CN116636887A - End effectors, minimally invasive surgical instruments and minimally invasive surgical systems - Google Patents

Abstract

The invention relates to the technical field of surgical robots, and discloses an end effector assembly, a minimally invasive surgical instrument and a minimally invasive surgical system. The end effector assembly includes a movable part, a first bracket, a second bracket, an engaging assembly, a connecting piece, a first pulling wire and a second pulling wire. The first bracket is provided with a first pin and a second pin, the movable part is connected to the first pin, and the second pin is sleeved with a first pulley; the second bracket is provided with a third pin parallel to the second pin, and the third The pin is provided with a second pulley; the meshing assembly includes a meshing first tooth structure and a second tooth structure, the first bracket is provided with the first tooth structure, and the second bracket is provided with the second tooth structure; And connected to the second pin; the first traction wire includes two first traction sections, the first traction section is wound around the first pulley and the second pulley, the first traction section is connected with the movable part; the second traction wire is connected to the connection pieces. The first pulling wire of the present invention will not be pulled, so the service life is prolonged and the safety of the operation is improved.

Description

End effectors, minimally invasive surgical instruments and minimally invasive surgical systems

technical field

The invention relates to the technical field of surgical robots, in particular to an end effector assembly, a minimally invasive surgical instrument and a minimally invasive surgical system.

Background technique

Surgical robots are widely used in the medical field. The surgical robot includes surgical operation equipment, and several surgical instruments are arranged on the trolley of the surgical operation equipment. Surgical instruments are used to perform surgical procedures on a patient.

According to Chinese patent CN212788689U disclosed a kind of surgical instrument, slave operation equipment and surgical robot. The surgical instrument includes an end effector at a distal end of the surgical instrument, the end effector including a first frame and a second frame. The first bracket is provided with a first pin and a second pin which are parallel to each other, the first pin is provided with a first pulley block, the second pin is provided with a second pulley block, and the second frame is rotatably connected with the first frame through the second pin . The clamping part of the end effector is rotatably arranged on the second bracket through the third pin. The driving cables of the end effector include a first driving cable, a second pair of cables and a third pair of cables. The distal end of the first driving cable is connected to the second bracket, and can manipulate the rotation of the second bracket to realize the pitching motion of the end effector. The second pair of cables realizes the manipulation of the first clamping part to rotate around the third pin; the third pair of cables realizes the manipulation of the second clamping part to rotate around the third pin. The second pair of cables and the third pair of cables realize the opening, closing and yaw motions of the end effector. The cables in the third pair of cables and the second pair of cables are S-shaped and are wound on the second block of pulleys and the first block of pulleys oppositely arranged. The length of the part of the cable in the second pair of cables wound on the second pulley block and the first pulley block changes, causing the cable to be pulled, which also increases the wear of the cable and other structures, increasing the possibility of deformation or breakage of the cable, affecting The smooth implementation of the operation also shortens the service life of the surgical instrument, reduces the reliability of the surgical instrument during the operation and the safety of the operation, and also needs to compensate the third pair of cables (or the second pair of cables) when the pitching motion is realized. The length of the cable in the cable) increases the control difficulty of the surgical instrument.

Based on this, there is an urgent need for an end effector, a minimally invasive surgical instrument, and a minimally invasive surgical system to solve the above-mentioned problems.

Contents of the invention

The purpose of the present invention is to provide an end effector, a minimally invasive surgical instrument and a minimally invasive surgical system, so as to prevent the first traction wire from being pulled, reduce maintenance costs, prolong the service life of the minimally invasive surgical instrument, and ensure smooth operation Implementation, improve the safety of surgery, reduce the difficulty of control.

For reaching this purpose, the present invention adopts following technical scheme:

The end effector assembly includes a movable part and a first bracket, the first bracket is provided with a first pin and a second pin, the first pin is perpendicular to the second pin, and the movable part is rotatably connected to the The first pin, the coaxial sleeve on the second pin is provided with a first pulley; also includes:

The second support is provided with a third pin parallel to the second pin, the second pulley is coaxially sleeved on the third pin, and the second support is provided with a coaxial set with the third pin. lower arc surface;

The meshing assembly includes a first tooth structure and a second tooth structure meshingly arranged, the first bracket is provided with an upper arcuate surface coaxially arranged with the second pin, and the upper arcuate surface is provided with the first tooth structure, the lower arc surface is provided with the second tooth structure, the ratio of the pitch circle radii of the first tooth structure to the second tooth structure is the same and the ratio between the first pulley and the second pulley The ratio of the radii is the same;

a connecting piece, movably sleeved on the third pin and connected to the second pin;

The first traction wire includes two first traction sections, the first traction section is wound in an S shape on the first pulley and the second pulley oppositely arranged, and the two first traction sections The parts between the first pulley and the second pulley are parallel to each other, and one end of the two first traction sections is respectively connected to both sides of the movable member along the radial direction of the first pin, and two The other end of the first traction section is passed through the second bracket;

The second pulling wire is connected to the connecting piece and is used to manipulate the connecting piece to rotate around the third pin.

As an optional technical solution for the end effector assembly, the connecting piece includes a third pulley and a connecting part, and a shaft hole is coaxially opened on the third pulley, and the third pin is movably passed through the shaft hole. The third pulley is connected to the second pin through the connecting portion, and the second pulling wire is connected to the third pulley.

As an optional technical solution for the end effector assembly, there are two connecting parts, the two connecting parts are respectively located on both sides of the third pulley along the axial direction, and the second pulling wire is located on the two sides of the third pulley between the connecting parts.

As an optional technical solution of the end effector assembly, the connecting piece further includes a contact protrusion protrudingly disposed on the end surface of the connecting part opposite to the third pulley, the contact protrusion The end surface away from the connecting portion is in contact with the first pulley and/or the second pulley, and the area of the end surface of the contact protrusion away from the connecting portion is smaller than that of the connecting portion facing away from the third pulley. End area.

As an optional technical solution of the end effector assembly, the second pulling wire includes a connecting block and two second pulling sections, and the two second pulling sections are respectively located on both sides of the third pulley in the radial direction. One end of each of the second traction wires is connected to the connecting block, and the other ends of the two second traction sections pass through the second bracket; the side wall of the third pulley is provided with an accommodating slot, at least part of the connection block is placed in the receiving slot.

As an optional technical solution for the end effector assembly, one side of the connecting part facing the other connecting part is provided with a mounting groove, and the mounting groove penetrates the connecting part along the radial direction of the third pin toward the other connecting part. One end of the second pin, the installation groove communicates with the receiving groove.

As an optional technical solution for the end effector assembly, two first connecting ears protrude from one end of the first bracket toward the second bracket, and the two ends of the second pin are respectively connected to the two first connecting ears. A connecting ear, the end surface of the first connecting ear facing the second bracket is the upper arc-shaped surface; and/or,

Two second connecting ears protrude from one end of the second bracket toward the first bracket, and the two ends of the third pin are respectively connected to the two second connecting ears, and the second connecting ears The end surface facing the first bracket is the lower arc-shaped surface.

