WO2024045462A1 - End effector, surgical instrument, and tool - Google Patents

Abstract

Provided is an end effector (100, 200, 800, 1600, 2410), comprising: a driver wheel (110, 280, 830, 1620) and an execution end (120, 220, 850, 1630). A transmission member is arranged between the driver wheel (110, 280, 830, 1620) and the execution end (120, 220, 850, 1630). When the driver wheel (110, 280, 830, 1620) rotates, the driver wheel (110, 280, 830, 1620) can drive the execution end (120, 220, 850, 1630) to switch between a first state and a second state via the transmission member. The power transmission between the driver wheel (110, 280, 830, 1620) and the execution end (120, 220, 850, 1630) is achieved by means of the transmission member. Also provided is a surgical instrument (2400) comprising the end effector (100, 200, 800, 1600, 2410) and capable of well controlling the end effector (100, 200, 800, 1600, 2410). Further provided is a tool (2800) suitable for the installation of the execution end (120, 220, 850, 1630) of the end effector (100, 200, 800, 1600, 2410).

Description

An end-effector, surgical instrument and tooling

cross reference

This application requires a Chinese application with application number 202211070433.5 submitted on September 2, 2022, a Chinese application with application number 202211198374.X submitted on September 29, 2022, and an application number 202211447322.1 submitted on November 18, 2022. ’s Chinese application, the entire contents of which are incorporated herein by reference.

Technical field

This specification relates to the technical field of medical devices, and in particular to an end effector, surgical instruments and tooling.

Background technique

Minimally invasive surgery means that doctors or surgical robots make tiny incisions on the patient's body surface, and then extend surgical instruments into the patient's interior to diagnose or treat the patient's diseased areas. Among them, surgical instruments generally include end-effector instruments, and end-effector instruments may include different types of execution ends to complete surgical operations such as cutting, clamping, suturing, lifting, and freeing tissue at the patient's lesion site. The movement of the end surgical instrument can generally be achieved through a steel wire rope. By pulling the wire rope, the execution end of the end effector instrument can be driven to perform corresponding operations (such as rotation of a single execution end, relative opening or closing of two execution ends, etc.).

Contents of the invention

One embodiment of the present specification provides an end-effector instrument, which includes: a driving wheel and an execution end. There is a driving fitting portion between the driving wheel and the execution end. When the driving wheel rotates, the driving wheel can pass through The driving fitting part drives the execution end to switch between the first state and the second state.

In some embodiments, the end effector further includes a base, and the driving wheel is rotatably disposed on the base through a first rotating shaft.

In some embodiments, the driving fitting part includes a chute provided on the execution end and a protruding portion provided on the driving wheel, and the protruding portion slides in the chute, so that The execution end switches between a first state and a second state.

In some embodiments, the execution end includes a first operating member and a second operating member, and the first operating member and the second operating member are rotationally connected through a second rotating shaft; the chute includes a a first chute on the first operating member and a second chute on the second operating member; the protruding portion includes a first protrusion and a second protrusion on the driving wheel, The first protrusion is located in the first chute, the second protrusion is located in the second chute, and the first protrusion and the second protrusion are respectively located in the thickness of the driving wheel. direction, and the connection line between the first protrusion and the second protrusion passes through the axis center of the first rotation axis of the driving wheel; when the driving wheel rotates around the first rotation axis, The first protrusion slides in the first chute, the second protrusion slides in the second chute, and drives the first operating member to be opposite to the second operating member or Rotate in opposite directions.

In some embodiments, the rotation angle of the first operating member is equal to the rotation angle of the second operating member.

In some embodiments, the first operating member is provided with a first escape groove, the second operating member is provided with a second escape groove, and the first rotating shaft of the driving wheel passes through the first escape groove. relief groove and the second relief groove.

In some embodiments, the first operating member and the second operating member are rotatably connected to the base through the second rotating shaft.

In some embodiments, the first operating part includes a first connecting part and a first execution part provided on the first connecting part, and the second operating part includes a second connecting part and a first executing part provided on the first connecting part. The second execution part on the two connecting parts, the first connecting part and the second connecting part are rotationally connected through the second rotating shaft, and the driving wheel is located between the first connecting part and the second connecting part The driving wheel is drivingly connected to the first connecting part and the second connecting part respectively, and the sum of the thicknesses of the first connecting part, the driving wheel and the second connecting part is not Greater than the maximum thickness of the first execution part.

In some embodiments, the base includes a mounting slot, the first connecting part and the second connecting part are connected in the mounting slot through the second rotating shaft, and the driving wheel passes through the first The rotating shaft is connected in the installation groove.

In some embodiments, the line connecting the axis center of the second rotating shaft and the axis center of the first rotating shaft and the line connecting the axis center of the second rotating shaft and the first protrusion on the first chute are The angle between the connecting line at the position is ∠a1, the connecting line between the axis center of the second rotating shaft and the axis center of the first rotating shaft, and the connecting line between the axis center of the second rotating shaft and the second chute. The angle between the lines connecting the positions of the second protrusions is ∠a2; the absolute value of the difference between ∠a1 and ∠a2 is less than a preset value.

In some embodiments, the first movement trajectory of the first protrusion during the rotation of the driving wheel around the first rotation axis matches at least part of the shape of the first chute, and the second The second motion trajectory of the protrusion during the rotation of the driving wheel around the first rotating shaft matches at least part of the shape of the second chute; in a coordinate system with the axis center of the second rotating shaft as the origin , the first motion trajectory satisfies the first functional formula, the second motion trajectory satisfies the second functional formula; at least part of the shape of the first chute satisfies the first functional formula, and the second chute satisfies the first functional formula. At least part of the shape satisfies the second functional expression.

In some embodiments, the driving fitting part includes a transmission member provided on the base, and a guide structure is provided on the transmission member, and the guide structure provides a guiding direction for the transmission member; when the driving member When the wheel rotates, the transmission member is driven to move in the guiding direction relative to the base, so that the transmission member and the execution end switch between the first state and the second state.

