rod 3823 and the third push rod 3833 abut against the baffle plate 485.
  • the baffle plate 485 prevents the first push rod 3823 and the third push rod 3823 and the third push rod from being pushed.
  • the tensioning device further includes a plurality of second tensioning mechanisms.
  • the second tensioning mechanisms 390 are used to tension two cables at the same time.
  • the second tensioning mechanisms 390 are equivalent to the second tensioning members 3811 of the first tensioning mechanism 380 .
  • the second tensioning mechanism 390 includes a fourth tensioning block 3911 and a fourth push rod 3912, the end of the fourth push rod 3912 abuts the fourth tensioning block 3911, the second tensioning block 3911
  • the movement of the fourth tensioning block 3911 is guided by the guide protrusions 396 being matched with the grooves in the housing of the tensioning device, and the guiding posts 3914 .
  • Both sides of the fourth tension block 3911 are provided with a fifth guide portion 3913 and a sixth guide portion 3914 for guiding the cables 352a, 352b respectively.
  • the specific tensioning process is the same as the tensioning process of the second tensioning member 3811 of the first tensioning mechanism 380 described above, and will not be repeated here.
  • the distal ends of the first cables 312a, 312b are connected to the first joint 330a of the wrist 330, the first drive unit 311 controls the rotation of the first joint 330a through the first cables 312a, 312b, and the second cable
  • the distal ends of the wire 312c and the third cable 312d are respectively connected to two sides of the second joint 330b, and the first driving unit 311 controls the rotation of the second joint 330b through the second cable 312c and the third cable 312d.
  • first joint 330a and the second joint 330b are not in a straight posture after adjusting the tension of the first cables 312a, 312b, the second cable 312c and the third cable 312d ( That is, the zero position).
  • the third joint 330c of the wrist 330 is in a straight posture, and the first joint 330a and the second joint 330b are in a yaw posture after rotating a certain angle relative to the straight posture.
  • the first joint 330a and the second joint 330b are adjusted back to the straight posture, so that before the surgical instrument 300 is operated, the wrist 330 and the end effector 340 of the surgical instrument 300 are in the zero position, so that the control of the surgical instrument 300 is more precise.
  • the present invention also provides a method for tensioning, which is suitable for the first tensioning mechanism 380 to tension the four cables 321a, 312b, 312c, 312d from the first driving unit 311, and the tensioning Methods as below:
  • the first driving unit 311 is rotated and adjusted, so that the first driving unit 311 can adjust the first joint 330a to a straight posture through the first cables 312a and 312b.
  • the first tension block 3821 can be tensioned or loosened by the second cable 312c, and/or the third push rod 3833 can be adjusted individually to make the first tension block 3821 tension or relax the second cable 312c.
  • Three cables 312c so that the second joint 330b is adjusted to a straight posture.
  • the second joint 330b has not been adjusted to the straight posture at this time. Since the first capstan 316a and the second capstan 316b are integrally formed, they cannot be rotated any more. Adjust the first drive unit 311 to adjust the posture of the joint 330b, because if the first drive unit 311 is rotated again, the first cables 312a, 312b will be pulled or released at the same time as the second cable 312c and the third cable 312d are pulled or released. It is also pulled or released again, so that the first joint 330a that has been adjusted to the straight posture is rotated to the non-straight posture again.
  • the second joint 330b is adjusted to be straight by adjusting the first tensioner 3821 and/or the third tensioner 3831 attitude.
  • the second joint 330b can be adjusted to a straight posture through the following three adjustment methods:
  • (1) Rotate and adjust the first push rod 3823 alone to move the first tension block 3822 in the first direction, and the first tension block further tensions the second cable 312c, so that the tension of the second cable 312c is greater than that of the second cable 312c.
  • the tension of the three cables 312d causes the second cable 312c to pull the second joint 330b to rotate leftward, so that the second joint 330b rotates leftward from the yaw posture shown in FIG. 24B to the straight posture shown in FIG. 24C .
  • the driving device 310 includes a base 3110 and a guide assembly 3120.
  • the base 3110 includes a base body 3111 and a mounting portion 3112 extending from the base body 3111.
  • the driving units 311 , 321 , 331 , 341 , and 351 are installed in the mounting portion 3112 , a accommodating cavity 3114 is formed in the middle area of the mounting portion 3112 , and the guide assembly 3120 is installed in the accommodating cavity 3114 .
  • the guide assembly 3120 includes a housing and a first guide mechanism 370 installed in the housing, a holding mechanism 314 and a plurality of the above-mentioned tensioning mechanisms, a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are first guided by the holding mechanism 314, then guided by the tensioning device, and finally guided by the first guiding mechanism 371 to converge into the first segment of the wire harness Z1.
  • the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b can be tensioned and guided into a cable bundle after passing through the guide assembly 3120, which saves the space of the driving device 310 and makes the structure of the entire driving device 310 more compact.
  • the housing of the guide assembly 3120 includes a first housing 3150 and a second housing 3140 , the second housing 3140 is embedded in the first housing 3130 , and the first housing 3150 includes a first body 3151 , side wall 3152 and top 3153, the side wall 3152 extends from the first main body 3151 to the proximal end, the proximal end of each side wall 3152 is connected by the top 3153, a plurality of side walls 3152 are arranged at intervals, and a plurality of side walls 3152 are spaced apart There are gaps 3158 therebetween through which the tensioning mechanism is mounted to the housing of the guide assembly 3120.
  • the first casing 3150 and the second casing 3140 are integrally formed.
  • the second housing 3140 includes a second main body 3140 and a central post 3142 extending from the second main body 3140 toward the proximal end.
  • the central post 3142 is embedded in the cavity formed by the side wall 3132 and the top 3133 of the first housing 3130 , the edge of the second body 3140 abuts the first body 3131 .
  • the first pulley groups 323, 313 at the distal end of the first guide mechanism 370 are installed in the top 3153 of the first housing 3150, and the first pulley groups 333, 353 at the proximal end of the first guide mechanism 370 are installed in the center column of the second case 3140 In 3142, the first pulley group 343 in the middle position of the first guide mechanism 370 is installed in the middle position of the first pulley group 323 and the first split-axis pulley group 333 on the central column 3142, so that the plurality of first pulley groups 313, 323, 333, 343, 353 are located on three different horizontal planes, wherein two adjacent first pulley groups among the plurality of first pulleys 313, 323, 333, 343, 353 are located on different horizontal planes.
  • the holding mechanism 314 is installed on the side wall 3132 of the first housing 3150, and the holding mechanism 314 is used for the tensioning device to always keep the cable between the driving unit and the holding mechanism in a state of constant length during the process of tensioning the cable , ie the direction of the cable between the drive unit and the holding mechanism is maintained during the tensioning of the cable.
  • the holding mechanism 314 is a plurality of pulley assemblies 314.
  • the holding mechanism 314 may also be other holding elements, such as a plurality of shafts.
  • the guide assembly 3120 may only include the first guide mechanism 371 and the tensioning device. In this case, the push rod of the tensioning device is perpendicular to the axis of the driving unit, and the holding mechanism may not be provided in this case.
  • the tensioning device is installed between the side wall 3132 of the first housing 3150 and the central column 3142 of the second housing 3140, and the inner side of the side wall 3152 of the first housing 3150 has a first groove 3156 and a second groove 3157, the outer side wall of the central column 3142 of the second housing 3140 has a plurality of central grooves 3146 matching the first grooves 3156, that is, the second grooves 3157, the guiding protrusions of the first tensioning mechanism 380 of the tensioning device 386 is received in the center groove 3146 and the first groove 3156, and when the first tensioning mechanism 380 is tensioning the cable, the first tensioning mechanism 380 guides the protrusion 386 to slide in the first groove 3156 and the center groove 3146 .
  • the guide protrusions 396 of the second tensioning mechanism 390 are accommodated in the second grooves 3157 and the central groove 3146.
  • the guiding protrusions 396 of the second tensioning mechanism 390 are The second groove 3157 and the central groove 3146 slide inside.
  • the top 3153 of the first housing 3150 has a plurality of tension holes 3154 and a plurality of wire holes 3155, and the top end of the proximal end of the central column 3142 has a plurality of wire holes 3144, through which the cables guided by the first guide mechanism 371 pass through. After passing through a plurality of wire holes 3144 and 3155, the first cable bundle Z1 is assembled.
  • grooves 3147 on both sides of the central groove 3146 of the guide assembly 3120.
  • the grooves 3147 are used to guide the cable to extend from the first pulley set to the second guide mechanism 372.
  • the groove bottom of the groove 3147 is from the distal end of the central column 3142 to the top It has a certain slope, that is, the groove bottom near the top of the central column 3120 has a certain angle with the central axis of the central column 3142, so that the cable passes through the groove 3147 and is close to the central axis of the central column 3142, so that the first section of cable is
  • the cable segments in the harness Z1 are closely spaced.
  • a baffle extends from the side wall and/or the side surface of the central column from the resisting portion of the first tensioning mechanism, the baffle is arranged between the second tensioning member and the first tensioning member, and the first pushing The end of the rod is in abutment with the baffle, preventing the movement of the second push rod and the first push rod in the second direction when the tension cable is used.
  • the bottom of the base body 311 has a tensioning opening 3113, and the first groove 3156 and the central groove 3146 of the guide assembly 3120 extend through the tensioning opening 3113 to the distal end of the base body 311, so that the first The first tension block 3822 and the third tension block 3823 of the tensioning mechanism 380 can move a greater distance along the first groove 3156 and the central groove 3146 toward the distal end of the guide assembly 3120.
  • the first push rod 3823 and the third push rod 3833 are respectively connected to the first tension block 3822 and the third tension block 3823 through the tension hole 3113, and the second adjustment end 3823a and the third adjustment end 3833a are located in the base body 3111 bottom.
  • the second push rod 3813 of the first tensioning mechanism 380 and the second tensioning mechanism 390 abuts against the second tensioning block 3812 through the tensioning hole 3154
  • the adjusting end 3813a of the second push rod 3813 is located on the top 3153 of the first housing 3150, so that the first tensioning mechanisms 380 are arranged oppositely, that is, the adjusting end 3813a of the second push rod 3813 is disposed on the top of the guide assembly 3120,
  • the adjusting ends 3823a and 8833a of the first push rod 3823 and the third push rod 3833 are arranged at the bottom of the guide assembly 3120, so that the first tensioning mechanism 380 and the second tensioning mechanism 390 are elongated, reducing the entire guide assembly 3120.
  • the tensioning mechanism can be adjusted from the bottom of the machine base to avoid adjusting the three tensioning parts from one side, which increases the convenience of tensioning adjustment.