As an optional technical solution of the end effector assembly, the end effector assembly further includes an upper ring shell and a lower ring shell, the upper ring shell is sleeved on the outside of the first bracket, and the lower ring shell is sleeved on the the exterior of the second support;

The end surface of the upper ring shell facing the end of the lower ring shell includes two upper contact arc surfaces and two upper limit surfaces connected end to end, the upper contact arc surfaces and the upper limit surfaces are arranged alternately, and the upper contact surfaces The arc surface is arranged coaxially with the second pin, and the radius of the upper contact arc surface is the same as the pitch circle radius of the first tooth structure, and the upper limit surface is tangent to the upper contact arc surface;

The end surface of the lower annular shell facing the end of the upper annular shell includes two lower contact arc surfaces and two lower limit surfaces connected end to end, the lower contact arc surfaces and the lower limit surfaces are arranged alternately, and the lower contact arc surfaces are arranged alternately with the lower limit surfaces. The arc surface is arranged coaxially with the third pin, and the radius of the lower contact arc surface is the same as the index circle radius of the second tooth structure, and the lower limit surface is tangent to the lower contact arc surface;

The upper contact arc surface is in direct contact with the lower contact arc surface.

The minimally invasive surgical instrument includes an instrument seat, a connecting tube and the above-mentioned end effector assembly, the instrument seat and the second bracket are respectively connected to two ends of the connecting tube.

A minimally invasive surgical system includes the minimally invasive surgical instrument as described above.

Beneficial effects of the present invention:

The end effector assembly provided by the present invention includes a movable part, a first bracket, a second bracket, an engaging assembly, a connecting piece, a first pulling wire and a second pulling wire. The end effector assembly provided by this embodiment has a simple structure and is convenient for production and processing. When the second drawing wire manipulates the connecting piece to rotate to realize the pitch freedom of the end effector assembly, the first drawing wire is wound on the first pulley and the second pulley. The length of the part remains unchanged, and the first pulling wire will not be pulled, which reduces the possibility of deformation or breakage of the first pulling wire, prolongs the service life of the end effector, reduces maintenance costs, ensures the smooth implementation of the operation, and improves It ensures the reliability of minimally invasive surgical instruments during surgery, and at the same time ensures the transmission accuracy of the end effector, which also ensures the accuracy of the end effector when performing surgical operations and improves the safety of the operation; at the same time, the end effector When the degree of freedom of pitch is realized, the length of the part where the first drawing wire is wound on the first pulley and the second pulley remains unchanged, so there is no need to compensate the length of the first drawing wire at the same time, which reduces the difficulty of controlling the end effector; in addition, By setting the connecting piece, the reliable connection between the first bracket and the second bracket is ensured, the possibility of separation of the first bracket and the second bracket is reduced, and the structural stability and structural reliability of the end effector assembly during surgery are ensured. , at the same time, the second drawing wire can be connected to the connecting piece, which avoids the second drawing wire from passing through the second bracket to connect with the first bracket, shortens the length of the second drawing wire extending into the end effector assembly, and shortens the length of the second drawing wire. The length of the second pulling wire reduces the cost, is beneficial to reduce the elastic elongation of the second pulling wire, and further improves the movement accuracy of the end effector and the accuracy of the end effector when performing surgical operations.

The minimally invasive surgical instrument provided by the present invention includes the above-mentioned end effector assembly. When the pitch freedom of the end effector is realized, the first pulling wire will not be pulled, which reduces the possibility of deformation or breakage of the first pulling wire, reduces maintenance costs, ensures the smooth implementation of the operation, and improves minimally invasive surgery. The reliability of the instrument during the operation improves the safety of the operation, and at the same time ensures the accuracy of the minimally invasive surgical instrument during the surgical operation, and also reduces the difficulty of controlling the minimally invasive surgical instrument.

The minimally invasive surgery system provided by the present invention includes the above-mentioned minimally invasive surgical instruments, which reduces the maintenance cost, ensures the smooth implementation of the surgery, improves the reliability of the minimally invasive surgery system during surgery, and improves the safety of the surgery. This ensures the accuracy of the minimally invasive surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the minimally invasive surgical instruments.

Description of drawings

Fig. 1 is a schematic structural view of a minimally invasive surgical instrument provided by Embodiment 1 of the present invention;

Fig. 2 is a schematic structural diagram of an end effector provided in Embodiment 1 of the present invention;

Fig. 3 is a cross-sectional view in the first direction of the end effector assembly provided by Embodiment 1 of the present invention;

Fig. 4 is a cross-sectional view in the second direction of the end effector assembly provided by Embodiment 1 of the present invention;

Fig. 5 is an exploded view of the end effector provided in Embodiment 1 of the present invention;

Fig. 6 is a partial structural schematic diagram of an end effector provided in Embodiment 1 of the present invention;

Figure 7 is an exploded view of Figure 6;

Fig. 8 is a schematic structural view of the end effector provided in Embodiment 1 of the present invention when it is in the initial position;

Fig. 9 is a schematic structural view of the end effector provided in Embodiment 1 of the present invention when it is in the first position;

Fig. 10 is a schematic structural view of the end effector provided in Embodiment 1 of the present invention when it is in the second position;

Fig. 11 is a schematic structural diagram of a connector provided in Embodiment 1 of the present invention;

Fig. 12 is a cross-sectional view of the connector provided by Embodiment 1 of the present invention;

Fig. 13 is a schematic structural view of the first bracket and the second bracket provided by Embodiment 1 of the present invention;

Fig. 14 is a schematic structural view of the first bracket and the upper ring shell provided by Embodiment 1 of the present invention;

Fig. 15 is a schematic structural view of the second bracket and the lower annular shell provided by Embodiment 1 of the present invention;

Fig. 16 is a schematic structural diagram of an end effector provided in Embodiment 2 of the present invention;

Fig. 17 is a partial structural schematic diagram of an end effector provided in Embodiment 2 of the present invention;

Fig. 18 is a structural schematic diagram of Fig. 17 omitting the wire, the movable part and the second pulling wire.

In the picture:

10. End effector assembly; 20. Connecting pipe; 30. Instrument seat;

1. The first bracket; 11. The first pin; 12. The second pin; 13. The first pulley; 14. The first connecting ear; 15. The opening;

2. The second bracket; 21. The third pin; 22. The threading hole; 23. The second pulley; 24. The second connecting ear;

3. Connector; 31. The third pulley; 311. Accommodating groove; 32. Connecting part; 321. Mounting groove; 33. Contact convex part; 34. Shaft hole; 35. Through hole;

4. The first drawing wire; 41. The first drawing section; 411. The first connecting section; 412. The second connecting section; 413. The third connecting section;

5. The second drawing wire; 51. The second drawing section; 52. The connecting block;

6. Movable parts; 7. Engagement components; 71. First tooth structure; 72. Second tooth structure;

81, upper ring shell; 811, upper contact arc surface; 812, upper limit surface; 82, lower ring shell; 821, lower contact arc surface; 822, lower limit surface;

9 wires; 91, insulating pulley.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the technical solutions of the present invention. Some, but not all, embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

Embodiment one

This embodiment provides a minimally invasive surgery system. Specifically, the minimally invasive surgery system includes minimally invasive surgical instruments, which are used to perform surgical operations on patients.