In some embodiments, the driving matching part includes a cam groove provided on the driving wheel and a third protrusion provided on the transmission member to cooperate with the cam groove; when the driving wheel moves along the first When the driving wheel rotates in the second direction, the cooperation between the cam groove and the third protrusion drives the transmission member and the execution end to move from the first state to the second state; when the driving wheel rotates in the second direction, the driving wheel rotates in the second direction. The cooperation between the cam groove and the third protrusion drives the transmission member and the execution end to move from the second state to the first state.

In some embodiments, the execution end is connected to the distal end of the transmission member, the execution end includes a first operating member and a second operating member; the proximal end of the first operating member and the second operating member The proximal end of the member is rotationally connected through the second rotating shaft; when the transmission member and the execution end are in the first state, the transmission member moves to the first position, and the first operating member and the second operating member The operating member is relatively open; when the transmission member and the execution end are in the second state, the transmission member moves to the second position, and the first operating member and the second operating member are relatively closed.

In some embodiments, the transmission member is provided with a fourth protrusion; the first operating member and the second operating member are provided with inclined grooves; when the transmission member moves to the first position , the fourth protrusion cooperates with the chute to drive the first operating member and the second operating member to open relatively; when the transmission member moves to the second position, the fourth protrusion It cooperates with the chute to drive the first operating member and the second operating member to be relatively closed.

In some embodiments, the guide structure includes a first guide hole and a second guide hole, and the guide direction is parallel to a line between the center of the first guide hole and the center of the second guide hole.

In some embodiments, at least one end of the second rotating shaft passes through the second guide hole and is fixedly connected to the base.

In some embodiments, the first rotating shaft passes through the first guide hole.

In some embodiments, the end effector includes two transmission members, and the driving wheel, the first operating member and the second operating member are disposed between the two transmission members.

In some embodiments, the distal ends of the two transmission members are respectively hinged with the first operating member and the second operating member.

In some embodiments, the distance from the rotation center of the driving wheel to one end of the cam groove is a first distance, and the distance from the rotation center of the driving wheel to the other end of the cam groove is a second distance, so The difference between the first distance and the second distance is equal to the distance between the first position and the second position; and, when the first operating member and the second operating member are relatively closed, The angle range between the extension direction of the inclined groove and the guide direction is greater than 0° and less than 180°.

In some embodiments, the cooperation between the execution end and the base forms a center of rotation about which the execution end is rotatable.

In some embodiments, at the center of rotation, the execution end is provided with a fifth protrusion, and the base is provided with a first depression that cooperates with the fifth protrusion. It can rotate relative to the rotation center in the first recess.

In some embodiments, the driving wheel is provided with a sixth protrusion, and the execution end is provided with a limiting groove, and the limiting groove cooperates with the sixth protrusion on the driving wheel.

In some embodiments, at least one end of the limiting groove is closed.

In some embodiments, the limiting groove is arc-shaped, and the center of the arc-shaped limiting groove coincides with the rotation center, and the distance between the limiting groove and the fifth protrusion is equal to The distance between the sixth protrusion and the first depression.

In some embodiments, the first rotation axis serves as the sixth protrusion.

In some embodiments, the drive fitting portion includes a seventh protrusion disposed on the drive wheel, and a second recess disposed on the execution end, the seventh protrusion being located within the second recess. .

In some embodiments, the seventh protrusion is provided at an outer edge position of the driving wheel; or, the second depression is provided at a position on the execution end away from the rotation center.

In some embodiments, the execution end includes a first operating member and a second operating member, the driving wheels include a first driving wheel and a second driving wheel that can rotate independently relative to each other, and the first driving wheel and The second driving wheels are coaxially arranged and are rotationally connected to the base through the first rotating shaft; the cooperation between the first operating member and the base forms a first rotation center, and the second driving wheel is The cooperation between the two operating parts and the base forms a second rotation center; at the first rotation center and the second rotation center, the first operating part and the second operating part are respectively There are corresponding fifth protrusions, and the base is provided with two first depressions that respectively cooperate with the two fifth protrusions. Each of the fifth protrusions can be positioned on the corresponding first recess. The recess rotates relative to the corresponding rotation center; the first driving wheel and the second driving wheel are respectively provided with sixth protrusions, and the two ends of the first rotating shaft serve as the first driving wheel and the second driving wheel respectively. The sixth protrusion of the second driving wheel, the first operating member and the second operating member are respectively provided with the sixth protrusion of the first driving wheel and the second operating member. The sixth protrusion of the drive wheel fits into the limiting groove; the first drive wheel and the second drive wheel are also provided with seventh protrusions respectively, and the first operating member and the second operating member The parts are respectively provided with second recesses, and the seventh protrusions of the first driving wheel and the second driving wheel are respectively located in the second recesses of the first operating part and the second operating part. inside; the second recess and the fifth protrusion on the first operating member are located on both sides of the limiting groove of the first operating member; the third recess on the second operating member The two recesses and the fifth protrusion are located on both sides of the limiting groove of the second operating member.

In some embodiments, the end effector further includes a traction member for controlling the rotation of the driving wheel, thereby driving the execution end to switch between the first state and the second state.

In some embodiments, the driving wheel is provided with a fixing groove, and at least part of the traction member is fixed in the fixing groove.

In some embodiments, the traction member includes a first wire body and a second wire body; wherein one end of the first wire body is fixed to the driving wheel, and at least part of the first wire body is along the first direction. Wound around the driving wheel; one end of the second wire body is fixed to the driving wheel, and at least part of the second wire body is wound around the driving wheel along the second direction.

In some embodiments, the driving wheel includes a first driving wheel and a second driving wheel that are independent of each other, and the traction member includes a first wire body and a second wire body; wherein the first wire body is used to drive all The first driving wheel, the second wire body is used to drive the second driving wheel.