Abstract

一种手术器械(300, 400, 500)、使用手术器械(300, 400, 500)的从操作设备(200)以及具有从操作设备(200)的手术机器人，手术器械(300, 400, 500)的驱动装置(310, 410, 510, 610, 710)包括机座(3110)、多个驱动单元(311, 321, 331, 341, 351)以及导向组件(3120)，多个驱动单元(311, 321, 331, 341, 351)安装在机座(3110)上的四周，用于张紧缆线(312a，312b，312c，312d，322a，322b， 322c，322d，332a，332b，342a，342b，351a，351b)的张紧装置(380, 390)和用于为缆线(312a，312b，312c，312d，322a，322b， 322c，322d，332a，332b，342a，342b，351a，351b)导向的导向机构(370, 371)设置在导向组件(3120)上，导向组件(3120)作为一个整体设置在机座(3110)的中心区域，使多个缆线(312a，312b，312c，312d，322a，322b， 322c，322d，332a，332b，342a，342b，351a，351b)在进入导向组件(3120)后即被张紧装置(380, 390)所张紧又被导向机构(370, 371)导向汇聚成线束，将张紧装置(380, 390)和导向机构(370, 371)集成为一个导向组件(3120)，使整个驱动装置(310, 410, 510, 610, 710)的结构更加紧凑，也使整个驱动装置(310, 410, 510, 610, 710)的装配变得更加方便。

Description

手术器械、从操作设备及手术机器人
本申请要求于2020年12月19日提交中国专利局，申请号为202011510502.0，发明名称为“手术器械、从操作设备及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械领域，特别是涉及一种手术器械、使用该手术器械的从操作设备以及具有该从操作设备的手术机器人。
背景技术
微创手术是指利用腹腔镜，胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小，疼痛轻，恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作控制台及从操作设备，主操作控制台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作控制台发送的控制命令，并进行相应的手术操作。
从操作设备上连接有可以与从操作设备可拆卸的手术器械，手术器械包括驱动装置和用于执行手术的末端器械，以及用于连接末端器械和驱动装置的长轴，驱动装置用于将手术器械连接到从操作设备并接受来自从操作设备的驱动力以驱动末端器械运动，驱动装置通过缆线与末端器械连接，驱动装置通过缆线来操纵末端器械的运动。驱动装置内包括多个驱动单元，多个驱动单元与从操作设备上的多个致动器相接合，缆线的近端绕在驱动单元上，缆线的远端与末端器械相连接，驱动单元通过缆线来驱动末端器械运动。在装配手术器械或使用手术器械的过程中会存在缆线松弛的情况，需要对缆线进行张紧，现有的张紧装置存在体积较大的问题，使得整个手术器械的体积增大，在操作和使用手术器械的过程中变得不方便。
发明内容
基于此，为解决上述问题，本发明提供一种手术器械，包括驱动装置、末端器械和多个缆线，所述多个缆线连接于所述驱动装置与末端器械之间，所述驱动装置包括：
机座，所述机座包括机座本体和位于所述机座本体上的安装部；
多个驱动单元，所述多个驱动单元安装在所述安装部内，所述多个驱动单元通过所述多个缆线驱动所述末端器械运动；
导向组件，所述导向组件安装在所述安装部的中间区域，所述导向组件包括壳体、保持机构及多个张紧机构，所述保持机构和所述多个张紧机构安装在所述壳体内，所述保持机构位于所述多个张紧机构与所述多个驱动单元的中间，所述多个缆线经过所述保持机构的导向后延伸至所述多个张紧机构，所述多个张紧机构用于张紧所述多个缆线。
优选地，所述导向组件还包括第一导向机构，所述第一导向机构安装在所述壳体的中间区域，所述多个缆线经过所述第一导向机构的导向后汇聚成缆线束延伸至所述末端器械。
优选地，所述壳体包括第一壳体和安装在所述第一壳体内的第二壳体，所述保持机构安装在所述第一壳体上，所述多个张紧机构安装在所述第一壳体和所述第二壳体之间。
优选地，所述第一壳体包括第一主体、侧壁及顶部，所述侧壁从第一主体上延伸出，所述侧壁远离所述第一主体的一端与所述顶部相连接，所述保持机构安装在所述侧壁上。
优选地，所述第二壳体包括第二主体和从所述第二主体上延伸出的中心柱，所述中心柱安装在所述侧壁与所述顶部构成的腔体内，所述多个张紧机构安装在所述中心柱与所述第一壳体的侧壁之间。
优选地，所述顶部和所述中心柱的顶端具有多个导线孔，所述多个缆线经过所述第一导向机构的导向后穿过所述多个导线孔汇聚成所述缆线束。
优选地，所述第一导向机构包括多个用于为所述多个缆线导向的第一滑轮组，所述导向机构的近端的第一滑轮组安装在所述顶部，所述导向机构的远 端的第一滑轮组安装在所述中心柱内。
优选地，所述手术器械还包括第二导向机构，所述第二导向机构位于所述第一导向机构的近端或远端，所述缆线束在所述第一导向机构和所述第二导向机构之间具有第一段缆线束，所述第一段缆线束基本垂直于所述多个缆线在所述多个驱动单元与所述第一导向机构之间的缆线段。
优选地，所述驱动装置还包括位于所述驱动装置边缘处第三导向机构，所述缆线束在所述第二导向机构与所述第三导向机构之间具有第二段缆线束，所述第二段缆线束基本垂直于所述第一段缆线束。
优选地，所述多个张紧机构包括至少一个第一张紧机构，所述第一张紧机构包括：
第一张紧件，所述第一张紧件包括第一张紧块和第一推杆，所述第一推杆与所述第一张紧块通过螺纹连接；
抵挡部，所述第一推杆的末端抵接所述抵挡部，所述第一张紧块上具有为所述缆线导向的第一导向部，所述第一导向部位于所述缆线与所述抵挡部之间，所述抵挡部用于在所述第一推杆驱动所述张紧块运动时阻止所述第一推杆朝靠近所述抵挡部的方向移动，以使所述第一推杆驱动所述第一张紧块沿远离所述抵挡部的第一方向运动从而张紧被所述第一导向部导向的缆线。
优选地，所述第一张紧机构还包括第二张紧件，所述张紧件的第二张紧件包括第二张紧块和第二推杆，所述第二推杆用于驱动所述第二张紧块沿所述第一方向移动以张紧被所述第二张紧块所导向的缆线，所述第一推杆和所述第二推杆位于所述第二张紧块的异侧，所述抵挡部设置在所述第一推杆与所述第二推杆之间。
优选地，所述第一张紧机构还包括第三张紧件，所述第三张紧件包括第三张紧块和第三推杆，所述第三推杆与所述第三张紧块通过螺纹连接，所述第三推杆用于驱动所述第三张紧块沿所述第一方向移动以张紧被所述第三张紧块导向的缆线，所述第三推杆的末端与所述抵挡部相抵接，以使所述抵挡部在所述第三张紧块被驱动沿所述第一方向运动时阻止所述第三推杆沿与所述第一方向相反的第二方向移动。
优选地，所述抵挡部包括从所述侧壁和/或所述中心柱侧面延伸处的挡板，所述挡板设置在所述第一张紧块和所述第二张紧块之间，所述第二推杆的末端与所述挡板相抵接。
优选地，所述侧壁的内侧具有凹槽，所述中心柱外侧具有与所述凹槽对应的中心槽，所述第一张紧块、和/或所述第二张紧块、和/或所述第三张紧块的侧面具有导向凸起，所述导向凸起容纳在所述凹槽与所述中心槽内以用于引导所述第一张紧块、和/或所述第二张紧块、和/或所述第三张紧块的运动。
优选地，所述第一凹槽穿过所述张紧口延伸至所述机座本体的远端。
优选地，所述顶部具有多个张紧孔，所述机座主体的底部具有张紧口，所述第一推杆穿过所述张紧孔与所述第一张紧块抵接，所述第二推杆穿过所述张紧口与所述第二张紧块连接。
优选地，所述中心柱在的所述中心槽两侧还具有用于引导缆线的沟槽。
优选地，所述多个张紧机构至少还包括一个第二张紧机构，所述第二张机构包括第四张紧块和第四推杆，所述第四张紧块为所述多个缆线中的两个缆线导向，所述第四推杆用于驱动所述第四张紧块沿所述第一方向移动以张紧所述两个缆线。
一种从操作设备，所述从操作设备包括机械臂和所述的手术器械，所述手术器械安装在所述机械臂上，所述机械臂用于操纵所述手术器械运动。
一种手术机器人，所述手术机器人包括主操作设备和所述的从操作设备，所述从操作设备根据所述主操作设备的指令执行相应操作。
本发明的手术器械的驱动装置内将张紧装置和用于缆线导向的导向机构设置在一个导向组件上，导向组件作为一个整体设置在驱动装置的中心处，使多个缆线在进入导向组件后即被张紧装置所张紧又被导向汇聚成线束，将张紧装置和导向部件集成为一个导向组件，使整个驱动装置的结构更加紧凑，也使整个驱动装置的装配变得更加方便。
附图说明
图1为本发明一实施例的手术机器人的主操作控制台的结构示意图；
图2为本发明一实施例的手术机器人的从操作设备的结构示意图；
图3为本发明一实施例的手术器械的结构示意图；
图4为本发明一实施例的手术器械的示意图；
图5为本发明一实施例的驱动装置俯视图；
图6为本发明一实施例的多个手术器械的长轴靠拢状态的示意图；
图7为本发明另一实施例的手术器械的结构示意图；
图8为本发明一实施例的驱动装置的缆线布线的俯视图；
图9为本发明一实施例的驱动装置的缆线布线的俯视图；
图10为本发明一实施例的驱动装置的第一导向机构和第二导向机构的结构示意图；
图11和图12为本发明图3所示的实施例的手术器械的缆线布线示意图；
图13A为图11所示的实施例的缆线布线的俯视图；
图13B为本发明图示13A所示的实施例的缆线与第二导向机构接触的多个接触点分布示意图；
图14A至图14D为本发明一实施例的缆线与第二导向机构接触的多个接触点其他分布情况示意图；
图15为本发明一实施例的缆线布线侧视图；
图16为图15所示的实施例的缆线在第四导向机构处的布线示意图；
图17为图15所示的实施例中的第四导向机构立体图；
图18为图15所示的实施例中的缆线经过第四导向机构的示意图；
图19A-19D为本发明其他一些实施例中的第四导向机构的示意图；
图20为本发明一实施例的第一张紧机构与缆线连接的状态示意图；
图21为本发明一实施例的第一张紧机构的立体图；
图22为图21所示的实施例第一张紧机构爆炸图；
图23为本发明另一实施例的第一张紧机构的示意图；
图24A-图24C为本发明一实施例的腕部在被第一张紧机构调直的过程示意图；
图25为本发明一实施例的第二张紧机构示意图；
图26为本发明一实施例的驱动装置机座和导向组件安装示意图；
图27为本发明一实施例的导向组件的爆炸图；
图28为图26所示的实施例的导向组件的第一壳体仰视图；
图29为图26所示实施例的机座的仰视图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施方式。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本发明的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”，“水平的”，“左”，“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“远端”，“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合，文本中“缆线束”是指一束缆线中的每个缆线相互靠的比较近且延伸方向基本一致。若没有特别说明，本申请中的所称的缆线束方向或缆线的方向均指缆线束或缆线的沿长度方向的方向。
微创手术机器人一般包括从操作设备和主操作控制台，图1所示为本发明一实施例的主操作控制台100，图2所示为本发明一实施例的从操作设备200，外科医生在主操作控制台100上进行对从操作设备200的相关控制操作，从操作设备200根据主操作控制台100的输入指令执行对人体的外科手术，主操作 控制台100和从操作设备200可以置于一个手术室内，也可以置于不同的房间，甚至主操作控制台100和从操作设备200可以相距很远，例如主操作控制台100和从操作设备200分别位于不同的城市，主操作控制台100与从操作设备200可以通过有线的方式进行数据的传输，也可以通过无线方式进行数据的传输，例如主操作控制台100与从操作设备200位于一个手术室内，两者之间通过有线的方式进行数据的传输，又如主操作控制台100与从操作设备200分别在不同的城市，两者之间通过5G无线信号进行远距离数据传输。