The minimally invasive surgery system may be a surgical robot, and this embodiment uses the surgical robot as an example to describe the minimally invasive surgery system. Furthermore, the minimally invasive surgery system also includes a main console and surgical operating equipment, the surgical operating equipment includes minimally invasive surgical instruments, and doctors can control the minimally invasive surgical instruments through the main console to perform surgical operations on patients.

Among them, the specific structure of the main console, other structures of the surgical operation equipment, and the control principle and control method between the main console and the surgical operation equipment can refer to the prior art, which is not the protection focus of this embodiment, and will not be discussed here. repeat.

Specifically, as shown in FIG. 1 , the minimally invasive surgical instrument includes an instrument base 30 , a connecting tube 20 and an end effector assembly 10 , and the instrument base 30 and the end effector assembly 10 are respectively connected to two ends of the connecting tube 20 . The instrument base 30 is used for connection with other structures of the surgical operation equipment.

Specifically, as shown in Figures 1-15, the end effector assembly 10 includes a movable member 6, a first support 1, a second support 2, an engaging assembly 7, a connecting member 3, a first drawing wire 4 and a second drawing wire 5 . The first support 1 is provided with a first pin 11 and a second pin 12, the first pin 11 and the second pin 12 are vertically arranged, the movable part 6 is rotatably connected to the first pin 11, and the first support 1 can move relative to the second pin 12 rotates, the first pulley 13 is coaxially sleeved on the second pin 12, and the first bracket 1 is provided with an upper arc-shaped surface coaxially arranged with the second pin 12. The second support 2 is provided with a third pin 21 parallel to the second pin 12. The third pin 21 is coaxially sleeved with a second pulley 23. Arc-shaped surface; the meshing assembly 7 includes a first tooth structure 71 and a second tooth structure 72 that are meshed. The upper arc-shaped surface is provided with the first tooth structure 71, and the lower arc-shaped surface is provided with the second tooth structure 72. The center of the index circle is located on the axis of the second pin 12, the center of the index circle of the second tooth structure 72 is located on the axis of the third pin 21, and the radius between the index circle radii of the first tooth structure 71 and the second tooth structure 72 is The ratio is the same as the ratio of the radius of the first pulley 13 to the second pulley 23; the connecting piece 3 is movably sleeved on the third pin 21, and the connecting piece 3 is connected to the second pin 12; the first pulling wire 4 includes two first The traction section 41, the first traction section 41 is wound in an S-shape on the first pulley 13 and the second pulley 23 which are arranged oppositely, and the two first traction sections 41 are located between the first pulley 13 and the second pulley 23 Partially parallel to each other, one end of the two first traction sections 41 is respectively connected with the two sides of the movable member 6 along the radial direction of the first pin 11, and the other ends of the two first traction sections 41 are all pierced through the second bracket 2; Two pulling wires 5 are connected to the connecting piece 3 , and the second pulling wire 5 is used to manipulate the connecting piece 3 to rotate around the third pin 21 .

Specifically, the radius of the pitch circle of the first tooth structure 71 is r1, the radius of the pitch circle of the second tooth structure 72 is R1, the radius of the first pulley 13 is r2, and the radius of the second pulley 23 is R2. "The ratio of the pitch circle radii of the first tooth structure 71 to the second tooth structure 72 is the same as the ratio of the radii of the first pulley 13 to the second pulley 23" described above, specifically r1/R1=i=r2/ R2.

In this embodiment, i=1. In other embodiments, the value of i can be adjusted adaptively, which is not limited here.

In this embodiment, the second bracket 2 is connected to an end of the connecting pipe 20 away from the instrument base 30 .

Specifically, an execution driving wire shaft and a pitch driving wire shaft are arranged in the instrument base 30 . Both ends of the first pulling wire 4 respectively pass through the second bracket 2 and are correspondingly connected with the two driving wire shafts in the instrument holder 30 . The surgical operation equipment is provided with an execution drive motor, and the execution drive motor is arranged on the outside of the instrument base 30. Each execution drive wire shaft is correspondingly provided with an execution drive motor, and the output shaft of the execution drive motor can pass through the execution transmission assembly and the execution drive wire. The shafts are connected to realize that the driving motor drives the corresponding driving wire shaft to rotate, so as to wind up or release the first drawing wire 4 . Wherein, the structure of the above-mentioned execution transmission assembly and the connection relationship between the execution transmission assembly and the instrument base 30 can refer to the prior art, which is not the protection focus of this embodiment, and it is enough to realize the rotation of the execution drive wire shaft corresponding to the execution drive motor. , which will not be repeated here.

Both ends of the second pulling wire 5 respectively pass through the second bracket 2 and are correspondingly connected with the two pitch driving wire shafts in the instrument holder 30 . Two pitching drive motors are arranged on the surgical operation equipment, and the pitching drive motors are arranged on the outside of the instrument base 30. The output shafts of the two pitching drive motors are respectively connected with the two pitching drive wire shafts through the pitching transmission assembly to realize the two pitching drive motors. One-to-one correspondence drives the two pitching drive wire shafts to rotate, so as to wind up or release the second drawing wire 5 . Wherein, the structure of the above-mentioned pitch transmission assembly and the connection relationship between the pitch transmission assembly and the instrument base 30 can refer to the prior art, which is not the protection focus of this embodiment, and it is enough to realize the rotation of the corresponding pitch drive wire shaft driven by the pitch drive motor , which will not be repeated here.

Wherein, other forms of structures can also be arranged in the instrument holder 30 to connect with the first drawing wire 4 and the second drawing wire 5. The internal structure of the instrument holder 30 can refer to the prior art, which is not the protection focus of this embodiment, and will not be discussed here. Let me repeat.

It can be understood that, due to the arrangement of the engaging assembly 7, when the second pulling wire 5 manipulates the connecting member 3 to rotate, the first bracket 1 will also rotate around the axis of the third pin 21 relative to the second bracket 2, so as to realize the end execution Pitch degrees of freedom of assembly 10.