One embodiment of this specification provides a surgical instrument, which includes: an instrument joint, an operating handle and an end effector; the instrument joint is used to drive the end effector to move; the operation handle is at least used to control the The driving wheel drives the execution end to switch between the first state and the second state; therefore, the end effector includes a driving wheel, an execution end and a base, and there is a driving wheel between the driving wheel and the execution end. When the driving wheel rotates, the driving wheel can drive the execution end to switch between the first state and the second state through the driving fitting portion. The cooperation between the execution end and the base is formed. Rotation center, the execution end can rotate relative to the rotation center; the operating handle includes a handle housing, a grip, a handle trigger and a replacement excitation piece provided on the handle housing, and the movement stroke of the handle trigger Corresponding to the rotation angle of the execution end, the replacement triggering part can be operatively moved between a first position and a second position; when the replacement triggering part is in the first position, the handle trigger moves within a prescribed stroke inner movement; when the replacement triggering member is in the second position, the handle trigger can move outside the prescribed stroke.

In some embodiments, the driving wheel is provided with a sixth protrusion, and the execution end is provided with a limiting groove, and the limiting groove cooperates with the sixth protrusion on the driving wheel; when the replacement When the activating member is in the first position, the handle trigger moves within a prescribed stroke, the rotation angle of the execution end is within a preset range, and the sixth protrusion is located in the limiting groove; when the When the replacement triggering member is in the second position, the handle trigger can move outside the prescribed stroke, the rotation angle of the execution end is greater than the preset range, and the sixth protrusion can escape from the limiting groove.

In some embodiments, the replacement activating part has a first limiting part and a second limiting part; when the replacing activating part is in the first position, the first limiting part presses the handle trigger To limit the position, the rotation angle of the handle trigger is the first angle; when the replacement triggering part is in the second position, the second limiting part limits the position of the handle trigger, and the handle trigger The rotation angle is the second angle; the first angle is smaller than the second angle.

One embodiment of the present specification provides a tooling for an end effector. The end effector includes a base, a first driving wheel and an execution end. The execution end includes a first operating member. The first operating member A fifth protrusion is provided on the base, and a first recess is provided on the base to cooperate with the fifth protrusion. The fifth protrusion can rotate in the corresponding first recess; the first recess is provided on the base. The driving wheel is provided with a seventh protrusion, the first operating member is provided with a second recess, the tooling includes a shell, and a cavity is provided in the shell, and the cavity is at least used to accommodate the first Operating member; the housing includes two opposite first side walls, two opposite second side walls and a bottom wall, the bottom wall is connected between the first side wall and the second side wall. One end; the housing has a first opening, a second opening and a third opening communicating with the cavity, the first opening is provided on the housing opposite to the bottom wall, and the execution end passes through the A first opening enters the cavity, the second opening is provided on one of the first side walls; the third opening is provided on an end of the housing close to the first opening, and the A third opening is formed on the second side wall, and the third opening is used to accommodate the base; an end of the first side wall with the second opening close to the first opening is provided with a The flexible pressing part is used to push the first operating member.

In some embodiments, a limiting plate is provided on the inner wall of the second side wall, and the limiting plate and the first side wall having the second opening limit the first operating member.

Description of drawings

This specification is further explained by way of example embodiments, which are described in detail by means of the accompanying drawings. These embodiments are not limiting. In these embodiments, the same numbers represent the same structures, where:

This specification is further explained by way of example embodiments, which are described in detail by means of the accompanying drawings. These embodiments are not limiting. In these embodiments, the same numbers represent the same structures, where:

Figure 1 is a schematic diagram of the connection structure between the driving wheel and the execution end according to some embodiments of this specification;

Figure 2 is a schematic structural diagram of an end effector according to some embodiments of this specification;

3A is an exploded view of an end effector including only a first operating member according to some embodiments of the present specification;

Figure 3B is an exploded view of an end effector including a first operating member and a second operating member according to some embodiments of this specification;

Figure 4 is a schematic diagram of the connection structure of the first operating member, the second operating member and the driving wheel according to some embodiments of this specification;

Figure 5 is a schematic diagram of the connection structure between the second operating member and the driving wheel according to some embodiments of this specification;

Figure 6 is a schematic diagram of the positions of the first chute and the second chute according to some embodiments of this specification;

Figure 7 is a schematic diagram of the arrangement of the first chute and the second chute according to some embodiments of this specification;

Figure 8 is a schematic structural diagram of an end effector according to some embodiments of this specification;

Figure 9 is a schematic diagram of the transmission process of the end effector according to some embodiments of this specification;

Figure 10 is a schematic structural diagram of a guide shown in some embodiments of this specification;

Figure 11 is a schematic structural diagram of a driving wheel according to some embodiments of this specification;

Figure 12A is a schematic structural diagram of the end effector when the transmission member and the first operating member are in the first state according to some embodiments of this specification;

Figure 12B is a schematic structural diagram of the end effector when the transmission member and the first and second operating members are in the first state according to some embodiments of this specification;

Figure 13 is a schematic structural diagram of the end effector when the transmission member and the first and second operating members are in the second state according to some embodiments of this specification;

Figure 14 is a partial structural schematic diagram of the end effector when the execution ends are relatively open according to some embodiments of this specification;

Figure 15 is a partial structural schematic diagram of the end effector when the execution end is relatively closed according to some embodiments of this specification;

Figure 16 is a schematic structural diagram of an end effector according to some embodiments of this specification;

Figure 17 is a schematic front structural view of an end effector according to some embodiments of this specification;

Figure 18A is a schematic structural diagram of the end effector including the first operating member after the base is hidden according to some embodiments of this specification;

Figure 18B is a schematic structural diagram of an end effector including a first operating part and a second operating part after the base is hidden according to some embodiments of this specification;

Figure 19 is a schematic structural diagram of the base of an end effector according to some embodiments of this specification;