从操作设备200包括机械臂210和设置在机械臂210远端的致动装置220，用于执行外科手术的手术器械300与致动装置220相连接，致动装置220通过其内部的多个致动器驱动手术器械运动。一个致动装置220上可以连接多个手术器械300，多个手术器械300的远端通过一个切口进入人体，从而可以减少手术切口的数量，使术后恢复更加快速。
本发明一实施例的手术器械如图3所示，手术器械300包括驱动装置310，长轴320以及位于长轴320远端的末端器械，末端器械包括腕部330和/或末端执行器器械340，驱动装置310通过接合部390与致动装置220相接合，驱动装置310内部的多个驱动单元通过多个缆线连接到腕部330和末端执行器340，驱动单元通过操纵多个缆线从而驱动腕部330和/或末端执行器340动作，缆线可以为柔性的，也可以包括柔性段和刚性的分段长条体，末端执行器340可以为电烧灼器、剪刀、钳夹、成像装置等。在其他的一些实施例中，长轴远端仅连接腕部，通过腕部的运动执行按压或挑起组织动作。
本发明一实施例的手术器械如图4所示，手术器械400的驱动装置410内具有多个驱动单元411，421，431，441，451，461，多个驱动单元411，421，431，441，451，461围绕成一个多边形，多个驱动单元411，421，431，441，451，461中的每一个驱动单元分别位于该多边形的顶点上，本实施例中的多个驱动单元为六个，从而多个驱动单元411，421，431，441，451分别位于六边形的顶点上，在其他的一些实施例中，驱动单元的数量也可以为其他数量，例如五个，七个等。
多个缆线412，422，432，442，452的近端分别绕在多个驱动单元411， 421，431，441，451上，多个缆线412，422，432，442，452的远端穿过长轴420连接到末端器械的腕部430和末端执行器440，多个驱动单元411，421，431，441，451围绕其轴线旋转从而收拉或释放多个缆线412，422，432，442，452以驱动腕部430和末端执行器440的运动。
多个缆线412，422，432，442，452在驱动装置410内经过多个导向机构的导向后延伸至长轴420内，多个导向机构包括第一导向机构471，第二导向机构472以及第三导向机构473，第一导向机构471位于多个驱动单元411，421，431，441，451围成的多边形中间区域，第二导向机构472位于比第一导向机构471更靠近驱动装置410的近端的位置，第三导向机构473位于长轴420的近端处。缆线462的一端绕在驱动单元461上，缆线462的另一端绕在长轴420的近端，驱动单元461绕其旋转轴旋转进而收拉或者释放缆线462从而驱动长轴420围绕长轴420进行旋转。在其他的实施例中，第二导向机构472可以位于比第一导向机构471更靠近驱动装置410的远端的位置。
多个缆线412，422，432，442，452经过第一导向机构471的导向后汇聚成缆线束并以缆线束的形式延伸末端器械，缆线束包括第一段缆线束Z1、第二段缆线束Z2及第三段缆线束Z3。第一段缆线束Z1沿第一方向延伸至第二导向机构472并经过第二导向机构472的导向后形成第二段缆线束Z2，第二段缆线束Z2沿基本非平行于第一方向的第二方向延伸至第三导向机构473并经过第三导向机构473的导向后形成第三段缆线束Z3，第三段缆线束Z3穿过长轴420一直延伸至腕部430和末端执行器440。
第一导向机构471位于多个驱动单元411，421，431，441，451的多边形的中间位置，多个缆线412，422，432，442，452以从该多边形周围向中间汇聚的方式延伸至第一导向机构471，然后再经过第一导向机构471的导向后汇聚形成第一段缆线束Z1。具体的，多个缆线412，422，432，442，452在多个驱动单元411，421，431，441，451与第一导向机构471之间形成多个第一缆线段4121，4221，4321，4421，4521，多个第一缆线段4121，4221，4321，4421，4521投影到垂直于多个驱动单元411，421，431，441，451中任一个驱动单元的旋转轴线的投影平面S1上的投影线段不相交。
如图5所示，多个第一缆线段4121，4221，4321，4421，4521的在投影平面S1上的多个投影线段4121a，4221a，4321a，4421a，4521a都不相交，多个第一缆线段4121，4221，4321，4421，4521之间存在多个第一夹角x1，x2，x3，x4，x5，多个第一夹角x1，x2，x3，x4，x5以第一导向机构471的中心作为顶点，多个第一夹角x1，x2，x3，x4，x5的边经过多个投影线段4121a，4221a，4321a，4421a，4521a，多个第一夹角x1，x2，x3，x4，x5是指投影线段4121a，4221a，4321a，4421a，4521a中两条相邻的投影线段形成的较小的夹角，即多个第一夹角x1，x2，x3，x4，x5均为小于或等于180°。由于第一导向机构471位于多个驱动单元411，421，431，441，451的中间位置，从而多个第一夹角x1，x2，x3，x4，x5之和等于360°，这样使得多个第一夹角x1，x2，x3，x4，x5中的每个角度都尽可能的大，以使多个缆线412，422，432，442，452之间有更大的空间进行布线，避免多个缆线412，422，432，442，452之间出现相互干扰的情况。
再次回到图4，第一段缆线束Z1位于第一导向机构471和第二导向机构472之间，第一段缆线束Z1包括多个缆线412，422，432，442，452的长度方向基本相同的多个第二缆线段4122，4222，4322，4422，4522，多个第二缆线段4122，4222，4322，4422，4522相互之间基本平行且相距较近，从而使第二段缆线束Z1所占空间尽可能的小，以充分利用驱动装置410内的空间来设置其他机构，例如缆线的张紧机构。在其他实施例中，第二段缆线束Z1中的多个第二缆线段也可以不都平行，但需使多个第二缆线段的方向基本一致。
多个第一缆线段4121，4221，4321，4421，4521呈从第一导向机构471向多个驱动单元411，421，431，441，451发散的状态，故多个第一缆线段4121，4221，4321，4421，4521所占用是位于驱动装置470远端的水平方向第一空间。第一段缆线束Z1的方向垂直于多个第一缆线段4121，4221，4321，4421，4521中任一线缆段的方向，而第二导向机构472位于第一导向机构471的近端，故位于第一导向机构471和第二导向机构472之间的第一段缆线束Z1所占的用是位于驱动装置470中间区域的竖直方向的第二空间，第一空间与第二空间基本垂直且仅在第一导向机构471处相交，但第一空间和第二空间不会重叠，因此 第一段缆线束Z1不会影响多个第一缆线段4121，4221，4321，4421，4521的布线，也不会与多个第一缆线段4121，4221，4321，4421，4521相干扰。在其他一些实施例中，第一段缆线束Z1也可以不与多个第一缆线段4121，4221，4321，4421，4521垂直，或者第一段缆线束Z1中的缆线段与多个第一缆线段4121，4221，4321，4421，4521垂直，从而第一段缆线束Z1所在的第二空间与多个第一缆线段4121，4221，4321，4421，4521所在第一空间具有一定的夹角，但由于两个空间不重叠，第一段缆线束Z1依然不会影响到多个第一缆线段4121，4221，4321，4421，4521的布线，也不会与多个第一缆线段4121，4221，4321，4421，4521产生干扰。
第二段缆线束Z2位于第二导向机构472和第三导向机构473之间，第二段缆线束Z2包括多个缆线412，422，432，442，452的多个第三缆线段4123，4223，4323，4423，4523，多个第三缆线段4123，4223，4323，4423，4523的方向大致相同且相距较近，以使第二段缆线束Z2所占用的第三空间也尽少，在其他的一些实施例中，第二段缆线束Z2的多个第三缆线段之间至少存在两个以上缆线段相互平行，以使第二段缆线束Z2所占用第三空间更少。
第二段缆线束Z2朝长轴420的近端所在的位置延伸，第一段缆线束Z1的方向(第一方向)基本垂直于第二段缆线束Z2的方向(第二方向)，由于第二导向机构472将第二段缆线束Z2与多个第一缆线段4121，4221，4321，4421，4521分别隔离在驱动装置410内的不同的水平面上，即第二段缆线束Z2位于驱动装置410的近端，而多个第一缆线段4121，4221，4321，4421，4521位于驱动装置410远端，故第二段缆线束Z2所在的第三空间不会与多个第一缆线段4121，4221，4321，4421，4521所在的第一空间重叠，使第二线束Z2不会影响多个第一缆线段4121，4221，4321，4421，4521的布线，第二段缆线束Z2也不会与多个第一缆线段4121，4221，4321，4421，4521产生干扰，并且第二段缆线束Z2所在的第三空间也不会于第一段缆线束Z1所在第二空间重叠，因此第二段缆线束Z2也不会影响第一段缆线束Z1的布线。在其他的一些实施例中，第二段缆线束Z2也可以不与第一段缆线束Z1垂直，由于第三导向机构473不位于多个第一缆线段4121，4221，4321，4421，4521所在第一空间内，因此即使第 二段缆线束Z2也不与第一段缆线束Z1垂直，第二段缆线束Z2所在的第三空间依然不会与多个第一缆线段4121，4221，4321，4421，4521的第一空间重叠，第二线束Z2不会影响多个第一缆线段4121，4221，4321，4421，4521的布线，并且第二段缆线束Z2所在的第三空间也不会于第一段缆线束Z1所在第二空间重叠，因此第二段缆线束Z2也不会影响第一段缆线束Z1的布线。
第一导向机构471包括多个第一滑轮413，423，433，443，453，第二导向机构472包括多个第二滑轮414，424，234，444，454，多个第一滑轮413，423，433，443，453和多个第二滑轮414，424，234，444，454中的每一滑轮都包括轮轴和用于为多个缆线412，422，432，442，452导向的导向部，导向部旋转安装在轮轴上，在其他的一些实施例中滑轮的导向部和轮轴也可以使固定连接，从而滑轮的导向部和轮轴一起旋转。
多个第一滑轮413，423，433，443，453的轮轴基本垂直于多个驱动单元411，421，431，441，451中的任一驱动单元的旋转轴，第一段缆线束Z1的长度方向与多个驱动单元411，421，431，441，451的旋转轴相同或大致相同，调整第一导向机构471和张紧机构(图未示出)在驱动装置410中的高度即沿驱动装置410的近端或远端的方向调整第一导向机构471在驱动装置410的位置，不会对多个第一缆线段4121，4221，4321，4421，4521布线和第一段缆线束Z1的方向产生影响，不会影响到第一段缆线束Z1的传输驱动力的效率，从而可以针对不同的缆线布线需要或驱动装置410的各部件的布局需要，调整第一导向机构471的高度。
以第一缆线412的布线为例，第一缆线412经过第一导向机构471的第一滑轮413的导向后延伸到第二导向机构472，第一滑轮413的轮轴与驱动单元411旋转轴D1垂直，第一缆线412沿滑轮413的导向部上用于容纳第一缆线412的沟槽的切线方向进入该沟槽，使无论如何调整第一滑轮413的在驱动装置410内的高度，第一缆线412都能沿第一滑轮413的沟槽的切线进入或离开该沟槽，以使调节第一滑轮413的高度不会影响到第一缆线412进入第一滑轮413的沟槽的方向，不会影响到第一缆线412的传输驱动力的效率，使第一滑轮413的高度可调节，即第一导向机构471的高度可调节。
多个第二滑轮414，424，234，444，454的轮轴也都基本垂直于多个驱动单元411，421，431，441，451中的任一驱动单元的旋转轴，故调整第二导向机构472和/或张紧机构的高度，不会影响到第一段缆线束Z1和第二段缆线束Z3的传输驱动力的效率。以第一缆线412为例，第一缆线412经过第二导向机构472的第二滑轮414的导向后延伸至第三导向机构473，由于第二滑轮414的轮轴与驱动单元411的旋转轴D1垂直，无论如何调整滑轮414位于驱动装置410的高度，第一缆线412的第二缆线段4122和第三缆线段4123都能沿第二滑轮412的导向部上的沟槽的切线方向进入或离开第二滑轮414的沟槽，使第二导向机构472和第一导向机构471一样在驱动装置410内的高度可以调节。
长轴420的近端位于驱动装置410的外壳410a的边缘处(所谓边缘处是指外壳的沿周边附近，即外壳的两个或三个侧面交汇处附近)，这可以使多个手术器械的长轴420可以靠拢在一起，以使多个长轴420的远端可以聚拢在一起从一个切口进入人体，减少了手术切口的数量。如图6所示为多个手术器械300的俯视图，手术器械300的长轴320位于手术器械300的边缘处，因此多个手术器械300的手术长轴320能靠拢在一起，使多个长轴320远端的末端器械从一个切口进入人体。