The end effector assembly 10 provided in this embodiment includes a movable member 6 , a first support 1 , a second support 2 , an engaging assembly 7 , a connecting member 3 , a first drawing wire 4 and a second drawing wire 5 . The end effector 10 provided in this embodiment has a simple structure and is convenient for production and processing. When the second drawing wire 5 manipulates the connecting member 3 to rotate to realize the pitch freedom of the end effector 10, the first drawing wire 4 is wound around the first pulley 13 And the length of the part on the second pulley 23 remains the same, the first drawing wire 4 will not be pulled, which reduces the possibility of deformation or breakage of the first drawing wire 4, prolongs the service life of the end effector assembly 10, and reduces maintenance The cost ensures the smooth implementation of the operation, improves the reliability of the minimally invasive surgical instrument during the operation, and at the same time ensures the transmission accuracy of the end effector 10, which also ensures the accuracy of the end effector 10 when performing the operation. The safety of the operation is improved; at the same time, when the end effector assembly 10 realizes the degree of freedom of pitching, the length of the part of the first pulling wire 4 wound on the first pulley 13 and the second pulley 23 remains unchanged, so it is not necessary to compensate the first pulley at the same time. The length of the pulling wire 4 reduces the difficulty of controlling the end effector assembly 10; in addition, by setting the connecting piece 3, the reliable connection between the first bracket 1 and the second bracket 2 is ensured, reducing the difficulty of the first bracket 1 and the second bracket. 2 The possibility of separation ensures the structural stability and structural reliability of the end effector assembly 10 during surgery, and at the same time, the second pulling wire 5 can be connected to the connector 3, preventing the second pulling wire 5 from passing through the first The second support 2 is connected with the first support 1, which shortens the length of the second drawing wire 5 extending into the end effector assembly 10, shortens the length of the second drawing wire 5, reduces the cost, and is conducive to reducing the length of the second drawing wire 5. The amount of elastic elongation further improves the movement accuracy of the end effector assembly 10 and the accuracy of the end effector assembly 10 when performing surgical operations.

The minimally invasive surgical instrument provided in this embodiment includes the above-mentioned end effector assembly 10 . When the pitch freedom of the end effector assembly 10 is realized, the first pulling wire 4 will not be pulled, which reduces the possibility of deformation or breakage of the first pulling wire 4, reduces maintenance costs, ensures the smooth implementation of the operation, and improves the The reliability of minimally invasive surgical instruments during surgery improves the safety of surgery, ensures the accuracy of minimally invasive surgical instruments during surgical operations, and reduces the difficulty of controlling minimally invasive surgical instruments.

The minimally invasive surgery system provided in this embodiment includes the aforementioned minimally invasive surgical instruments, which reduces the maintenance cost, ensures the smooth implementation of the surgery, improves the reliability of the minimally invasive surgery system during surgery, and improves the safety of the surgery. At the same time, it ensures the accuracy of the minimally invasive surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the minimally invasive surgical instruments.

In this embodiment, the first pin 11 and the second pin 12 are respectively disposed at two ends of the first bracket 1 , and the first pin 11 is disposed at an end of the first bracket 1 away from the second bracket 2 .

As shown in FIG. 8 , the end effector 10 is at an initial position. The first traction section 41 includes a first connecting section 411 , a second connecting section 412 and a third connecting section 413 . One end of the first connecting section 411 is connected to the movable part 6, and the other end is connected to the first end of the second connecting section 412; the second end of the second connecting section 412 is connected to the first end of the third connecting section 413; The second end of the connecting section 413 passes through the second bracket 2 and is connected with the driving wire shaft in the instrument base 30 . Wherein, the first end of the second connection section 412 and the first connection section 411 are all tangent to the first pulley 13 at point L, and the first connection section 411 is only in contact with the first pulley 13 at point L; the second connection Both the second end of the segment 412 and the third connecting segment 413 are tangent to the second pulley 23 at point Q, and the third connecting segment 413 only contacts the second pulley 23 at point Q.

It can be understood that the "part of the first pulling wire 4 wound on the first pulley 13 and the second pulley 23" described above is the LQ section (second connecting section 412) on the first pulling section 41, that is, It means that when the pitch freedom of the end effector assembly 10 is realized by using the second pulling wire 5 , the length of the LQ section (the second connecting section 412 ) on the first pulling section 41 remains unchanged.

The second connecting section 412 includes a first cladding section, an inter-wheel connecting section and a second cladding section, the first cladding section is clad on the first pulley 13, and the second cladding section is clad on the second pulley 23 , the first end of the inter-wheel connecting section is connected to the first covering section, and the second end of the inter-wheel connecting section is connected to the second covering section. The first end of the inter-wheel connection section is tangent to the first pulley 13 at point M, and the second end of the inter-wheel connection section is tangent to the second pulley 23 at point P, that is, the first cladding section is the second connection section 412 The LM section on the above, the inter-wheel connection section is the MP section on the second connection section 412 , and the second cladding section is the PQ section on the second connection section 412 . It can be understood that the inter-wheel connection section only contacts the first pulley 13 at point M, and the inter-wheel connection section only contacts the second pulley 23 at point P. At this time, the central angle corresponding to the LM segment is γ, and the corresponding central angle to the PQ segment is θ.

It can be understood that the "part of the two first traction sections 41 located between the first pulley 13 and the second pulley 23" described above is the MP section (inter-wheel connection section) on the second connecting section 412, also That is to say, the MP sections located on the two first drawing sections 41 of the same first drawing wire 4 are arranged parallel to each other.

As shown in FIG. 8 , point A is located on the axis of the third pin 21 , and point B is located on the axis of the second pin 12 . The dashed line AB perpendicularly intersects the axis of the second pin 12 , and the dashed line AB perpendicularly intersects the axis of the third pin 21 . The dashed line BC perpendicularly intersects the axis of the second pin 12 , and the dashed line BC perpendicularly intersects the axis of the first pin 11 . The first bracket 1 and the second bracket 2 are roughly cylindrical. When the end effector 10 is in the initial position, the first bracket 1 and the second bracket 2 are coaxially arranged, and the dotted line BC and the dotted line AB are both along the axis of the first bracket 1 Extend in direction. The dashed line h extends along the axial direction of the first stent 1, and the dashed line h coincides with the dashed line BC and the dashed line AB.

When the connecting member 3 is rotated by an angle ε relative to the third pin 21 along the first direction (x direction), the end effector 10 is in the first position, as shown in FIG. 9 , that is, the angle β between the dotted line AB and the dotted line h '=ε. During the rotation of the connector 3, the second pulley 23 covers part of the PQ segment, so that the PQ segment is lengthened into a P'Q' segment, and the central angle corresponding to the P'Q' segment is θ', and θ'-θ= ε, the length of the P'Q' segment - the length of the PQ segment = εR2.

It can be understood that, since the connecting piece 3 is connected with the second pin 12, the connecting piece 3 can drive the first bracket 1 to rotate synchronously around the third pin 21 while the connecting piece 3 rotates around the third pin 21; 71 and the second tooth structure 72, the first bracket 1 will also rotate a certain angle relative to the second bracket 2 around the axis of the third pin 21, and according to the pitch circle radius of the first tooth structure 71 and the second tooth structure The ratio of the pitch circle radius of 72 is r1/R1=i, that is, the included angle α'=ε/i between the dotted line BC and the dotted line AB.

During the rotation of the first bracket 1, the first pulley 13 releases part of the LM segment, so that the LM segment is shortened to the L'M' segment, and the central angle corresponding to the L'M' segment is γ', and γ-γ'= ε/i, length of LM segment - length of L'M' segment = εr2/i.