Figure 20 is a schematic structural diagram of the execution end of the end effector according to some embodiments of this specification;

Figure 21 is a schematic structural diagram of a driving wheel according to some embodiments of this specification;

Figure 22 is a schematic view of the position of the execution end when it is detachable according to some embodiments of this specification;

Figure 23A and Figure 23B are between the traction wire (including the first wire body and the second wire body) and the driving wheel (including the first driving wheel and the second driving wheel) of the end effector according to some embodiments of this specification. connection structure diagram;

Figure 24 is a schematic structural diagram of a surgical instrument according to some embodiments of this specification;

Figure 25 is a schematic structural diagram of the operating handle of the surgical instrument shown in Figure 24;

Figure 26 is a schematic structural diagram of replacing the activating member according to some embodiments of this specification;

Figure 27 is a schematic diagram of the position of the replacement activating member in different states according to some embodiments of this specification;

Figure 28 is a schematic structural diagram of a tooling according to some embodiments of this specification;

Figure 29 is a schematic structural diagram of a tool including an execution end inside according to some embodiments of this specification;

Figure 30 is a schematic diagram of the steps of installing and executing an end through tooling according to some embodiments of this specification.

Detailed ways

In order to explain the technical solutions of the embodiments of this specification more clearly, the accompanying drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without exerting any creative effort, this specification can also be applied to other applications based on these drawings. Other similar scenarios. Unless obvious from the locale or otherwise stated, the same reference numbers in the figures represent the same structure or operation.

It will be understood that the terms "system", "apparatus", "unit" and/or "module" as used herein are a means of distinguishing between different components, elements, parts, portions or assemblies at different levels. However, said words may be replaced by other expressions if they serve the same purpose.

As shown in this specification and claims, words such as "a", "an", "an" and/or "the" do not specifically refer to the singular and may include the plural unless the context clearly indicates an exception. Generally speaking, the terms "comprising" and "comprising" only imply the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or apparatus may also include other steps or elements.

With the development of industrial manufacturing technology and medical technology, minimally invasive surgeries such as laparoscopic surgery and thoracoscopic surgery have been widely used in surgical operations. According to different types of minimally invasive surgeries, the surgical instruments used have different types of end effectors (eg, forceps, scissors, hooks, clips, punctures, etc.). Different types of execution ends can be used to complete surgical operations such as cutting, clamping, suturing, lifting and mobilizing the patient's lesion tissue. For example, the execution end may include two jaws capable of forming a jaw between the two jaws for opening and closing actions. For another example, the execution end may include an electric hook, and the electric hook may rotate to perform a hooking action.

By rationally designing the control method (or control structure) of the end-effector, the end-effector can be applied to more surgical scenarios (for example, surgical scenarios that require cutting, separating, and clamping of patient tissue), and It has better surgical effect (for example, the end effector can better cut, separate and clamp the tissue of the patient's lesion, etc.).

In some embodiments, the opening and closing action control of the end effector may be a unilateral opening and closing control. Specifically, taking the clamp-type end effector as an example, unilateral opening and closing control may refer to controlling only one jaw of the clamp-type end effector to move away from or close to the other jaw (the other jaw remains stationary), Allows the jaws to open or close. End effectors that use unilateral opening and closing control generally have a smaller opening and closing angle.

In some embodiments, the opening and closing action control of the end effector may be bilateral opening and closing control. Specifically, taking the clamp-type end effector as an example, the bilateral opening and closing control may refer to controlling the two jaws of the clamp-type end effector to move simultaneously, so that the two jaws are relatively far away or close, thereby causing the jaws to open. open or closed. End effectors using bilateral opening and closing control can have larger opening and closing angles. In some embodiments, the bilateral opening and closing control can be connected to both sides of the end effector (for example, two jaws of a clamp-type end effector) through two cables, and then the two cables can be pulled or released simultaneously to cause the end effector to The two sides of the instrument move relative to each other, causing the end effector to open and close. In some scenarios, surgical instruments (for example, surgical instruments used in laparoscopic surgery) need to accurately translate the movement of the surgeon's hands, wrists, and arms from outside the patient's body into the corresponding movements of the end-effector inside the patient's body. , there are many limitations in realizing bilateral opening and closing control through the above-mentioned dual cable drive to separately control the simultaneous movement of both sides of the end effector. For example, two cables can be wound on two winding wheels respectively, and the Rotating the two winding wheels at the same time to pull or release the two cables will make the structure of the surgical instrument more complex, and at the same time make the structural design of the two winding wheels difficult, and will also cause problems for the operator. operation creates a burden. In addition, whether it is an end effector controlled by unilateral opening and closing or an end effector controlled by bilateral opening and closing, the overall length of the end effector is larger, resulting in a larger turning radius of the end effector, making it difficult to apply in a small space. lack of flexibility.

Figure 1 is a schematic diagram of the connection structure between the driving wheel and the execution end according to some embodiments of this specification. Referring to FIG. 1 , an embodiment of this specification provides an end effector 100 . The end effector 100 may include a driving wheel 110 and an execution end 120 . There is a driving fitting part (not shown in Figure 1) between the driving wheel 110 and the execution end 120. When the driving wheel 110 rotates, the driving wheel 110 can drive the execution end 120 in the first state and the second state through the driving fitting part. Switch between states. It should be noted that the driving fitting part has various structures, and the driving fitting part can realize the power transmission between the driving wheel 110 and the execution end 120 through different principles. Please refer to the following description for details. The execution end 120 in the embodiment of this specification may include, but is not limited to, scissors, separation forceps, grasping forceps, needle-holding forceps, application forceps, and any other execution end that requires bilateral opening and closing actions, and the execution end 120 may include, but is not limited to, an electric Any execution end that requires a single rotation such as a hook or electric shovel. The shape of the execution end 120 in the drawing is only an example. The specific selection of the shape of the execution end 120 can be determined according to the application scenario of the end effector 100.