再次回到图4，第三段缆线束Z3包括多个缆线412，422，432，442，452的多个第三缆线段4124，4224，4324，4424，4524，第三缆线段4124，4224，4324，4424，4524相互之间基本平行，第三导向机构473位于手术器械400的边缘处，且第三导向机构473位于长轴420的近端附近的位置。
第三导向机构473包括为多个缆线412，422，432，442，452导向的多个第三滑轮，第三导向机构473的多个第三滑轮中的各个滑轮相距比较近，使第三段缆线束Z3的多个第三缆线段4124，4224，4324，4424，4524中的各缆线段彼此靠的更近，以使第三段缆线束Z3能通过空间较小的长轴420延伸至腕部430和末端执行器440。
一实施例中，多个第三滑轮的轮轴和多个第一滑轮的轮轴，多个第二滑轮的轮轴一样，也与多个驱动单元411，421，431，441，451中的任一驱动单元的旋转轴垂直，因此，第三导向机构473也和第一导向机构471，第二导向机 构472一样在驱动装置410内的高度可以调节。
上述的第一导向机构471，第二导向机构472以及第三导向机构473在驱动装置410的高度可调节，不仅是第一导向机构471或第二导向机构472或第三导向机构473作为一个整体可以调节，也可以是第一导向机构471或第二导向机构472或第三导向机构473中一个导向机构中的某部分元件在驱动装置410内的高度可以调节，例如第一导向机构471作为一个整体在驱动装置410内的高度可以调节，可以是第一导向机构471的多个第一滑轮413，423，433，443，453中的一个滑轮或者多个滑轮在驱动装置410内的高度可以调节。
通过调节第一导向机构471和/或第二导向机构472，和/或第三导向机构473导向机构在驱动装置410内的高度，可以调节多个缆线412，422，432，442，452的张紧度和多个缆线412，422，432，442，452在驱动装置410内水平高度的布线。
多个缆线412，422，432，442，452的第一缆线412经过第一导向机构471的第一滑轮413的导向后再经过第二导向机构472的第二滑轮414的导向后延伸至第三导向机构473，第一缆线412在驱动单元411和第一滑轮413之间具有第一缆线段4121，在第一滑轮413和第二滑轮423之间具有第二缆线段4122，在第二滑轮423和第三导向机构473之间具有第三缆线段4223，第一缆线段4121和第二缆线段4122位于第一平面上，第二缆线段4122和第三缆线段4123位于第二平面上，第一滑轮413的轮轴与第二滑轮414的轮轴之间的夹角为锐角，即滑轮413的轮轴与滑轮414的轮轴即非垂直与非平行第一平面，从而第一平面和第二平面相交且不重叠。
本发明一实施例中，多个缆线412，422，432，442，452的第二缆线422的第一缆线段4221和第二缆线422的第二缆线段4222位于第三平面上，第二缆线段4222和第二缆线422的第三缆线段4223位于第四平面上，为第二缆线422导向的第一滑轮423的轮轴基本垂直于为第二缆线422导向的第二滑轮424的轮轴，从而第三平面基本垂直于第四平面。
本发明一实施例中，多个缆线412，422，432，442，452的第三缆线432的第一缆线段4321和第三缆线422的第二缆线段4322位于第五平面上，第二 缆线段4322和第二缆线432的第三缆线段4323位于第六平面上，为第三缆线432导向的第一滑轮433的轮轴基本平行于为第三缆线432导向的第二滑轮434的轮轴，从而第五平面基本平行于第六平面。
可以理解的是，驱动装置400中的多个缆线412，422，432，442，452可以全部是如第一缆线412的布线方式布线；或者多个缆线412，422，432，442，452的部分缆线如第一缆线412的布线方式布线，而其他部分缆线如第二缆线422的布线方式部分或如第三缆线432的布线方式布线；或者多个缆线412，422，432，442，452的部分缆线如第二缆线422的布线方式布线，其他部分如第三缆线432的布线方式布线。
驱动装置400中的多个缆线412，422，432，442，452经过上述布线方式布线后，多个缆线412，422，432，442，452中至少一个缆线经过第二导向机构472的导向后进行重新换面，即多个缆线412，422，432，442，452中至少一个缆线在第一导向机构471两侧的缆线段所在的平面与该缆线第二导向机构472两侧的缆线段所在的平面相交不重叠。从而多个缆线412，422，432，442，452在经过第二导向机构472的导向后形成的第二段缆线束Z2沿驱动装置410的边缘处延伸，多个缆线412，422，432，442，452在经过第二导向机构472的导向后能从驱动装置472的边缘处进入长轴472内，以使长轴420能被设置在驱动装置410的边缘处。
如图4所示的实施例中，第二段缆线束Z2在经过第三导向机构473的导向后进入位于驱动装置410边缘处的长轴420内，长轴420的轴线与接合部490垂直，从而致动装置220的近端与驱动装置410的接合部490进行接合。在其他的一些实施例中，驱动装置410的接合部490位于驱动装置470的近端，从而致动装置220的远端与驱动装置140的接合部490进行接合。
本发明一实施例的手术器械如图7所示，多个缆线512，522，532，542，552的近端固定在多个驱动单元511，521，531，541，551，多个缆线512，522，532，542，552的远端经过第一导向机构571和第二导向机构572的导向后以缆线束的方式延伸至驱动装置410边缘处然后直接进入至长轴520内最后延伸至腕部530和末端器械540，相比较图4所示的实施例使用三个导向机构对多个缆 线进行导向，本实施例仅使用两个导向机构进行导向，使用较少数量的导向机构可以使缆线与导向机构的摩擦力减少，缆线传输的驱动力消耗较少，使缆线对驱动力的传输效率更高。但由于驱动装置510的结合部590与长轴520的轴线平行，因此致动装置220的侧面与驱动装置510的接部590进行接合，使手术器械510安装到致动装置220上的过程不方便。
本发明一实施例的手术器械的驱动装置如图8所示，图8为驱动装置610的俯视图，驱动装置610的多个驱动单元611，621，631，641，651排列成一排，第一导向机构671位于多个驱动单元611，621，631，641，651的一侧，多个缆线612，622，632，642，652从多个驱动单元611，621，631，641，651引出后经过第一导向机构671的导向后汇聚成第一段缆线束Z1，Z1经过第二导向机构(图未示出)的导向后汇聚成第二段缆线束Z2，第二段缆线束Z2延伸至驱动装置610的边缘处后直接进入或者通过第三导向机构导向后再进入长轴内，本施例中的第一导向机构671虽然不是位于多个驱动单元611，621，631，641，651中间，多个缆线612，622，632，642，652在多个驱动单元611，621，631，641，651与第一导向机构671之间的各线缆段之间的夹角虽然没有图5所示的夹角大，但仍然会大于现有技术中的类似夹角。
本发明一实施例的手术器械的驱动装置如图9所示，如图9为驱动装置710的俯视图，驱动装置710包括多个驱动单元701，711，721，731，741，751，761，771，781，791，在多个驱动单元701，711，721，731，741，751，761，771，781，791所围成的多边形内具有两个第一导向机构和两个第二导向机构(图未示出)，多个缆线702，712，722，732，742从多个驱动单元701，711，721，731，741引出后经过第一导向机构导向后汇聚成第一段缆线束Z1，Z1经过第二导向机构导向后汇聚成第二段缆线束Z2，多各缆线752，762，772，782，792从多个驱动单元751，761，771，781，791引出后经过另一第一导向机构的导向后汇聚成第一段缆线束Z1’，Z1’经过另一第二导向机构后汇聚成第二段缆线束Z2’，第二段缆线束Z2和Z2’延伸至驱动装置710的边缘处后直接进入或者通过第三导向机构的导向后进入手术器械的长轴内，由于驱动装置710具有更多数量的驱动单元，可以驱动手术器械的腕部和末端器械的更多自由度的运动。
本发明一实施例的驱动装置的导向机构如图10所示，第一导向机构871和第二导向机构872都为管道形式，第一导向机构871包括呈分散状态的多个导向管871a，871b，871c，871d，871e，多个缆线812，822，832，842，852经过多个导向管871a，871b，871c，871d，871e的导向后汇聚成第一段缆线束Z1，Z1经过第二导向机构3872的导向后形成第二导向束Z2。第一导向机构871的多个导向管871a，871b，871c，871d，871e可以位于不同的高度，以接收来自不同高度的驱动单元的缆线。管道形式的导向机构没有复杂的为缆线导向的滑轮布局，结构更简单。在其他一些实施例中，第一导向机构可以为图10所示的管道形式结构而第二导向机构为图4所示的多滑轮形式结构，或者第一导向机构为图4所示的多滑轮形式结构，第二导向机构为图10所示的管道形式。
图3所示实施例中的的手术器械300的驱动装置310的内部结构如图11所示，驱动装置310多个驱动单元、第一导向机构371，第二导向机构372和第三导向机构373，多个驱动单元包括多个第一驱动单元311，321和多个第二驱动单元331，341，351，第一导向机构371位于多个驱动单元的中心区域，第二导向机构372位于第一导向机构371的近端，第三导向机构373位于外壳310a的边缘处。
多个缆线312a，312b，312c，312d，322a，322b，322c，322d的一端绕在第一驱动单元311，321上，多个缆线332a，332b，342a，342b，351a，351b的一端绕在第二驱动单元331，341，351，多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b经过第一导向机构371的导向后以缆线束的形式延伸，缆线束具有多层子缆线束，各层子缆线束相互之间基本平行。
缆线束包括第一段缆线束Z1、第二段缆线束Z2及第三段缆线束Z3，其中第一段缆线束Z1中的各缆线相互之间基本平行。第一线束Z1沿(图12所示B1方向)延伸至第二导向机构372并经过第二导向机构372的导向后形成第二段缆线束Z2，第二段缆线束Z2中至少两条以上的缆线相互之间是平行的，第二段缆线束Z2沿第二方向(图12所示B2方向)延伸至第三导向机构373，并经过第三导向机构373的导向后沿第三方向(图12所示B3方向)形成第三段缆线 束Z3，第三段缆线束Z3中的各缆线之间也基本平行，第三段缆线束Z3穿过长轴320连接到腕部330和末端执行器340。在其他一些实施例中，驱动装置310仅设置第一导向机构371和第二导向机构372，从而和图7所示的实施例一样，第二段缆线束Z2直接进入长轴320内。
第一驱动单元311包括一体成型的主轴311a、第一绞盘316a、第二绞盘316b、第一固定块317a、第二固定块317b以及第三固定块317c，第二固定块317b设置在主轴311a的近端，第三固定块317c设置在主轴311a的远端，第一绞盘316a和第二绞盘316b的直径不同，第一绞盘316a设置在第一固定块317a和第二固定块317b之间，第二绞盘316b设置在第二固定块317b和第三固定块317c之间。第一驱动单元311一体成型，使第一驱动单元311的制造和装配都比较方便。在其他的一些实施例中，第一驱动单元也可以不是一体成型的，即第一驱动单元的第一绞盘的第二绞盘独立安装在主轴上，且能相对主轴分别转动。
缆线312a的第一端固定在第一固定317a上，缆线312a以第一绕线方式(如逆时针方向)绕在第一绞盘316a上，缆线312b的第一端固定在第二固定块317b，缆线312b以与第一绕线方式相反的第二绕线方式(如顺时针方向)绕在第一绞盘316a，缆线312c和312d的第一端分别固定在第三固定块317c上，并且分别以第一绕线方式和第二绕线方式绕在第二绞盘316b上，缆线312a，312b，312c，312d以相互之间基本平行的方式从第一驱动单元311延伸至第一导向机构371的第一滑轮组313，经过第一滑轮组313的导向后仍然以相互之间基本平行的方式延伸至第二导向机构372。