And because the axial spacing of the first pulley 13 and the second pulley 23 is constant, so the length of the connecting section (MP section) between the wheels is constant, that is, the length=0 of the length of the MP section-M'P' section.

Again because r2/R2=i, then the length of the length of P'Q' section-PQ section=εR2=εr2/i=LM section length-L'M' length of section, promptly the first cladding section has shortened εR2 , the second cladding section is lengthened by εR2, and the length of the connecting section between the wheels remains unchanged. Therefore, when the second pulling wire 5 manipulates the connecting piece 3 to rotate in the first direction to realize the pitch freedom of the end effector assembly 10, the first pulling The length of the LQ segment (the second connection segment 412 ) on segment 41 does not change.

Similarly, it can be seen that when the connecting member 3 is rotated by an angle ε relative to the third pin 21 along the second direction (y direction), the end effector 10 is in the second position, as shown in FIG. 10 , that is, between the dotted line AB and the dotted line h The included angle β”=ε. During the rotation of the connector 3, the second pulley 23 releases part of the PQ segment, so that the PQ segment is shortened to a P”Q” segment, and the central angle corresponding to the P”Q” segment is θ” , and θ-θ"=ε, the length of the PQ section-P"Q" section length=εR2.

It can be understood that, since the connecting piece 3 is connected with the second pin 12, the connecting piece 3 can drive the first bracket 1 to rotate synchronously around the third pin 21 while the connecting piece 3 rotates around the third pin 21; 71 and the setting of the second tooth structure 72, the first bracket 1 will also rotate at a certain angle relative to the second bracket 2 around the axis of the third pin 21, and according to the pitch circle radius of the first tooth structure 71 and the second tooth structure The ratio of the pitch circle radius of 72 is r1/R1=i, that is, the included angle α”=ε/i between the dotted line BC and the dotted line AB.

During the rotation of the connecting piece 3, the first pulley 13 covers part of the LM section, so that the LM section is lengthened into a L"M" section, and the central angle corresponding to the L"M" section is γ", and γ"-γ= ε/i, length of segment L"M" - length of segment LM = εr2/i.

And since the axial distance between the first pulley 13 and the second pulley 23 is constant, the length of the connecting section (MP section) between the wheels is constant, that is, the length of the MP section-M "P" section's length=0.

Again because r2/R2=i, then the length of the PQ section-P " Q " section length=εR2=εr2/i=L " M " section length-LM section length, promptly the first cladding section lengthened εR2 , the second cladding section is shortened by εR2, and the length of the connecting section between the wheels remains unchanged. Therefore, when the second pulling wire 5 manipulates the connecting piece 3 to rotate in the second direction to realize the pitch freedom of the end effector assembly 10, the first pulling The length of the LQ segment (the second connection segment 412 ) on segment 41 does not change.

In this embodiment, the x direction is a counterclockwise direction, and the y direction is a clockwise direction. In other embodiments, the x direction may also be a clockwise direction, and the y direction may be a counterclockwise direction, which are not limited here.

Wherein, the side walls of the first pulley 13 and the second pulley 23 are provided with an annular groove along the circumferential direction, the cross section of the annular groove is arc-shaped, and the radius of the arc cross-section is greater than the radius of the first traction section 41, And the depth of the annular groove is the radius of the first traction section 41, when the first traction section 41 is placed in the annular groove, the axis of the first traction section 41 is placed on the side of the first pulley 13 and the second pulley 23 wall, so that the distance between the axis of the first traction section 41 and the axis of the first pulley 13 is the radius of the first pulley 13, and the distance between the axis of the first traction section 41 and the axis of the second pulley 23 is the radius of the first pulley 23. The radius of the second pulley 23; alternatively, the first pulley 13 and the second pulley 23 are cylindrical, and the radius of the first traction section 41 is relatively small and can be ignored.

As a preferred solution, some first pulleys 13 are set movable on the second pin 12, and some second pulleys 23 are set movable on the third pin 21. The first pulley 13 and the second pulley 23 are arranged opposite to each other. A traction section 41 is wound in an S shape on the first pulley 13 and the second pulley 23 which are opposite to each other. By setting the above-mentioned structure, when the movable member 6 is rotated by pulling the first traction section 41, the first traction section 41 can drive the first pulley 13 and the second pulley 23 to rotate, reducing the number of pulleys between the first traction section 41 and the first pulley. The friction between 13 and the second pulley 23 reduces the risk of wear and tear of the first pulley 4, ensures the smooth implementation of the operation, reduces maintenance costs, and improves the reliability of the minimally invasive surgical instrument during the operation .

In this embodiment, the first drawing wire 4 is a steel wire rope, which has a high structural strength and ensures durability. The two first traction sections 41 can also be arranged separately, and the ends of the two first traction sections 41 are connected to the movable part 6 respectively; A first traction section 41 is connected to one end of the movable part 6 through a knot, a wire rope or other connecting structures, that is, the first traction wire 4 is wound on the movable part 6 and passed between the first traction wire 4 and the movable part 6 The frictional force realizes driving movable part 6 to rotate.

In this embodiment, there are two movable parts 6, so that the end effector assembly 10 has an opening and closing action, thereby realizing the function of grasping or clamping. Specifically, the minimally invasive surgical instrument may be fenestration clamps, grasping forceps, surgical scissors, needle holders, or knotting forceps. The minimally invasive surgical instrument in this embodiment takes non-destructive forceps as an example, and the movable part 6 is the flap of the non-destructive forceps. Wherein, the specific structure of the movable part 6 can refer to the prior art, which is not the focus of protection in this embodiment, and will not be repeated here.

In other embodiments, only one movable part 6 may be provided. At this time, the minimally invasive surgical instrument is a monopolar electric hook, and the movable part 6 is a hook-shaped metal part. At this time, there may be two first pulleys 13 and two second pulleys 23 respectively.

It can be understood that there are correspondingly two first pulling wires 4 , and the two first pulling wires 4 are respectively connected with two movable parts 6 . Specifically, the first traction section 41 is provided with four, so the first pulley 13 and the second pulley 23 are respectively provided with four, and the four first pulleys 13 and the four second pulleys 23 are respectively arranged one by one to ensure that Each first traction section 41 can play a guiding role.

In this embodiment, the four second pulleys 23 are divided into two groups, and each group of second pulleys 23 includes two second pulleys 23 located on the same side of the first pin 11 in the radial direction and coming from different first pulling wires 4 The two first traction sections 41 are respectively wound around the two second pulleys 23 in the same group.

Specifically, the two movable parts 6 are arranged on both sides of the second pin 12 in the radial direction, so that the two first traction sections 41 from different first traction wires 4 are located between the second pin 12 and the third pin 21 The partial misalignment crossover setup.