In some embodiments, end effector instrument 100 may also include base 140. The base 140 can be used as a mounting and fixing platform for various components of the end effector 100 (such as the execution end 120, the driving wheel 110, etc.). In some embodiments, a mounting slot 141 may be provided on the base 140, and the execution end 120 and the driving wheel 110 may be installed in the mounting slot 141. Please refer to the relevant description below for details.

FIG. 2 is a schematic structural diagram of an end effector according to some embodiments of this specification. FIG. 3A is an exploded view of an end effector including only a first operating member according to some embodiments of this specification. FIG. 3B is a diagram of an end effector according to some embodiments of this specification. An exploded view of an end effector including a first operating member and a second operating member shown in some embodiments of this specification. Figure 4 is an exploded view of the first operating member, the second operating member and the driving wheel shown in some embodiments of this specification. A schematic diagram of the connection structure. FIG. 5 is a schematic diagram of the connection structure of the second operating member and the driving wheel according to some embodiments of this specification. The structure of the end effector 200 will be described below with reference to FIGS. 2-5 .

Please refer to Figure 2, Figure 3A and Figure 3B. In some embodiments, the end effector 200 mainly includes an execution end 220 (such as the first operating member 240 and the second operating member 260 shown in Figure 2) and a driving wheel 280. A driving fitting portion (not marked in the figure) is formed between the execution end 220 and the driving wheel 280 . The driving cooperating part may include a slide groove (such as a first slide groove and a second slide groove described below) provided on the execution end 220 and a protruding portion (such as a first protrusion and a second slide groove described below) provided on the driving wheel 280 . second protrusion), when the driving wheel 280 rotates, the protruding part slides in the chute, so the driving wheel 280 can drive the execution end 220 to relatively switch between the first state and the second state through the driving fitting part to execute Corresponding action.

In some embodiments, the execution end 220 includes a first operating member 240, as shown in Figure 3A. The first operating member 240 is rotatably arranged. The first operating member 240 can be rotatably disposed on the base 290 through the second rotating shaft 245 . The base 290 can be used as a mounting and fixing platform for various components of the end effector 200 (such as the execution end 220, the driving wheel 280, etc.). In some embodiments, a mounting slot 291 may be provided on the base 290, and the execution end 220 and the driving wheel 280 may be installed in the mounting slot 291. The first operating member 240 may be provided with a first chute 243, and the driving wheel 280 may be provided with a first protrusion 281. The first protrusion 281 is located in the first chute 243 to form a driving fitting portion. The first protrusion 281 can slide in the first slide groove 243 to provide power for the first operating member 240, so that the first operating member 240 rotates around the second rotating shaft 245. In some embodiments, when the driving wheel 280 rotates, the first protrusion 281 follows the rotation of the driving wheel 280, and the first protrusion 281 slides in the first chute 243 to drive the first operating member 240 to move, so that the first protrusion 281 moves. An operating member 240 performs a preset action (for example, rotates to relatively switch between the first state and the second state).

In some embodiments, the execution end 220 further includes a second operating member 260, as shown in FIG. 3B. That is to say, the execution end 220 may include two operating parts, namely the first operating part 240 and the second operating part 260 . The first operating member 240 and the second operating member 260 may both be rotatably disposed. The first operating member 240 and the second operating member 260 may be rotationally connected through the second rotating shaft 245 . For example, the first operating member 240 and the second operating member 260 may be rotatably disposed on the base 290 through the second rotating shaft 245 . The arrangement method of the first operating member 240 is as described above. The second operating member 260 may be provided with a second slide groove 263; the driving wheel 280 may be provided with a first protrusion 281 and a second protrusion 282. The first protrusion 281 is located in the first slide groove 243, and the second protrusion 282 is located in the second slide groove 263 to form a driving fitting part. The first protrusion 281 can slide in the first slide groove 243 to provide power for the first operating member 240, so that the first operating member 240 rotates around the second rotating shaft 245; and the second protrusion 282 can be on the second Sliding in the chute 263 provides power for the second operating member 260 . In some embodiments, when the driving wheel 280 rotates, the first protrusion 281 and the second protrusion 282 follow the rotation of the driving wheel 280, and the first protrusion 281 slides in the first chute 243 to drive the first operating member. 240 moves, the second protrusion 282 slides in the second slide groove 263 to drive the second operating member 260 to move, so that the first operating member 240 and the second operating member 260 perform preset actions (such as moving away from each other or rotating toward each other). Relative to switching between the first state and the second state, that is, open or closed, etc.). The first operating member 240 and the second operating member 260 are respectively driven by the first protrusion 281 and the second protrusion 282, thereby improving the stability of the driving, making instability less likely to occur, and reducing the control difficulty of the end effector 200.

In addition, it can be understood that when the execution end 220 only includes one operating member (such as the first operating member 240), two protrusions (such as the first protrusion 281 and the second protrusion 282) can still be provided on the driving wheel 280. The execution end 220 can disassemble and assemble the operating parts according to the type of the operating parts and usage requirements to adjust the number of operating parts.

In some embodiments, the driving wheel 280 may be rotationally connected to the first rotating shaft 285 to achieve installation and fixation of the driving wheel 280 . The driving wheel 280 can be connected to the traction member, and the traction member drives the driving wheel 280 to rotate, thereby driving the first protrusion 281 and the second protrusion 282 on the driving wheel 280 to rotate, and the first protrusion 281 in turn drives the first operating member 240 to move. , the second protrusion 282 then drives the second operating member 260 to move, so as to drive the first operating member 240 and the second operating member 260 to perform a preset operation, for example, driving the first operating member 240 and the second operating member 260 to move away from or toward each other. Rotate to open or close the first operating member 240 and the second operating member 260 .