第一驱动单元311的主轴311a围绕旋转轴D1旋转时，第一驱动单元311可以通过操纵缆线312a，312b，312c，312d来驱动腕部330上距离末端执行器340的距离不同的两个关节的运动。第一驱动单元321与第一驱动单元311具有基本相同的结构，同样的缆线322a，322b，322c，322d也以相互之间基本平行的方式从第一驱动单元311延伸至第一导向机构370的第一滑轮323，并经过第一滑轮323的导向后仍然以相互之间基本平行的方式延伸至第二导向机构372。
第二驱动单元341也是一体成型，第二驱动单元341包括分别设置在主 轴341a远端和近端的第一固定块347a和第二固定块347b，第一绞盘346设置在第一固定块347a和第二固定块347b之间，缆线342a的一端固定在第一固定块347a上，缆线342b的一端固定在第二固定块347b上，缆线342a，342b从第二驱动单元341以相互之间基本平行的方式从第二驱动单元341延伸至第一导向机构371的第一滑轮组343，并经过第一滑轮组343的导向后仍然以基本平行的方式延伸至第二导向机构372，第二驱动单元341通过操纵缆线342a，342b来驱动腕部330的关节或者末端执行器340的运动。第二驱动单元331，351和第二驱动单元341的结构基本相同，缆线332a和332b以相互之间基本平行的方式从第二驱动单元331经过第一滑轮333延伸至第二导向机构372，缆线352a和352b以相互之间基本平行的方式从第二驱动单元351经过第一滑轮333延伸至第二导向机构372。在其他的一些实施例中，驱动装置的多个驱动单元也可以都是第一驱动单元或者都是第二驱动单元。
和图4所示的实施例类似，多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b中的从不同驱动单元引出的相邻两缆线之间的多个第一夹角之为360，从而使多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b获得更大的布线空间。图13为图11的俯视图，图13隐藏了第二导向机构372以更清楚地展示缆线的布线。如图13所示，从同一驱动单元所引出的多个缆线在该驱动单元和第一导向机构371之间的缆线段相互之间基本平行，因此多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b在驱动单元311，321，331，341，351与第一导向机构371之间的第一空间内不会相互干扰。
第一导向机构371的多个第一滑轮组313，323，333，343，353位于三个不同的水平面上，其中，多个第一滑轮组313，323，333，343，353中的相邻的两个第一滑轮位于不同的水平面上，以使在第一段缆线束Z1中的各缆线相互之间不干扰的前提下整个第一导向机构371在水平方向上所占用的体积更小。具体地，第一滑轮组313和第一滑轮组323位于驱动装置310近端的同一水平面上，第一滑轮组333和第一滑轮组353位于驱动装置310远端的同一水平面 上，第一滑轮组343位于第一滑轮组313与第一滑轮组333之间的水平面上。
第二导向机构372的包括用于为第一线束Z1导向的多个第二滑轮组372a，372b，372c，372d，多个第二滑轮组372a，372b，372c，372d中的每一滑轮组中的各滑轮共用一个轮轴，多个第二滑轮组372a，372b，372c，372d的各轮轴之间基本相互平行，多个第二滑轮组372a，372b，372c，372d分别位于多个第一平面C1,C2,C3,C4上，每个第二滑轮组可以为多个缆线导向，其中一个第二滑轮组既可以为来自同一驱动单元的多个缆线导向，也可以为来自不同的驱动单元的多个缆线导向。
如图12所示，第二导向机构372的第二滑轮组372a包括轮轴3721和设置在轮轴3721上的多个滑轮导向部3722，3723，3724，导向部3722、导向部3723和导向部3724分别为来自第二驱动单元321的缆线322c，来自第一驱动单元341的缆线342a和来自第二驱动单元311的缆线312d导向。
如图15所示，第三导向机构373的多个第三滑轮组373a，373b，373c，373d也分别位于多个第二滑轮组372a，372b，372c，372d所在的多个第一平面C1,C2,C3,C4上，使得第三滑轮组373a，373b，373c，373d与多个第二滑轮组372a，372b，372c，372d两两分列在多个第一平面C1,C2,C3,C4上，即第二滑轮组372a与第三滑轮组373a基本位于第一平面C1上，第二滑轮组372b与第三滑轮组373b基本位于第一平面C2上，第二滑轮组372c与第三滑轮组373c基本位于第一平面C3上，第二滑轮组372d与第三滑轮组373d基本位于第一平面上C4，多个第一平面C1,C2,C3,C4的各平面相互之间基本平行。
多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b经过上述方式的布线后，使第二导向机构372的多个第二滑轮组372a，372b，372c，372d中的每个滑轮组的导向部的数量基本与处于同一第一平面上的第三滑轮组的导向部的数量相同，而且至少存在一个第二滑轮组的导向部数量与处于同一第一平面上的第三滑轮组的导向部数量完全相同，从而使第二段缆线束Z2的缆线分层分布，如图12和图15所示，第二段缆线束Z2被分成多层子缆线束Z2a，Z2b，Z2c，Z2d，不同层的子缆线束Z2a，Z2b，Z2c，Z2d中之间相互基本平行，使不同层的子缆线束Z2a，Z2b， Z2c，Z2d之间不会相互干扰。
处于同一第一平面上的第二滑轮组和第三滑轮组之间的距离从驱动装置的远端向近端依次递减，使得第一段缆线束Z1和第三段缆线束Z3位于第二导向机构372和第三导向机构的373的外侧，第一段缆线束Z1和第三段缆线束Z3相互之间基本平行，第二段缆线束Z2位于第二导向机构372和第三导向机构的372之间，第二段缆线束Z2基本垂直于第一段缆线束Z1和第三段缆线束Z3，从而第一缆绳束Z1和第三段缆线束Z3不会与第二段缆线束Z2的不同层的子缆线束Z2a，Z2b，Z2c，Z2d交叉，使第一缆绳束Z1和第三段缆线束Z3不会影响第二段缆线束Z2的布线。
和图4所示的实施例一样，多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b经过第二导向机构的导向后，每个缆线都进行了重新换面的布线，例如，第一缆线312a在第一滑轮313和驱动单元311之间的缆线段与第一缆线312a在第一滑轮313和第二滑轮372d之间的缆线段位于第二平面上，第一缆线312a在第一滑轮313和第二滑轮372d之间的缆线段与第一缆线312a在第二滑轮372d与第三滑轮373c之间的缆线段位于第三平面上，第二平面与第三平面相交不重叠。从而多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b在经过第二导向机构372的导向后形成的第二段缆线束Z2沿驱动装置310的边缘处延伸，以使长轴320能被设置在驱动装置310的边缘处。
多个第一滑轮组313，323，333，343，353包括多个第一共轴滑轮313，323，343和多个第一分轴滑轮353，333，多个第一共轴滑轮313，323，343中的每个滑轮共用一个轮轴，即一个轮轴上具有多个导向部，多个第一分轴滑轮353，333的每个滑轮中的每个滑轮包括一个轮轴和一个导向部，即每个导向部单独安装在一个轮轴上。
在第一共轴滑轮的轮轴不与第二导向机构372的多个第二滑轮组372a，372b，372c，372d的轮轴平行时，通过同一第一共轴滑轮导向的缆线被不同的第二滑轮所导向，如图12所示，多个第一共轴滑轮313，323，343的轮轴都不与多个第二滑轮多个第二滑轮372a，372b，372c，372d的轮轴平行，其中第一 共轴滑轮343的轮轴与多个第二滑轮372a，372b，372c，372d的轮轴成锐角的夹角，第一共轴滑轮313和323的轮轴与多个第二滑轮372a，372b，372c，372d的轮轴基本垂直。第一共轴滑轮313的轮轴3131上设置有导向部3132，3133，3134，3135，经过导向部3132，3133，3134，3135导向的缆线312d，312b，312a，312c分别被第二导向机构372的第二滑轮372a，372b，372c，372d所导向后延伸至第三导向机构373的第三滑轮373a，373b，373c，373d。
如图12和图13A所示，第一段缆线束Z1在进入第二导向机构372的第二滑轮组372a上的多个导向部3722，3723，3724的沟槽时与多个导向部3722，3723，3724的沟槽相接触，第一段缆线束Z1与多个导向部3722，3723，3724相接触的多个接触点位于直线r1上，相同地，第一段缆线束Z1与第二滑轮组372b，372c，372d开始接触时也具有多个接触点，接触点为图13中黑点所示，其中多个方形的黑点表示固定接触点P1，固定接触点P1是经第一共轴滑轮313，323，343导向后的缆线与第二滑轮组的接触点，多个圆形的黑点表示可调接触点P2，可调接触点P2是经第一分轴滑轮333，353导向后的缆线与第二滑轮组的接触点，多个接触点P1、P2分别位于相互之间基本平行的直线r2，r3，r4上。
多个第二滑轮组372a，372b，372c，372d的位置固定不变，故直线r1，r2，r3，r4的中各直线之间的距离基本固定不变，因此第一共轴滑轮313，323，343的轮轴相对于直线r1，r2，r3，r4的位置也固定，若第一共轴滑轮313，323，343相对直线r1，r2，r3，r4的位置改变，则可能出现第一段缆线束Z1中的部分缆线段相互之间不平行的情况。例如第一共轴滑轮343的轮轴与直线r1之间的夹角大概为45°，缆线342a经过第一共轴滑轮343的一个导向部导向后延伸至第二滑轮372a，缆绳342a与第二滑轮372a的接触点位于直线r1，缆线342b经过第一共轴滑轮343的另一个导向部导向后延伸至第二滑轮372b，缆线342b与第二滑轮372b的接触点位于直线r2上，若第一共轴滑轮343的位置偏移，则可能出现以下两种情况：缆绳342a与第二滑轮372a的接触点偏移出直线r1，或者缆线342b与第二滑轮372b的接触点偏移出直线r2。出现上述两种情况中的任一种情况，都将使缆线342a或缆线342a与第一段缆线束Z1中的其他缆线不平行，从而影响到缆线传输驱动力效率。
通过调整多个第一分轴滑轮333，353的各子滑轮的相对位置可以改变上述僵硬的布线方式，通过调整多个第一分轴滑轮333，353的各子滑轮可以使缆线灵活地被选择由第二导向机构372的哪个第二滑轮组所导向，换而言之，通过调整多个第一分轴滑轮333，353的各子滑轮的相对位置可以使缆线适应具有不同导向部数量的第二滑轮组，从而可以灵活的配置第二滑轮372a，372b，372c，372d上的每个滑轮所导向的缆线的数量。例如第一分轴滑轮353包括子滑轮353a，353b，子滑轮353a和子滑轮353b不共用轮轴，使得子滑轮353a和子滑轮353b可以在水平面上相对移动，从而可以使经过第一分轴滑轮353导向的缆线352a，352b都通过第二导向机构372的第二滑轮组372b的导向，而不是像第一共轴滑轮那样需要使通过该共轴滑轮导向的多个缆线通过不同第二滑轮组导向。
第一分轴滑轮333，353设置在第一导向机构371的最远端，从而在在调整第一分轴滑轮333，353的各子滑轮时，第一分轴滑轮333，353的各子滑轮不会和第一段缆线束Z1中的缆线产生干扰。
图13B为图13A接触点处的放大示意图，如图13B所示，缆线322c，342a，352a经过第一导向机构371的导向后延伸至第二导向机构372的第二滑轮372a并经过第二滑轮372a的导向后延伸至第三导向机构的第三滑轮组373a，从而直线r1上具有三个固定接触点P1。
缆线322a，342b，352b，352a，312b经过第一导向机构371的导向后延伸至第二导向机构372的第二滑轮组372b并经过第二滑轮372b的导向后延伸至第三导向机构373的第三滑轮组373b，从而直线r2上具有五个接触点，该五个接触点包括三个固定接触点P1和两个可调接触点P2。
缆线322b，332a，332b，312a经过第一导向机构371的延伸至第二导向机构372的第二滑轮372c并经过第二滑轮组372c的导向后延伸至第三导向机构373的第三滑轮组373c，从而直线r3上具有四个接触点，该四个接触点包括两个固定接触点P1和两个可调接触点P2。
缆线322d，312c经过第一导向机构371的导向后延伸至第二导向机构372的第二滑轮组372d并经过第二滑轮组372d的导向后延伸至第三导向机构373 的第三滑轮组373d，从而直线r4上具有两个固定接触点P1。通过调整第一分轴滑轮333，353可以使多个可调接触点P2位于直线r1至直线r4上的任一位置。