In this embodiment, an opening 15 is opened through the first bracket 1 , and the opening 15 allows the first traction section 41 to pass through. An opening 15 is defined in the middle of the first bracket 1 , and the four first traction sections 41 all pass through the opening 15 . Preferably, the opening area of the opening 15 is relatively large, and the opening 15 is roughly quadrilateral, and the four first traction sections 41 are respectively located at the four corners of the opening 15, so that the four first traction sections 41 are arranged at intervals, which is beneficial to reduce the The frictional force between the first traction sections 41 reduces the possibility of abrasion of the first traction sections 41 and also reduces the number of holes on the first support 1 , which is convenient for production and processing.

As a preferred solution, the connector 3 includes a third pulley 31 and a connecting portion 32, the third pulley 31 is coaxially provided with a shaft hole 34, the third pin 21 is movable through the shaft hole 34, and the third pulley 31 passes through the connecting portion 32 Connected to the second pin 12 , the second pulling wire 5 is wound around the third pulley 31 . The above arrangement is beneficial to simplify the structure of the connecting piece 3, and at the same time, it is convenient to determine the setting position of the shaft hole 34 on the third pulley 31, which improves the convenience of processing and facilitates production and processing.

In this embodiment, the connecting portion 32 is located on one side of the third pulley 31 in the axial direction, the third pulley 31 is connected to one end sidewall of the connecting portion 32 , and the shaft hole 34 on the third pulley 31 passes through the connecting portion 32 . The other end of the connecting portion 32 defines a through hole 35 , and the second pin 12 passes through the through hole 35 .

Further, the second pin 12 is movable through the through hole 35, so that the connecting piece 3 can rotate relative to the second pin 12, avoiding the obstruction of the rotation of the first bracket 1 due to the locking of the connecting piece 3, and ensuring the end-effector The component 10 successfully realizes the degree of freedom of pitching, reduces the maintenance cost, ensures the smooth implementation of the operation, improves the reliability of the minimally invasive surgical instrument during the operation, and at the same time ensures the transmission accuracy of the end effector 10, which also ensures the end effector The accuracy of the assembly 10 in performing surgical operations improves the safety of the surgery.

Preferably, there are two connecting parts 32 , the two connecting parts 32 are respectively located on both sides of the third pulley 31 along the axial direction, and the second pulling wire 5 is located between the two connecting parts 32 . Through the above-mentioned structural arrangement, the two connecting parts 32 can stop the second pulling wire 5, avoiding the second pulling wire 5 from detaching from the third pulley 31 along the axial direction of the third pulley 31, further ensuring the smooth implementation of the operation and improving the operation efficiency. The reliability of minimally invasive surgical instruments during surgery. It can be understood that the shaft hole 34 passes through the two connecting parts 32 and the third pulley 31 .

Further, through holes 35 are opened on the two connecting parts 32 , and the two through holes 35 are arranged facing each other.

In this embodiment, the second pulling wire 5 includes a connecting block 52 and two second pulling segments 51, and the two second pulling segments 51 are respectively located on both sides of the third pulley 31 in the radial direction, and the two second pulling wires One end of 51 is connected to the connecting block 52, and the other ends of the two second traction sections 51 are passed through the second bracket 2 and connected with the pitch driving wire shaft.

As a preferred solution, a receiving groove 311 is provided on the side wall of the third pulley 31, and at least part of the connecting block 52 is placed in the receiving groove 311, which is convenient for reducing the height of the connecting block 52 protruding from the third pulley 31, and is conducive to realizing the connecting piece 3. With the miniaturization of the end effector assembly 10; at the same time, the connecting block 52 is placed in the receiving groove 311, and the groove wall of the receiving groove 311 can also stop the connecting block 52. When pulling the second traction section 51, it avoids the use of friction The force drives the connecting piece 3 to ensure the transmission accuracy of the end effector 10 , which also ensures the accuracy of the end effector 10 when performing surgical operations and improves the safety of the operation.

In this embodiment, the second traction section 51 is a steel wire rope, which has high structural strength and ensures durability. The second traction section 51 and the connecting block 52 can be fixed by means of welding, bonding, knotting or crimping, which is not limited here. Wherein, the elastic elongation of the second drawing wire 5 is positively correlated with the length of the second drawing wire 5 , and the calculation formula of the elastic elongation is the prior art, and will not be repeated here.

Further, one connecting portion 32 is provided with a mounting groove 321 on one side facing the other connecting portion 32, and the mounting groove 321 penetrates through the end of the connecting portion 32 facing the second pin 12 along the radial direction of the third pin 21, and the mounting groove 321 is compatible with the accommodating The groove 311 communicates. The above-mentioned structural arrangement facilitates the disassembly and assembly of the connecting block 52 through the mounting groove 321, which improves the convenience of assembly; after the connecting block 52 is installed, part of the connecting block 52 can also be placed in the mounting groove 321, reducing the volume of the connecting piece 3 , which further facilitates the miniaturization of the connector 3 and the end effector assembly 10 .

In this embodiment, the two connecting portions 32 are provided with mounting grooves 321 on the sides facing each other, and the width of the mounting grooves 321 is the same as that of the receiving groove 311 .

As a preferred solution, the connector 3 also includes a contact protrusion 33, which protrudes from the end surface of the connection part 32 facing away from the third pulley 31, and the end surface of the contact protrusion 33 away from the connection part 32 is in contact with the first pulley. 13 and/or the second pulley 23 , the area of the end surface of the contact convex portion 33 away from the connecting portion 32 is smaller than the area of the end surface of the connecting portion 32 facing away from the third pulley 31 . By arranging the contact convex part 33, it is possible to reduce the contact area of the connector 3 for contacting the first pulley 13 and the second pulley 23, reduce the friction between the connector 3 and the first pulley 13 and the second pulley 23, and ensure The connecting member 3 can rotate smoothly relative to the first pulley 13 or the second pulley 23, which reduces the possibility of the end effector assembly 10 being stuck and ensures smooth implementation of the operation.

Preferably, a threading hole 22 is opened through the second bracket 2 , and the threading hole 22 is used for the second traction section 51 or the first traction section 41 to pass through. In this embodiment, six threading holes 22 are provided, and six threading holes 22 are formed in one-to-one correspondence between the two second drawing sections 51 and the four first drawing sections 41 .

The end effector assembly 10 provided in this embodiment can realize three degrees of freedom of opening and closing, yaw and pitch. When the two first traction sections 41 located on both sides of the first pin 11 in the radial direction and from different first traction wires 4 are pulled at the same time, the two movable parts 6 can approach or move away from each other, realizing the degree of freedom of opening and closing . When the two first traction sections 41 located on the same side of the first pin 11 in the radial direction and from different first traction wires 4 are pulled at the same time, the two movable parts 6 can rotate around the first pin 11 in the same direction, Achieve yawing degrees of freedom. When one of the second traction sections 51 is pulled, the connecting member 3 rotates to realize the degree of freedom of pitching. It can be understood that the axis of the third pin 21 is the rotation axis of the end effector assembly 10 to realize the degree of freedom of pitching.