In some embodiments, the first protrusion 281 and the second protrusion 282 may be respectively located on both sides of the driving wheel 280 in the thickness direction, and the connection line between the first protrusion 281 and the second protrusion 282 passes through the driving wheel 280 the axis center of the first rotating shaft 285, so the rotation linear speeds of the first protrusion 281 and the second protrusion 282 can be the same or substantially the same, so that the first protrusion 281 and the second protrusion 282 can respectively move the first operating member 240. The forces exerted by the second operating member 260 are equal or substantially equal, so that the driving wheel 280 can receive a generally uniform force when rotating, which better avoids the unstable operation and shaking of the driving wheel 280 due to uneven force. When the situation occurs, the working stability of the end effector 200 is improved.

In some embodiments, the rotation angle of the first operating member 240 is equal to the rotation angle of the second operating member 260 . That is, when the driving wheel 280 rotates, the first protrusion 281 drives the first operating member 240 to rotate, the second protrusion 282 drives the second operating member 260 to rotate, and the angle at which the first operating member 240 rotates is equal to the rotation angle of the second operating member 260. The angles passed are equal, so that when the first operating member 240 and the second operating member 260 rotate away from or toward each other, the movement speeds of the first operating member 240 and the second operating member 260 can be approximately equal, and the two can maintain relative relationship. Stable, better avoiding instability.

In some embodiments, based on the foregoing structure (the first chute 243 and the second chute 263), by designing the settings (such as position, shape, etc.) of the first chute 243 and the second chute 263, it can be changed. It is convenient to ensure that the rotation angle of the first operating member 240 is equal to the rotation angle of the second operating member 260 . In some embodiments, the shape of the first chute 243 matches the movement trajectory of the first protrusion 281 , and the shape of the second chute 263 may match the movement trajectory of the second protrusion 282 . In some embodiments, the shape of the first chute 243 and the shape of the second chute 263 may be preset shapes. Regarding the arrangement of the first chute 243 and the arrangement of the second chute 263, reference can be made to FIGS. 6 to 8 and related descriptions, which will not be described again here.

Since the installation position of the first operating member 240 and the second operating member 260 may interfere with the installation position of the first rotating shaft 285, in order to avoid the first rotating shaft 285 causing interference to the rotation of the first operating member 240 and the second operating member 260 , in some embodiments, the first operating member 240 may be provided with a first escape groove 244, the second operating member 260 may be provided with a second escape groove 264, and the first rotating shaft 285 of the driving wheel 280 may respectively pass through the first escape groove. 244 and the second escape groove 264.

In some embodiments, the first operating part 240 includes a first connecting part 241 and a first executing part 242 provided on the first connecting part 241, and the second operating part 260 includes a second connecting part 261 and a first executing part 242 provided on the second connecting part 241. The second execution part 262 on the part 261. The first connecting part 241 and the second connecting part 261 may be rotationally connected through the second rotating shaft 245 . The driving wheel 280 is located between the first connecting part 241 and the second connecting part 261. The driving wheel 280 can be drivingly connected to the first connecting part 241 and the second connecting part 261 respectively. The rotation of the driving wheel 280 can drive the first connecting part 241 and the second connecting part 261 to rotate around the second rotating shaft 245 respectively, thereby causing the first executing part 242 and the second executing part 262 to rotate toward or away from each other.

In some embodiments, the first relief groove 244 may be provided on the first connecting part 241 , and the second relief groove 264 may be provided on the second connecting part 261 .

In some embodiments, the sum of the thicknesses of the first connecting part 241 , the driving wheel 280 , and the second connecting part 261 is not greater than the maximum thickness of the first executing part 242 . In some embodiments, the maximum thickness of the first execution part 242 and the maximum thickness of the second execution part 262 may be equal or substantially equal. Therefore, the first operating member 240 , the second operating member 260 and the driving wheel 280 can maintain a uniform thickness after assembly, which facilitates installation and reduces the difficulty of designing the installation structure (such as an installation slot, etc.) of the base 290 .

In some embodiments, the second rotating shaft 245 and the first rotating shaft 285 can be fixed to the base 290 respectively, the driving wheel 280 can be rotatably connected to the base 290 through the first rotating shaft 285, and the first operating member 240 and the second rotating shaft 285 can be rotatably connected to the base 290. The operating member 260 may be rotatably connected to the base 290 through the second rotating shaft 245. In some embodiments, the first connecting part 241 and the second connecting part 261 are connected in the mounting groove 291 through the second rotating shaft 245 , and the driving wheel 280 is connected in the installing groove 291 through the first rotating shaft 285 . In some embodiments, at least part of the first execution part 242 and at least part of the second execution part 262 are located outside the mounting groove 291 to facilitate performing the surgical operation.

FIG. 6 is a schematic diagram showing the position of the first chute and the second chute according to some embodiments of this specification. FIG. 7 is a schematic diagram of the arrangement of the first chute and the second chute according to some embodiments of this specification. The specific arrangement of the first chute 243 and the second chute 263 will be described below with reference to FIGS. 6-7 . In some embodiments, the line connecting the axis center of the second rotating shaft 245 and the axis center of the first rotating shaft 285 and the connecting line between the axis center of the second rotating shaft 245 and the position of the first protrusion 281 on the first slide groove 243 The included angle is ∠a ₁ , the line connecting the axis center of the second rotating shaft 245 and the axis center of the first rotating shaft 285 and the axis center of the second rotating shaft 245 and the position of the second protrusion 282 on the second chute 263 The angle between the connecting lines (shown in Figure 7) is ∠a ₂ ; the absolute value of the difference between ∠a ₁ and ∠a ₂ is less than the preset value. By setting the difference range between ∠a ₁ and ∠a ₂ , the angle at which the first operating member 240 rotates around the second rotating axis 245 (i.e. ∠a ₁ ) is equal to the angle at which the second operating member 260 rotates around the second rotating axis 245 (i.e. The difference of ∠a ₂ ) is less than a certain range. That is, the difference between the angular velocity of the first operating member 240 and the angular velocity of the second operating member 260 is less than a certain range, so that the first operating member 240 and the second operating member 260 can move at the same speed or close to the same speed, which is beneficial to lifting the end The working stability of the execution instrument 200.