通过调整第一分轴滑轮333，353，可以得到一些其他缆线布线方式的接触点分布。如图14A所示，通过调整第一分轴滑轮333的各子滑轮使其适应第二滑轮组372c和第二滑轮组372d具有三个导向部的情形，即直线r3和直线r4上具有3个接触点情形。
如图14B所示，通过调整第一分轴滑轮353的各子滑轮使其适应第二滑轮组372a具有五个导向部和第二滑轮组372b三个导向部的情形，即直线r1上具有五个接触点，直线r2上具有3个接触点。
如图14C所示，通过调整第一分轴滑轮333的各子滑轮使其适应第二滑轮组372c具有两个导向部和第二滑轮组372d具有四个导向部的情形，即r3上具有2个接触点，r4上具有4个接触点。
如图14D所示，通过调整第一分轴滑轮333和第一分轴滑轮353的各子滑轮，使其适应于第二滑轮组372b上具有4个导向部和第二组滑372d上具有3个导向部的情形，即直线r2上具有4个接触点，直线r4上具有三个接触点。
在其他的一些施例中，驱动装置310可以如图7所示的实施例一样，仅包括第一导向机构371和第二导向机构372，而不包括第三导向机构373，使长轴320沿于驱动单元的旋转方向垂直的方向延伸。
图15为图12的侧视图，为了更清楚的展示驱动装置310的缆线布线情况，图15隐去了部分驱动单元并显示了一些图12中不具有的部件。如图15所示，第一段缆线束Z1在经过第一导向机构371的导向布线后，第一段缆线束Z1中的各缆线相互之间基本平行，且第一段缆线束Z1形成多层缆线束的结构，即第一段缆线束Z1包括多层子缆线束Z1a，Z1b，Z1c，Z1d，多层子线束Z1a，Z1b，Z1c，Z1d经过第二导向机构372的多个第二滑轮372a，372b，372c，372d的导向后形成多层子缆线束Z2a，Z2b，Z2c，Z2d。
如图16和图17所示，第二段缆线束Z2经过第三导向机构373的导向后形成第三段缆线束Z3，第三段缆线束Z3经过第四导向机构374形成第四段缆线束Z4，第四段缆线束Z4穿过长轴320延伸至腕部330和末端执行器340，第 四导向机构374包括本体3741，本体3741往壳体310a内侧延伸出两个固定座3742，固定座用于将本体3741固定在外壳310a上，本体3741上还具有供多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b通过的多个导向孔312a’，312b’，312c’，312d’，322a’，322b’，322c’，322d’，332a’，332b’，342a’，342b’，351a’，351b’。
多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b在经过第三导向机构373的多个第三滑轮组372a，372b，372c，372d的导向后而离开多个第三滑轮组373a，373b，373c，373d的多个接触点分别位于多个第二直线r5，r6，r7，r8上，多个第二直线r5，r6，r7，r8投影到第四导向机构3741上形成多个第三直线j1，j2，j3，j4，多个第三直线j1，j2，j3，j4基本平行于多个第二滑轮372a，372b，372c，372d的轮轴，多个导向孔312a’，312b’，312c’，312d’，322a’，322b’，322c’，322d’，332a’，332b’，342a’，342b’，351a’，351b’分别排列在多个第三直线j1，j2，j3，j4上，即多个导向孔的排数与第三滑轮组的数量相同。
多个第三直线j1，j2，j3，j4中每条直线上的导向孔的排序方式与多个第二直线r5，r6，r7，r8中每条直线上的导向部的排列方式基本相同，即多个第三直线j1，j2，j3，j4中每条直线上的导向孔的数量与多个第二直线r5，r6，r7，r8中每条直线上的导向部的数量相同，多个第三直线j1，j2，j3，j4中每条直线上的导向孔之间的距离与多个第二直线r5，r6，r7，r8中每条直线上的导向部之间的距离也基本相同，从而使第三段缆线束Z3的依然是分层的布线机构，且第三段缆线束Z3的层数与第二段缆线束Z2的层数相同，而且第三段缆线束Z3与第二段缆线束Z2对应层缆线上的缆线数量相同。
具体地，如图15所示，第三段缆线束Z3包括多层子缆线束Z3a，Z3b，Z3c，Z3d，多层子缆线束Z3a，Z3b，Z3c，Z3d相互之间基本平行。如图16和图18所示，子缆线束Z3a中的三个缆线322d，342b，312c经过第三导向机构373的第三滑轮373a上的三个导向部的导向后穿过排列在第三直线J1的导向孔322d’，342b’，312c’，子缆线束Z3b中的四个缆线322b，332a，332b，312a经过第三滑轮373b上的四个导向部的导向后穿过排列在第三直线J2的导向孔 322b’，332a’，332b’，312a’,子缆线束Z3c中的四个缆线322a，352b，352a，312b经过第三滑轮373c上的四个导向部的导向后穿过排列在第三直线J3的导向孔322a’，352b’，352a’，312b’，子缆线束Z3d中的三个缆线322c，342a，312d经过第三滑轮373c上的四个导向部的导向后穿过排列在第三直线J4的导向孔322c’，342a’，312d’，多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b穿过多个导向孔312a’，312b’，312c’，312d’，322a’，322b’，322c’，322d’，332a’，332b’，342a’，342b’，351a’，351b’后进入长轴320内，最后延伸至腕部330和末端执行器340。
由于多个第三直线j1，j2，j3，j4中每条直线上的导向孔的数量与多个第二直线r5，r6，r7，r8中每条直线上的导向部的数量相同，以使穿过多个第三直线j1，j2，j3，j4中一条直线上的多个导向孔的缆线能一一对应到第三滑轮上，从而能比较方便地将多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b从第四导向机构374依次通过第三导向机构373、第二导向机构372以及第一导向机构371导向后装配到多个驱动单元311、321、331、341、351。
具体地，在装配缆线322c，342a，312d时，缆线322c，342a，312d的近端穿过主体374上远离安装座3742一侧的边缘处位于第三直线j1上的导向孔322c’，342a’，312d’延伸到第三导向机构373的第三滑轮组373a，由于导向孔322c’，342a’，312d’在主体374上的位置明显区别于其他导向孔的位置，因此在装配时不会将穿过到导向孔322c’，342a’，312d’的缆线322c，342a，312d与其他缆线混淆，在将缆线322c，342a，312d装配到对应的第三导向机构373的第三滑轮组373a时，由于第三滑轮373a位置及其导向部的数量与导向孔322c’，342a’，312d’是唯一对应的，故能准确无误地将缆线322c，342a，312d装配到第三滑轮组373a上，避免发生将缆线332d，342b，312c装配到其他的滑轮上的错误。
由于第二导向机构372上的第二滑轮组372a与第三滑轮组373a位于同一第一平面上且两者的导向轮数量相同，两者对应关系唯一，因此能非常方便和准确地将322c，342a，312d从第三滑轮373a装配到第二滑轮372a上，在此 过程中能避免发生将缆线322c，342a，312d中的某个缆线装配到其他的第二滑轮组上的错误。
在将缆线322c，342a，312d从第二滑轮372a装配的第一导向机构371的过程中，如图13A所示，由于322c，342a，312d位于第一段缆线束的最外侧一层，只需将缆线322c，342a，312d装配到第一导向机构371的第一滑轮组323，343，313的最远离第三导向机构373的导向部即可，即可形成子缆线束Z1a，从而也避免发生将缆线322c，342a，312d装配到其他第一滑轮组上的错误，其他层缆线装配方法相同，此处不再复述。这种分层布线的缆线束结构，按层安装缆线的方法，可以提高缆线装配的准确性和效率。
第四导向机构374的主体3741上还具有直径与导向孔直径不同的多个通孔374a，多个通孔374a用于供非缆线的其他形式的线通过，例如多个通孔374a供电线通过，或者供传输影像数据的线通过。多个通孔374a和多个导向孔312a’，312b’，312c’，312d’，322a’，322b’，322c’，322d’，332a’，332b’，342a’，342b’，351a’，351b’一起并列分为多排分布在主体3741上一个圆形区域320a，圆形区域320a的面积基本与长轴320的近端开口的面积相等，从而使多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b集中在圆形区域320a笔直穿过多个导向孔进入长轴320内。
如图18所示，多个通孔374a排列在主体3741上远离安装座3742一侧的边缘处，一般通孔374a的直径大于导向孔的半径，通孔374a中的一个通孔所占用主体3741的空间大于一个导向孔所占用的空间，将通孔374a排布在主体3741边缘处能减少通孔374a占用导向孔所需要的位置。在圆形区域320a中间区域即第三直线j2附近空间较大，在圆形区域320a的边缘处即第三直线j1，j4附近空间较小，因此在第三直线j2和第三直线j3上都排布4个导向孔，而在第三直线j1和第三直线j4上都排布3个导向孔，使主体3741上能有更多的空间提供给两个通孔374a。
本发明一实施例的第四导向机构374的通孔374a和导向孔分布如图19A所示，在第三直线j1，j2，j3都分布四个导向孔，而在第四导向机构374的主体边缘处的第三直线j4仅分布两个导向孔，从而使j4上的导向孔可以向第四导向 机构的主体边缘处偏移更多，从而使主体的另一侧的边缘处有更大空间提供给两个通孔374a，以使通孔374a直径更大，从而允许通过更大直径的电线或数据线。
本发明一实施例的第四导向机构374的通孔374a和导向孔分布如图19B所示，第三直线j1，j2，j3，j4上排布的导向孔数量分别为3，5，4，2，相比较图19A所示的实施例，本实施例中在圆形区域320a，第三直线j1上的导向孔数量更少，从而使两个通孔374a可以具有更大的直径。
本发明一些其他实施例中第四导向机构374的通孔374b和导向孔分布如图19C和图19D所示，图19C和图19D中的通孔374b的仅为一个，一般通孔374b用于通过传输影像数据的数据线或光缆，通孔374b是具有比上述施例中的通孔374a的横截面积更大的横截面积。如图19C所示，第三直线j1，j2，j3，j4上排布的导向孔数量分别为4，5，4，1，由于位于第三直线j4上的仅具有分布一个导向孔，因此可以使第四导向机构的主体在远离第三直线j74一侧的边缘处能有更大的空间提供通孔374b，使通孔374b能具有更大的横截面积。如图19D所示，第三直线j1，j2，j3，j4上排布的导向孔数量分别为2，5，4，3，通孔374b位于第三直线j1上的两个导向孔中间，使通孔374b能具有更大的横截面积。
多个驱动单元311，321，331，341，351与第一导向机构317之间设有张紧装置，张紧装置用于张紧多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b，张紧装置包括壳体和安装在壳体内的多个第一张紧机构380和/或多第二张紧机构390，多个第一张紧机构380设置在第一驱动单元311，321与第一导向机构317之间，多个第二张紧机构设置在第二驱动单元331，341，351与第一导向机构317之间。
本发明一实施例的第一张紧机构如图20-22所示，第一张紧机构380设置在第一驱动单元311与第一导向机构317的第一滑轮组313之间，第一张紧机构380用于张紧第一缆线312a，312b以及第二缆线312c和第三缆线312d。第一张紧机构380包括第一张紧件3821、第二张紧件3811、第三张紧件3831以及抵挡部，第二张紧件3811用于同时张紧第一缆线312a和第一缆线312b， 第一张紧件3821和第三张紧件3831用于分别张紧第二缆线312c和第三缆线312d。在其他的施例中，在不需要张紧更多的缆线的情况下，第一张紧机构380也可以仅包括第一张紧件3821和第二张紧件3811，或仅包括第一张紧件3821。