As a preferred solution, two first connecting ears 14 protrude from the end of the first bracket 1 facing the second bracket 2, and the two ends of the second pin 12 are respectively connected to the two first connecting ears 14, and the first connecting ears 14 The end surface facing the second bracket 2 is an upper arc surface. The above-mentioned setting is convenient for determining the setting position of the first tooth structure 71, and is convenient for production and processing. The setting of the two first connecting ears 14 also increases the connection position between the first bracket 1 and the second bracket 2, while the second pin 12 Being able to be supported by the two first connecting ears 14 improves the structural stability of the end effector assembly 10 .

Further, two second connecting ears 24 protrude from one end of the second bracket 2 facing the first bracket 1, and the two ends of the third pin 21 are respectively connected to the two second connecting ears 24, and the second connecting ears 24 face The end surface of the first support 1 is a lower arc surface. The above-mentioned setting is convenient to determine the setting position of the second tooth structure 72, which is convenient for production and processing. The setting of the two second connecting ears 24 also increases the connection position between the first bracket 1 and the second bracket 2, while the third pin 21 Being able to be supported by the two second connecting ears 24 improves the structural stability of the end effector assembly 10 .

In this embodiment, the first pulley 13 on the connecting piece 3 and the second pin 12 is located between the two first connecting ears 14, and the second pulley 23 on the connecting piece 3 and the third pin 21 is located between the two. Between the second connecting ears 24, the first connecting ears 14 and the second connecting ears 24 can separate the human tissue from the first pulley 13 and the second pulley 23, reducing the human tissue due to being involved in the first pulley 13. The damage caused between the second pulley and the second pulley 23 reduces the possibility of secondary injury to the patient and improves the safety of the operation.

In other embodiments, the first connecting ear 14 may be located between the connecting member 3 and the first pulley 13 , and the second connecting ear 24 may be located between the connecting member 3 and the second pulley 23 , which is not limited herein.

As a preferred solution, the end effector assembly further includes an upper ring shell 81 and a lower ring shell 82 , the upper ring shell 81 is sleeved on the outside of the first bracket 1 , and the lower ring shell 82 is sleeved on the outside of the second bracket 2 . The end surface of the upper ring shell 81 towards the lower ring shell 82 includes two upper contact arc surfaces 811 and two upper limit surfaces 812 connected end to end, the upper contact arc surfaces 811 and the upper limit surfaces 812 are arranged alternately, and the upper contact arc surfaces 811 and two The second pin 12 is arranged coaxially, and the radius of the upper contact arc surface 811 is the same as the pitch circle radius of the first tooth structure 71 , and the upper limit surface 812 is tangent to the upper contact arc surface 811 . The end face of the lower annular shell 82 facing the upper annular shell 81 includes two lower contact arc surfaces 821 and two lower limit surfaces 822 connected end to end, the lower contact arc surfaces 821 and the lower limit surfaces 822 are arranged alternately, and the lower contact arc surfaces 821 and two lower limit surfaces 822 are arranged alternately. The third pin 21 is arranged coaxially, and the radius of the lower contact arc surface 821 is the same as the radius of the pitch circle of the second tooth structure 72 , and the lower limiting surface 822 is tangent to the lower contact arc surface 821 . The upper contact arc surface 811 is in direct contact with the lower contact arc surface 821 . The setting of the upper ring shell 81 and the lower ring shell 82 can protect the first bracket 1 and the second bracket 2, and improve the durability of the end effector assembly 10; at the same time, the upper contact arc surface 811 can cover part of the first tooth structure 71, and the lower The contact arc surface 821 can cover part of the second tooth structure 72, and during the operation, it can avoid the damage of human tissue caused by the bite of the first tooth structure 71 and the second tooth structure 72, reducing the possibility of secondary injury to the patient In addition, the upper limit surface 812 and the lower limit surface 822 can also limit the rotation range of the end effector assembly 10, avoiding the interference of the end effector assembly 10 with other instruments due to the excessive rotation angle. Ensure the smooth implementation of the operation.

In this embodiment, the upper ring shell 81 is set separately from the first bracket 1 and is fixedly connected by bonding, welding or other means; the lower ring shell 82 is set separately from the second bracket 2 and is fixedly connected by bonding, welding, etc. or other fixed connections. In other embodiments, the upper ring shell 81 can be integrally formed with the first bracket 1 , and the lower ring shell 82 can be integrally formed with the second bracket 2 .

Embodiment two

This embodiment provides an end effector, a minimally invasive surgical instrument, and a minimally invasive surgical system, and the structure of this embodiment is basically the same as that of Embodiment 1, only part of the structure is different. The same structure as Example 1 will be described in detail.

As shown in FIGS. 16-18 , in this embodiment, there are two movable parts 6 . Specifically, the minimally invasive surgical instrument may be an active instrument capable of opening and closing, such as a bipolar non-destructive forceps, which can perform functions such as cutting and hemostasis. The movable part 6 is a nondestructive forceps flap.

The end effector assembly 10 also includes a wire 9, two wires 9 are provided, and the two wires 9 are passed through the connecting pipe 20, and one end of the two wires 9 is inserted into the instrument holder 30 and connected with two power supply structures respectively, and the two wires 9 Each power supply structure can provide positive and negative electric energy for the wire 9 respectively. In order to avoid conductive contact between the two movable parts 6, an insulating tube is sleeved on the first pin 11, and the movable part 6 is sleeved on the insulating tube, which improves safety.

Preferably, the wire 9 is wound around the second pin 12 and the third pin 21 in an S-shape, and the two wires 9 are located between the second pin 12 and the third pin 21 and are intersected. Further, two insulating pulleys 91 are coaxially sleeved on the second pin 12, and two insulating pulleys 91 are coaxially sleeved on the third pin 21, and the two insulating pulleys 91 on the second pin 12 are connected with the third pin. Two insulated pulleys 91 on the 21 are arranged facing one by one, and the wire 9 is S-shaped and wound on the two insulating pulleys 91 arranged opposite. The diameters of the two insulating pulleys 91 facing to each other are the same. When the second pulling wire 5 is used to realize the degree of freedom of pitching of the end effector assembly 10, the length of the wire 9 wound on the two insulating pulleys 91 facing oppositely remains unchanged, the wire 9 will not be pulled, and the deformation of the wire 9 is reduced or the possibility of fracture, prolong the service life of the end effector 10, reduce maintenance costs, ensure the smooth implementation of the operation, improve the reliability of minimally invasive surgical instruments during surgery, and at the same time ensure the transmission of the end effector 10 The accuracy ensures the accuracy of the end effector 10 when performing surgical operations, and at the same time reduces the risk of electric leakage and improves the safety of the operation; in addition, the insulating pulley 91 is made of insulating material, which further reduces the risk of electric leakage. The safety of the operation is improved.

In other embodiments, in the same manner as the embodiment, the radius of the insulating pulley 91 arranged on the second pin 12/the radius of the insulating pulley 91 arranged on the third pin 21=i′=the first tooth structure 71 and The ratio of the pitch circle radii of the second tooth structure 72 is sufficient, and will not be repeated here.