In some embodiments, the first movement trajectory of the first protrusion 281 during the rotation of the driving wheel 280 around the first rotation axis 285 matches at least part of the shape of the first chute 243 , and the second protrusion 282 rotates along the driving wheel 280 The second movement trajectory during rotation around the first rotation axis 285 matches at least part of the shape of the second slide groove 263 . In some embodiments, the shape of the entire first chute 243 can match the first movement trajectory, the shape of the entire second chute 263 can match the second movement trajectory, and the first protrusion 281 can move to From any position in the first chute 243, the second protrusion 282 can move to any position in the second chute 263. In other embodiments, the first chute 243 and the second chute 263 may also include a transition part. The shape of the transition part of the first chute 243 may not match the first movement trajectory, and the first protrusion 281 may not match the first movement trajectory. When moving to the transition part, the shape of the transition part of the second chute 263 may not match the second movement trajectory, and the second protrusion 282 does not move to the transition part. The shape of the transition part can be freely set according to actual needs.

In the coordinate system with the axis center of the second rotating shaft 245 as the origin, the first movement trajectory satisfies the third functional expression, and the second movement trajectory satisfies the fourth functional expression; at least part of the shape of the first chute 243 satisfies the third function. formula, at least part of the shape of the second chute 63 satisfies the fourth functional formula. The relevant content of the third functional expression and the fourth functional expression will be described in detail below with reference to Figures 6 and 7 .

In some embodiments, the axis center of the first rotating axis 285 is used as the origin O, and the line connecting the axis center of the second rotating axis 245 and the first rotating axis 285 is used as the abscissa axis X, and the first coordinate system XOY is established. . In some embodiments, the line connecting the axis center of the second rotation axis 245 and the axis center of the first rotation axis 285 can be used as the abscissa axis of the first coordinate system, or can also be used as the ordinate axis of the first coordinate system. In the following specific embodiments, the connection line between the axis center of the second rotating shaft 245 and the axis center of the first rotating shaft 285 is used as the abscissa axis of the first coordinate system as an example for description.

In some embodiments, in the first coordinate system XOY, the initial rotation angle of the first protrusion 281 and the second protrusion 282 may be ∠b ₀ . In some embodiments, the initial rotation angle of the first protrusion 281 and the second protrusion 282 may be the angle between the first protrusion 281 and the second protrusion 282 when the driving wheel 280 is in the initial position (ie, the position before the driving part 280 rotates). The two protrusions 282 respectively form an acute angle with the X-axis (as shown in Figure 6).

In some embodiments, the distance between the first protrusion 281 and the first rotation axis 285 may be r ₁ , and the distance between the second protrusion 282 and the first rotation axis 285 may be r ₂ , that is, the first protrusion 281 The distance from point O is r ₁ , and the distance between second protrusion 282 and point O is r ₂ .

Determine the first functional formula of the movement trajectory of the first protrusion 281 in the first coordinate system XOY with respect to the rotation angle ∠b ₁ of the first protrusion 281 around the first rotation axis 285, and determine the second protrusion in the first coordinate system XOY The motion trajectory of 282 is related to the second functional formula of the rotation angle ∠b ₂ of the second protrusion 282 around the first rotation axis 285 .

In some embodiments, the movement trajectory of the first protrusion 281 may refer to the coordinate change trajectory of the first protrusion 281 in the first coordinate system XOY during the rotation of the driving wheel 280, and ∠b ₁ may refer to the first protrusion. 281 around the first rotation axis 285, the image of the first functional formula can match the movement trajectory of the first protrusion 281. The motion trajectory of the second protrusion 282 may refer to the coordinate change of the second protrusion 282 in the first coordinate system XOY during the rotation of the driving wheel 280. ∠b ₂ may refer to the movement of the second protrusion 282 around the first rotation axis 285. The rotation angle, the image of the second functional formula can match the movement trajectory of the second protrusion 282 .

In some embodiments, the connection line between the first protrusion 281 and the second protrusion 282 passes through the axis center of the first rotating shaft 285 of the driving wheel 280, so that during the rotation of the driving wheel 280, the first protrusion 281 The rotation angle ∠b ₁ around the first rotation axis 285 is equal to the rotation angle ∠b ₂ of the second protrusion 282 around the first rotation axis 285, that is, ∠b ₁ = ∠b ₂ .

In some embodiments, the first protrusion 281 and the second protrusion 282 may be symmetrically distributed about the first rotation axis 285 . Therefore, the distance between the first protrusion 281 and the first rotation axis 285 (ie, point O) and the distance between the second protrusion 282 and the first rotation axis 285 (ie, point O) may be the same, that is, r ₁ = _r2 . In other embodiments, the distance between the first protrusion 281 and the first rotation axis 285 (ie point O) and the distance between the second protrusion 282 and the first rotation axis 285 (ie point O) may also be different. , that is, r ₁ and r ₂ are not equal.