第一张紧件3821包括第一张紧块3822和第一推杆3823，第一张紧块3822的第一侧面上设置有第一导向部3824，第二缆线312c经过保持机构314的导向后再经过第一导向部3824的导向后延伸到第一滑轮组313，第一导向部3824位于第二缆线312c在保持机构314和第一滑轮组313之间的缆线段位与抵挡部之间，第一推杆3823与第一张紧块3822通过螺纹配合并穿过第一张紧块3822与抵挡部抵接，旋转第一推杆3823可以带动第一张紧块3822沿第一方向(图20所示Z方向)或沿与第一方向相反的第二方向移动，从而第一张紧块3822上的第一导向部3824带动缆线312c在保持机构314与第一滑轮组313之间的缆线段在驱动装置310的远端和近端之间移动，进而张紧或松弛缆线312c。
第二张紧件3811包括第二张紧块3812和第二推杆3813，第一推杆3823与第二推杆3813对置设置，抵挡部设置在第一推杆3823与第二推杆3813之间，第二张紧块3812的两个第一侧面上分别设置有第二导向部3814和第三导向部3815，第一缆线312a和第一缆线312b经过保持机构314的导向后再分别经过第二导向部3814和第三导向部3815的导向，然后再被第一导向机构317的第一滑轮组313所导向。在其他的一些实施例中，第二张紧件也可以仅包括一个导向部为一个缆线导向，此时第二张紧件用于张紧一个缆线。
第一张紧机构380的壳体上安装有套筒3813b，套筒3813b与第二推杆3813通过螺纹配合，第二张紧块3812具有远离第一张紧块3822的第一端3812a和与第一端3812a相对而靠近第一张紧块3822的第二端3812b，第二推杆3813的末端与第二张紧块3812的第一端3812a相抵接，沿张紧方向旋转第二推杆3813的与其末端相对的调节端3813a使第二推杆3813推动第二张紧块3812沿第一方向移动，从而第二张紧块3812上的第二导向部3814和第三导向部3815分别带动第一缆线312a和第一缆线312b在保持机构314与第一滑轮组313之间的缆线段沿第一方向运动，以张紧第一缆线312a和第一缆线312b，上述张紧方向是指沿该方向旋转推杆使被该推杆驱动的张紧块张紧缆线。在其他的一些 实施例中，第二推杆也可以与第二张紧块通过螺纹配合。
当沿与张紧方向相反的方向旋转调节端3813a时，第二推杆3813沿与第一方向相反的第二方向运动，从而释放第二张紧块3812，由于第一缆线312a和第一缆线312b本身具有一定的张紧力，使得第二张紧块3812被第一缆线312a、312b自身的张紧力驱使沿第二方向移动，从而第一缆线312a，312b被松弛。
第三张紧件3831包括第三张紧块3832和第三推杆3833，第三张紧块3832的第一侧面上设置有第四导向部3834，第四导向部3834设置在第一导向部3824相对一侧的抵挡部与第三缆线312d之间，第三缆线312d经过保持机构314的导向后再经过第四导向部3834的导向后延伸到第一滑轮组313，第三推杆3833与第三张紧块3832通过螺纹配合并穿过第三张紧块3823与抵挡部抵接，旋转第三推杆3833可以带动第三张紧块3832沿第一方向或第二方向运动，从而第三张紧块3832上的第一导向部3834带动第三缆线312d在保持机构314与第一滑轮组313之间的缆线段在驱动装置310的远端和近端之间移动，进而张紧或松弛缆线312d。
第一张紧机构380还包括用于引导第一张紧块3822、第二张紧块3812及第三张紧块3833运动的引导凸起386和导向柱3841，引导凸起386包括分别设置在第二张紧块3812、第一张紧块3822及第三张紧块3833的第二侧面上的第二凸起3816、第一凸起3826及第三凸起3836，以及设置在第一张紧机构380的壳体内与第二凸起3816、第一凸起3826及第三凸起3836配合凹槽，在第二张紧块3812、第一张紧块3822及第三张紧块3833沿第一方向或第二方向运动时，第二凸起3816、第一凸起3826及第三凸起3836在该凹槽内滑动以引导第二张紧块3812、第一张紧块3822及第三张紧块3833的运动。
导向柱3841穿过贯穿第一张紧块3822、第二张紧块3812及第三张紧块3833，上的通孔在第二张紧块3812、第一张紧块3822及第三张紧块3833在张紧装置的近端和远端运动的过程中，第二张紧块3812、第一张紧块3822及第三张紧块3833沿导向柱3841上下滑动。
如图22所示，第一张紧块3822、第二张紧块3812及第三张紧块3833上具有多个孔，本实施例中的抵挡部为第二张紧块3812的第二端3812b，利用 第二张紧块3812的第二端3812b作为抵挡部，使第一张紧机构380的机构更紧凑。第一推杆3823的末端穿过第三张紧块3823上的第一孔382a和第一张紧块3822上的第二孔382b后与第二张紧块3811的第二端3812b相抵接，第三推杆3833近端穿过第三张紧块3823上的第三孔383a和第一张紧块3822上的第四孔383b后与第二张紧块3811的第二端3812b相抵接，导向柱3841穿过第二张紧块3811上的第五孔381a、第一张紧块3822上的第六孔381b及第三张紧块3832上的第七孔381c，以使第二张紧块3811、第一张紧块3822和第三张紧块3832能沿导向柱3841上下滑动。
第一张紧件3821的第二孔382b具有内螺纹以和第一推杆3823上的外螺纹配合，在张紧缆线312c时，沿张紧方向旋转第一推杆3823远端的调节端3823a时，由于第一推杆3823的末端抵接第二张紧块3811的第二端3812b，此时第一推杆3823因被第二端3812a阻挡而不能沿与第二方向运动，从而迫使第一张紧块沿第一方向运动从而张紧缆线312c。
由于第二缆线312c本身就具有一定的张紧力，当沿与张紧方向相反的方向旋转第一推杆3823远端的调节端3823a时，第一张紧块3822在第二缆线312c的张紧力驱使下沿第二方向运动，从而第二缆线312c被松弛。
在第一张紧块3822沿第一方向或第二方向运动的过程中，第一张紧块3822被双重导向，即第一张紧块3822的第一凸起3826在壳体内的凹槽内运动，第一张紧块3822沿导向柱3841上下运动，使得第一张紧块3822沿第一方向或第二方向运动的过程中不会出现运动轨迹的偏离。
第三张紧件3833的第三孔383a具有内螺纹以与第三推杆3833上的外螺纹配合，第三推杆3833的末端抵接第二张紧块3811的第二端3812b，在需要张紧或松弛缆线312d时，旋转第三推杆3833远端的调节端3833a可使第三张紧块3833的第三凸起3836在壳体内的凹槽内运动，第三张紧块3832沿导向柱3841上下运动，从而张紧或松弛第三缆线312d，第三张紧件3833张紧或松弛第三缆线312d的方法与上述第一张紧件3823张紧或松弛第二缆线312c方法相同，此处不再复述。
由于第二张紧件3811与第一张紧件3821及第三张紧件3823的调节端是 对置设置的，即第二张紧件3811的调节端3813a位于第二张紧块3812的第一端3812a一侧，第一张紧件3821的调节端3823a和第三张紧件3831的调节端3833a位于第二张紧块3812的第二端3812b的一侧，第二推杆3813与第一推杆3823及第三推杆3833相互错开，使整个第一张紧机构380沿推杆的轴向排布，第一张紧机构380在纵向上(推杆的轴向方向)所占空间大于横向所占的空间，可以使得整个驱动装置380的横向体积更小，从而多个手术器械300如图6所示聚拢在一起时，整体在横向上的体积更小。
本发明另一实施例的第一张紧机构如图23所示，本实施例中的第一张紧机构480和图21所示的第一张紧机构380不同的是本施例中的抵挡部为设置在第一张紧件3821和第二张紧件3811之间的档板485，挡板485与第一张紧机构480的壳体固定连接。第一推杆3823和第三推杆3833的末端与挡板485相抵接，在张紧第二缆线312c和第三缆线312d时，由于挡板485阻止第一推杆3823和第三推杆3833沿第二方向的运动，从而第一张紧块3822和第三张紧块3832将沿第一方向运动使第二缆线312c和第三缆线312d被张紧。由于第一推杆3823和第三推杆3833的末端没有抵接到第二张紧块3812，从而调节第二张紧块3812的运动不会影响到第一张紧块3822和第三张紧块3823，三个张紧件的运动相互独立，从而被三个张紧件所张紧的缆线也相互独立被张紧。
张紧装置还包括多个第二张紧机构，第二张紧机构390用于同时张紧两个缆线，第二张紧机构390相当于第一张紧机构380的第二张紧件3811，如图25所示，第二张紧机构390包括第四张紧块3911和第四推杆3912，第四推杆3912的末端抵接到第四张紧块3911，第二张紧块3911通过引导凸起396和张紧装置的壳体内凹槽配合，以及引导柱3914实现引导第四张紧块3911的运动。
第四张紧块3911的两侧设置有用于分别引导缆线352a，352b的第五导向部3913和第六导向部3914，通过旋转第四推杆3912的调节端3912a实现对缆线352a，352b的张紧或松弛，具体张紧过程和上述第一张紧机构380的第二张紧件3811的张紧过程相同，此处不再复述。
如图24A所示，第一缆线312a，312b的远端连接腕部330的第一关节330a，第一驱动单元311通过第一缆线312a，312b控制第一关节330a的转动， 第二缆线312c和第三缆线312d的远端分别连接第二关节330b的两侧，第一驱动单元311通过第二缆线312c和第三缆线312d控制第二关节330b的转动。
在装配手术器械300的过程中，可能出现调节了第一缆线312a，312b、第二缆线312c及第三缆线312d的张紧度后第一关节330a和第二关节330b不是笔直姿态(即零位姿态)的情况。
如图24A所示，腕部330的第三关节330c是笔直姿态，第一关节330a和第二关节330b处于相对笔直姿态转动了一定角度处于偏摆姿态，因此需要在张紧缆线后使第一关节330a和第二关节330b调整回到笔直姿态，以使在操作手术器械300前，手术器械300的腕部330和末端执行器340都处于零位状态，使手术器械300的控制更加精准。
因此，本发明还提供了一种用于张紧方法，该方法适用于第一张紧机构380对来自第一驱动单元311的四个缆线321a，312b，312c，312d进行张紧，张紧方法如下：
首先调节第二推杆3813、第一推杆3823以及第三推杆3833，使第二张紧块3811同时将第一缆线312a和第一缆线312b张紧，第一张紧块3821和第三张紧块3831分别将第二缆线312c和第三缆线312d进行张紧。
然后旋转调节第一驱动单元311，使第一驱动单元311通过第一缆线312a、312b将第一关节330a调整到笔直姿态。最后再通过单独调节第一推杆3823，使第一张紧块3821张紧或松弛第二缆线312c，和/或单独调节第三推杆3833使第一张紧块3821张紧或松弛第三缆线312c，从而使第二关节330b被调整到笔直姿态。
具体地，先通过旋转调节第一驱动单元311，使第一驱动单元311收拉第一缆线312a并同时释放第一缆线312b，以使第一关节330a从图24A所示的位置向左转动至图24B所示与第三关节330c对齐的位置，即第一关节330a被调整到笔直姿态。
虽然经过上一步第一关节330a已被调整到了笔直姿态，但第二关节330b此时仍没有被调整到笔直姿态，由于第一绞盘316a和第二绞盘316b是一体成型的，因此不能再通过旋转调节第一驱动单元311来调整关节330b的姿态，因 为若再旋转第一驱动单元311，在第二缆线312c和第三缆线312d被收拉或释放的同时，第一缆线312a、312b也会再次被收拉或释放，从而使已经被调整到笔直姿态的第一关节330a再次转动到非笔直姿态。
为解决这一问题，在通过调节第一驱动单元311将第一关节330a调整到笔直姿态后，通过调整第一张紧件3821和/或第三张紧件3831将第二关节330b调整到笔直姿态。具体地，可以通过以下三种方式调节方式将第二关节330b调整到笔直姿态：
(1)单独旋转调节第一推杆3823使第一张紧块3822沿第一方向运动，第一张紧块进一步张紧第二缆线312c，使第二缆线312c的张紧力大于第三缆线312d的张紧力，从而第二缆线312c牵引第二关节330b向左转动，使得第二关节330b从图24B所示的偏摆姿态向左转动至图24C所示笔直姿态。
(2)单独旋转调节第三推杆3833使第三张紧块3832沿与第一方向相反的第二方向运动，使第三张紧块3832松弛第三缆线312d，由于第三缆线312d被松弛，从而第二缆线312c的张紧力大于第三缆线312d的张紧力，第二缆线312c将牵引第二关节330b向左转动，使得第二关节330b从图24B所示的偏摆姿态向左转动至图24C所示笔直姿态。