Among them, the specific principle of "when the pitch freedom of the end effector assembly 10 is realized by using the second pulling wire 5, the length of the wire 9 wound on the two insulating pulleys 91 facing to each other remains unchanged" is the same as that of the second connecting section 412 The principle of constant length is the same, and will not be repeated here.

Preferably, the insulating pulley 91 on the second pin 12 is movably sleeved on the second pin 12 , and the insulating pulley 91 on the third pin 21 is slidably sleeved on the third pin 21 . By setting the above structure, when the connecting piece 3 and the first support 1 are rotated, the friction force between the wire 9 and the insulating pulley 91 is reduced, the risk of the wire 9 being worn and leaked is reduced, the maintenance cost is also reduced, and the Surgical safety. An insulating pulley 91 is provided between the connecting piece 3 and the first pulley 13 and between the connecting piece 3 and the second pulley 23 .

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. An end effector assembly, including a movable part (6) and a first support (1), the first support (1) is provided with a first pin (11) and a second pin (12), and the first pin (11) is arranged perpendicular to the second pin (12), the movable part (6) is rotatably connected to the first pin (11), and the second pin (12) is coaxially sleeved with a first Pulley (13); It is characterized in that, also includes: The second bracket (2) is provided with a third pin (21) parallel to the second pin (12), the second pulley (23) is coaxially sleeved on the third pin (21), and the The second bracket (2) is provided with a lower arc-shaped surface coaxially arranged with the third pin (21); The meshing assembly (7) includes a first tooth structure (71) and a second tooth structure (72) that are meshed, and the first bracket (1) is provided with an upper pin coaxial with the second pin (12). arc-shaped surface, the first tooth structure (71) is arranged on the upper arc-shaped surface, the second tooth structure (72) is arranged on the lower arc-shaped surface, the first tooth structure (71) and the The ratio of the pitch circle radius of the second tooth structure (72) is the same as the ratio of the radius of the first pulley (13) to the second pulley (23); A connecting piece (3), movably sleeved on the third pin (21) and connected to the second pin (12); The first traction wire (4) includes two first traction sections (41), and the first traction section (41) is S-shaped and wound around the first pulley (13) and the first pulley (13) which are arranged oppositely. On the second pulley (23), the parts between the two first traction sections (41) located between the first pulley (13) and the second pulley (23) are parallel to each other, and the two first traction sections (41) are parallel to each other. One end of the segment (41) is respectively connected with the two sides of the movable part (6) along the radial direction of the first pin (11), and the other ends of the two first traction segments (41) are all pierced through the The second support (2); The second pulling wire (5) is connected to the connecting piece (3) and is used to manipulate the connecting piece (3) to rotate around the third pin (21). 2. The end effector assembly according to claim 1, characterized in that, the connecting piece (3) comprises a third pulley (31) and a connecting portion (32), and the third pulley (31) is coaxially provided with There is a shaft hole (34), the third pin (21) is movable through the shaft hole (34), and the third pulley (31) is connected to the second pin through the connecting part (32) (12), the second pulling wire (5) is wound around the third pulley (31). 3. The end effector assembly according to claim 2, characterized in that there are two connecting parts (32), and the two connecting parts (32) are respectively located along the axis of the third pulley (31). On both sides in the direction, the second pulling wire (5) is located between the two connecting parts (32). 4. The end effector assembly according to claim 3, characterized in that, the connector (3) further comprises a contact protrusion (33), and the contact protrusion (33) protrudes from the connection part ( 32) On the end surface opposite to the third pulley (31), the end surface of the contact protrusion (33) away from the connecting portion (32) is in contact with the first pulley (13) and/or the first pulley (13) The two pulleys (23) are in contact, and the area of the end surface of the contact convex portion (33) away from the connecting portion (32) is smaller than the area of the end surface of the connecting portion (32) facing away from the third pulley (31). 5. The end effector assembly according to claim 3, characterized in that, the second pulling wire (5) comprises a connecting block (52) and two second pulling sections (51), and the two second pulling sections The segments (51) are respectively located on both sides of the third pulley (31) in the radial direction, and one ends of the two second pulling wires (51) are connected to the connecting block (52), and the two second pulling wires (51) are connected to the connecting block (52). The other ends of the two traction sections (51) are all pierced through the second bracket (2); the side wall of the third pulley (31) is provided with a receiving groove (311), at least part of the connecting block (52 ) placed in the containing groove (311). 6. The end effector assembly according to claim 5, characterized in that, one side of the connecting portion (32) facing the other connecting portion (32) is provided with an installation groove (321), and the installation groove (321) passing through the connecting portion (32) toward one end of the second pin (12) along the radial direction of the third pin (21), the installation groove (321) and the receiving groove (311) connected. 7. The end effector assembly according to any one of claims 1-6, characterized in that, one end of the first bracket (1) protruding toward the second bracket (2) is provided with two first connections ear (14), the two ends of the second pin (12) are respectively connected to the two first connecting ears (14), and the first connecting ear (14) faces to the side of the second bracket (2) The end face is the upper arc-shaped face; and/or, Two second connecting ears (24) protrude from one end of the second bracket (2) facing the first bracket (1), and the two ends of the third pin (21) are respectively connected to the two The second connecting ear (24), the end surface of the second connecting ear (24) facing the first bracket (1) is the lower arc surface. 8. The end effector assembly according to claim 7, characterized in that, the end effector assembly further comprises an upper ring shell (81) and a lower ring shell (82), and the upper ring shell (81) is sleeved on the The outside of the first bracket (1), the lower ring shell (82) is sleeved on the outside of the second bracket (2); The end surface of the upper annular shell (81) towards the end of the lower annular shell (82) includes two upper contact arc surfaces (811) and two upper limit surfaces (812) connected end to end, and the upper contact arc surfaces ( 811) and the upper limit surface (812) are arranged alternately, the upper contact arc surface (811) is coaxially arranged with the second pin (12), and the radius of the upper contact arc surface (811) is the same as the The pitch circle radii of the first tooth structure (71) are the same, and the upper limit surface (812) is tangent to the upper contact arc surface (811); The end surface of the lower annular shell (82) towards the end of the upper annular shell (81) includes two lower contact arc surfaces (821) and two lower limit surfaces (822) connected end to end, and the lower contact arc surfaces ( 821) are arranged alternately with the lower limit surface (822), the lower contact arc surface (821) is coaxially arranged with the third pin (21), and the radius of the lower contact arc surface (821) is the same as the The pitch circle radii of the second tooth structure (72) are the same, and the lower limiting surface (822) is tangent to the lower contact arc surface (821); The upper contact arc surface (811) is in direct contact with the lower contact arc surface (821). 9. A minimally invasive surgical instrument, characterized in that it comprises an instrument seat (30), a connecting pipe (20) and the end effector assembly as claimed in any one of claims 1-8, the instrument seat (30) and the The second bracket (2) is respectively connected to the two ends of the connecting pipe (20). 10. The minimally invasive surgery system, characterized in that it comprises the minimally invasive surgical instrument according to claim 9.