(3)旋转调节第一推杆3823使第一张紧块3822沿第一方向运动，使第一张紧块3822将第二缆线312c进一步张紧，并旋转调节第三推杆3833使第三张紧块3832沿第二方向运动，第三张紧块3832将第三缆线312d进行松弛，使得第二缆线312c的张紧力大于第三缆线312d的张紧力，从而使第二缆线312c牵引第二关节330b向左转动，使得第二关节330b从图24B所示的偏摆姿态向左转动至图24C所示笔直姿态。
本发发明一实施例的驱动装置如图26所示，驱动装置310包括机座3110和导向组件3120，机座3110包括机座本体3111和从机座本体3111延伸出的安装部3112，多个驱动单元311，321，331，341，351安装在安装部3112内，安装部3112中间区域形成有容纳腔3114，导向组件3120安装在容纳腔3114内。
导向组件3120包括壳体和安装在壳体的内的第一导向机构370、保持机构314及上述的多个张紧机构，多个缆线312a，312b，312c，312d，322a，322b， 322c，322d，332a，332b，342a，342b，351a，351b先经过保持机构314的导向后再经过张紧装置的导向后最后经过第一导向机构371的导向后汇聚成第一段线束Z1。由于第一导向机构370、保持机构314及上述的多个张紧机构集成在一个导向组件3120中，多个缆线312a，312b，312c，312d，322a，322b，322c，322d，332a，332b，342a，342b，351a，351b闯过导向组件3120后即可以被张紧又可以被导向成缆线束，节约了驱动装置310的空间，使整个驱动装置310的结构更加紧凑。
为了方便展示导向组件3120的内部结构，图26中第一导向机构370、张紧机构及保持机构314的部分组件未显示。如图26所示，导向组件3120的壳体包括第一壳体3150和第二壳体3140，第二壳体3140嵌入安装在第一壳体3130内，第一壳体3150包括第一主体3151、侧壁3152及顶部3153，侧壁3152从第一主体3151上向近端延伸出，各侧壁3152的近端通过顶部3153相连接，多个侧壁3152间隔设置，多个侧壁3152间隔之间具有缺口3158，通过缺口3158将张紧机构安装到导向组件3120的壳体上。在其他的一些实施例中，第一壳体3150和第二壳体3140一体成型。
第二壳体3140包括第二主体3140和从第二主体3140上朝近端延伸出的中心柱3142，中心柱3142嵌入安装在第一壳体3130的侧壁3132和顶部3133所构成的腔体内，第二主体3140的边缘处抵接第一主体3131。
第一导向机构370远端的第一滑轮组323，313安装在第一壳体3150的顶部3153中，第一导向机构370近端的第一滑轮组333，353安装在第二壳体3140的中心柱3142中，第一导向机构370的中间位置的第一滑轮组343安装在中心柱3142上的第一滑轮组323与第一分轴滑轮组333中间位置，从而使多个第一滑轮组313，323，333，343，353位于三个不同的水平面上，其中，多个第一滑轮313，323，333，343，353中的相邻的两个第一滑轮组位于不同的水平面上。
保持机构314安装在第一壳体3150的侧壁3132上，保持机构314用于张紧装置在张紧缆线的过程中始终保持位于驱动单元和保持机构之间的缆线处于长度恒定的状态，即位于驱动单元和保持机构之间的缆线在张紧缆线的过程 中的方向被保持不变。本实施例中保持机构314为多个滑轮组314，在其他的实施例中，保持机构314也可以是其他的保持元件，例如多个轴。在其他的一些实施例中，导向组件3120也可以仅包括第一导向机构371和张紧装置，此时张紧装置的推杆与驱动单元的轴线垂直，此时可以不设置保持机构。
张紧装置安装在第一壳体3150的侧壁3132与第二壳体3140的中心柱3142之间，第一壳体3150的侧壁3152的内侧部具有第一凹槽3156和第二凹槽3157，第二壳体3140的中心柱3142的外侧壁上具有多个与第一凹槽3156即第二凹槽3157匹配的中心槽3146，张紧装置的第一张紧机构380的引导凸起386容纳在中心槽3146和第一凹槽3156中，在第一张紧机构380在张紧缆线时，第一张紧机构380引导凸起386在第一凹槽3156和中心槽3146内滑动。
第二张紧机构390的引导凸起396容纳在第二凹槽3157和中心凹槽3146内，在第二张紧机构390在张紧缆线时，第二张紧机构390引导凸起396在第二凹槽3157和中心槽3146内滑动。
第一壳体3150的顶部3153上具有多个张紧孔3154和多个导线孔3155，中心柱3142的近端的顶端具有多个导线孔3144，被第一导向机构371导向后的缆线穿过多个导线孔3144，3155后汇聚成第一段缆线束Z1。
导向组件3120的中心槽3146的两侧具有沟槽3147，沟槽3147用于引导缆线从第一滑轮组向第二导向机构372延伸，沟槽3147的槽底从中心柱3142的远端到顶端具有一定的坡度，即在靠近中心柱3120的顶端的槽底与中心柱3142的中心轴线具有一定夹角，使缆线经过沟槽3147后靠近中心柱的3142中心轴线，从而使第一段缆线束Z1中的各缆线段相距较近。
一实施例中，从上述第一张紧机构的抵挡部为侧壁和/或中心柱侧面延伸出挡板，挡板设置在第二张紧件和第一张紧件之间，第一推杆的末端与挡板相抵接，阻止第二推杆和第一推杆在张紧缆线沿第二方向运动。
如图28所示，机座主体311的底部具有张紧口3113，导向组件3120的第一凹槽3156和中心槽3146穿过张紧口3113向机座主体311的远端延伸,使第一张紧机构380的第一张紧块3822和第三张紧块3823能沿第一凹槽3156和中心槽3146朝导向组件3120的远端移动更大距离。第一推杆3823和第三推杆 3833穿过张紧孔3113分别连接到第一张紧块3822和第三张紧块3823，第二调节端3823a和第三调节端3833a位于机座主体3111底部。
与第一推杆3823及第三推杆3833相反的，第一张紧机构380和第二张紧机构390的第二推杆3813穿过张紧孔3154抵接到第二张紧块3812，第二推杆3813的调节端3813a位于第一壳体3150的顶部3153上，从而第一张紧机构380成对置设置，即第二推杆3813的调节端3813a设置在导向组件3120的顶部，而第一推杆3823和第三推杆3833的调节端3823a，8833a设置在导向组件3120的底部，使第一张紧机构380和第二张紧机构390呈长条形，减少整个导向组件3120的横向体积，同时可以从机座底部对张紧机构进行调节，避免从一侧调节三个张紧件，增加了张紧调节的方便性。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种手术器械，包括驱动装置、末端器械和多个缆线，所述多个缆线连接于所述驱动装置与末端器械之间，其特征在于，所述驱动装置包括：
    机座，所述机座包括机座本体和位于所述机座本体上的安装部；
    多个驱动单元，所述多个驱动单元安装在所述安装部内，所述多个驱动单元通过所述多个缆线驱动所述末端器械运动；
    导向组件，所述导向组件安装在所述安装部的中间区域，所述导向组件包括壳体、保持机构及多个张紧机构，所述保持机构和所述多个张紧机构安装在所述壳体内，所述保持机构位于所述多个张紧机构与所述多个驱动单元的中间，所述多个缆线经过所述保持机构的导向后延伸至所述多个张紧机构，所述多个张紧机构用于张紧所述多个缆线。
  2. 如权利要求1所述的手术器械，其特征在于，所述导向组件还包括第一导向机构，所述第一导向机构安装在所述壳体的中间区域，所述多个缆线经过所述第一导向机构的导向后汇聚成缆线束延伸至所述末端器械。
  3. 如权利要求2所述的手术器械，其特征在于，所述壳体包括第一壳体和安装在所述第一壳体内的第二壳体，所述保持机构安装在所述第一壳体上，所述多个张紧机构安装在所述第一壳体和所述第二壳体之间。
  4. 如权利要求3所述的手术器械，其特征在于，所述第一壳体包括第一主体、侧壁及顶部，所述侧壁从第一主体上延伸出，所述侧壁远离所述第一主体的一端与所述顶部相连接，所述保持机构安装在所述侧壁上。
  5. 如权利要求4所述的手术器械，其特征在于，所述第二壳体包括第二主体和从所述第二主体上延伸出的中心柱，所述中心柱安装在所述侧壁与所述顶部构成的腔体内，所述多个张紧机构安装在所述中心柱与所述第一壳体的侧壁之间。
  6. 如权利要求5所述的手术器械，其特征在于，所述顶部和所述中心柱的顶端具有多个导线孔，所述多个缆线经过所述第一导向机构的导向后穿过所述多个导线孔汇聚成所述缆线束。
  7. 如权利要求5所述的手术器械，其特征在于，所述第一导向机构包括多个用于为所述多个缆线导向的第一滑轮组，所述导向机构的近端的第一滑轮组 安装在所述顶部，所述导向机构的远端的第一滑轮组安装在所述中心柱内。
  8. 如权利要求2所述的手术器械，其特征在于，所述手术器械还包括第二导向机构，所述第二导向机构位于所述第一导向机构的近端或远端，所述缆线束在所述第一导向机构和所述第二导向机构之间具有第一段缆线束，所述第一段缆线束基本垂直于所述多个缆线在所述多个驱动单元与所述第一导向机构之间的缆线段。
  9. 如权利要求8所述的手术器，其特征在于，所述驱动装置还包括位于所述驱动装置边缘处第三导向机构，所述缆线束在所述第二导向机构与所述第三导向机构之间具有第二段缆线束，所述第二段缆线束基本垂直于所述第一段缆线束。
  10. 如权利要求5所述的手术器械，其特征在于，所述多个张紧机构包括至少一个第一张紧机构，所述第一张紧机构包括：
    第一张紧件，所述第一张紧件包括第一张紧块和第一推杆，所述第一推杆与所述第一张紧块通过螺纹连接；
    抵挡部，所述第一推杆的末端抵接所述抵挡部，所述第一张紧块上具有为所述缆线导向的第一导向部，所述第一导向部位于所述缆线与所述抵挡部之间，所述抵挡部用于在所述第一推杆驱动所述张紧块运动时阻止所述第一推杆朝靠近所述抵挡部的方向移动，以使所述第一推杆驱动所述第一张紧块沿远离所述抵挡部的第一方向运动从而张紧被所述第一导向部导向的缆线。
  11. 如权利要求10所述手术器械，其特征在于，所述第一张紧机构还包括第二张紧件，所述张紧件的第二张紧件包括第二张紧块和第二推杆，所述第二推杆用于驱动所述第二张紧块沿所述第一方向移动以张紧被所述第二张紧块所导向的缆线，所述第一推杆和所述第二推杆位于所述第二张紧块的异侧，所述抵挡部设置在所述第一推杆与所述第二推杆之间。
  12. 如权利要求11所述的手术器械，其特征在于，所述第一张紧机构还包括第三张紧件，所述第三张紧件包括第三张紧块和第三推杆，所述第三推杆与所述第三张紧块通过螺纹连接，所述第三推杆用于驱动所述第三张紧块沿所述第一方向移动以张紧被所述第三张紧块导向的缆线，所述第三推杆的末端与所 述抵挡部相抵接，以使所述抵挡部在所述第三张紧块被驱动沿所述第一方向运动时阻止所述第三推杆沿与所述第一方向相反的第二方向移动。
  13. 如权利要求11所述手术器械，其特征在于，所述抵挡部包括从所述侧壁和/或所述中心柱侧面延伸处的挡板，所述挡板设置在所述第一张紧块和所述第二张紧块之间，所述第二推杆的末端与所述挡板相抵接。
  14. 如权利要求12所述的手术器械，其特征在于，所述侧壁的内侧具有凹槽，所述中心柱外侧具有与所述凹槽对应的中心槽，所述第一张紧块、和/或所述第二张紧块、和/或所述第三张紧块的侧面具有导向凸起，所述导向凸起容纳在所述凹槽与所述中心槽内以用于引导所述第一张紧块、和/或所述第二张紧块、和/或所述第三张紧块的运动。
  15. 如权利要求14所述的手术器械，其特征在于，所述第一凹槽穿过所述张紧口延伸至所述机座本体的远端。
  16. 如权利要求15所述的手术器械，其特征在于，所述顶部具有多个张紧孔，所述机座主体的底部具有张紧口，所述第一推杆穿过所述张紧孔与所述第一张紧块抵接，所述第二推杆穿过所述张紧口与所述第二张紧块连接。
  17. 如权利要求14所述的手术器械，其特征在于，所述中心柱在的所述中心槽两侧还具有用于引导缆线的沟槽。
  18. 如权利要求12所述手术器械，其特征在于，所述多个张紧机构至少还包括一个第二张紧机构，所述第二张机构包括第四张紧块和第四推杆，所述第四张紧块为所述多个缆线中的两个缆线导向，所述第四推杆用于驱动所述第四张紧块沿所述第一方向移动以张紧所述两个缆线。
  19. 一种从操作设备，其特征在于，所述从操作设备包括机械臂和如权利要求1-18任一项所述的手术器械，所述手术器械安装在所述机械臂上，所述机械臂用于操纵所述手术器械运动。
  20. 一种手术机器人，其特征在于，所述手术机器人包括主操作设备和如权利要求19所述的从操作设备，所述从操作设备根据所述主操作设备的指令执行相应操作。
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