In some embodiments, the coordinates of the first protrusion 281 under the first coordinate system XOY are marked as (x ₁ , y ₁ ), and the coordinates of the second protrusion 282 under the first coordinate system XOY are marked as (x ₂ , y ₂ ). As shown in Figures 6 and 7, the angle between the line connecting the first protrusion 281 and the origin O and the X-axis is the sum of ∠b ₀ and ∠b ₁ , and the angle between the first protrusion 281 and the origin O is The distance is r ₁ . When the first protrusion 281 is located in the first quadrant of the first coordinate system XOY, the abscissa x ₁ and the ordinate y ₁ of the first protrusion 281 are both positive, and the size of the abscissa x ₁ of the first protrusion 281 is r. ₁ cos(b ₀ +b ₁ ), the size of the ordinate y ₁ of the first protrusion 281 can be r ₁ sin(b ₀ +b ₁ ), therefore, x ₁ =r ₁ cos(b ₀ +b ₁ ) ,y ₁ =r ₁ sin(b ₀ +b ₁ ). When the first protrusion 281 is located in the second quadrant of the first coordinate system XOY, the abscissa x ₁ of the first protrusion 281 is negative and the ordinate y ₁ is positive. At this time, the size of the abscissa x ₁ of the first protrusion 281 is can be r ₁ cos (π-b ₀ -b ₁ ), and the size of the ordinate y ₁ of the first protrusion 281 can be r ₁ sin (π-b ₀ -b ₁ ), so x ₁ =-r ₁ cos (π-b ₀ -b ₁ )=r ₁ cos(b ₀ +b ₁ ), y ₁ =r ₁ sin(π-b ₀ -b ₁ )=r ₁ sin(b ₀ +b ₁ ). When the first protrusion 281 is located in the third quadrant of the first coordinate system XOY, the abscissa x ₁ of the first protrusion 281 is negative and the ordinate y ₁ is negative. At this time, the size of the abscissa x ₁ of the first protrusion 281 is can be r ₁ cos(b ₀ +b ₁ -π), and the size of the ordinate y ₁ of the first protrusion 281 can be r ₁ sin(b ₀ +b ₁ -π), so x ₁ =-r ₁ cos (b ₀ +b ₁ -π)=r ₁ cos(b ₀ +b ₁ ), y ₁ =-r ₁ sin(b ₀ +b ₁ -π)=r ₁ sin(b ₀ +b ₁ ). When the first protrusion 281 is located in the fourth quadrant of the first coordinate system XOY, the abscissa x ₁ of the first protrusion 281 is positive and the ordinate y ₁ is negative. At this time, the size of the abscissa x ₁ of the first protrusion 281 is can be r ₁ cos(2π-b ₀ -b ₁ ), and the size of the ordinate y ₁ of the first protrusion 281 can be r ₁ sin(2π-b ₀ -b ₁ ), so x ₁ =r ₁ cos( 2π-b ₀ -b ₁ )=r ₁ cos(b ₀ +b ₁ ), y ₁ =-r ₁ sin(2π-b ₀ -b ₁ )=r ₁ sin(b ₀ +b ₁ ). To sum up, under the first coordinate system XOY, the first functional formula of the movement trajectory of the first protrusion 281 can be (x ₁ , y ₁ ) = (r ₁ cos (b ₀ +b ₁ ), r ₁ sin ( b ₀ + b ₁ )).

In the same way, the second functional formula corresponding to the coordinates (x ₂ , y ₂ ) of the second protrusion 282 can be (x ₂ , y ₂ )=(-r ₂ cos(b ₀ +b ₂ ), -r ₂ sin(b ₀ +b ₂ )).

In some embodiments, when the first protrusion 281 and the second protrusion 282 are symmetrically distributed about the first rotation axis 285 (ie, the origin O), r ₁ =r ₂ . At this time, the coordinates (x ₂ , y ₂ ) of the second protrusion 282 are also symmetrical with the coordinates (x ₁ , y ₁ ) of the first protrusion 281 about the origin O, that is, x ₂ =-x ₁ =-r ₁ cos(b ₀ +b ₁ ), y ₂ =-y ₁ =-r ₁ sin(b ₀ +b ₁ ). Since ∠b ₁ = ∠b ₂ , and r ₁ =r ₂ , correspondingly, the second functional formula can be obtained as (x ₂ , y ₂ ) = (-r ₂ cos (b ₀ +b ₂ ), -r ₂ sin(b ₀ +b ₂ )).

After determining the first functional formula and the second functional formula, the axis center of the second rotating shaft 245 can be used as the origin, and the line connecting the axis center of the second rotating shaft 245 and the starting point of the first chute 243 can be used as the coordinate axis to establish the third functional formula. Two coordinate systems; taking the axis center of the second rotating shaft 245 as the origin, and using the line connecting the axis center of the second rotating shaft 245 and the starting point of the second chute 263 as the coordinate axis, a third coordinate system is established.

In some embodiments, the axis center of the second rotating shaft 245 may be the origin O', and the line connecting the axis center of the second rotating shaft 245 and the starting point of the first chute 243 is the abscissa axis X' axis to establish the second coordinate system. X'O'Y'. In some embodiments, the starting point of the first chute 243 may be a point on the first connecting part 241 corresponding to the position of the first protrusion 281 when the driving wheel 280 is in the initial position. In some embodiments, when the first protrusion 281 is in the initial position, the line connecting the axis center of the second rotating shaft 245 and the axis center of the first rotating shaft 285 and the axis center of the second rotating shaft 245 and the first protrusion 281 are located. The angle ∠a ₁ between the positions can be set to a ₁₀ .

In some embodiments, the line connecting the axis center of the second rotating shaft 245 and the starting point of the first chute 243 can be used as the abscissa axis of the second coordinate system, or can also be used as the ordinate axis of the second coordinate system. The line connecting the axis center of the second rotating shaft 245 and the starting point of the second chute 263 can be used as the abscissa axis of the third coordinate system, or can also be used as the ordinate axis of the third coordinate system. For the convenience of description, in the following specific embodiments, the line connecting the axis center of the second rotating shaft 245 and the starting point of the first chute 243 is used as the abscissa axis of the second coordinate system. For illustration, the line connecting the starting points of the two chute 263 is used as the abscissa axis of the third coordinate system.

In some embodiments, the axis center of the second rotating shaft 245 may be the origin O', and the line connecting the axis center of the second rotating shaft 245 and the starting point of the second chute 263 is the abscissa axis X" axis to establish the third coordinate system. X"O'Y". In some embodiments, the starting point of the second chute 263 may be a point on the second connecting part 261 corresponding to the position of the second protrusion 282 when the driving wheel 280 is in the initial position. . In some embodiments, when the second protrusion 282 is in the initial position, the line connecting the axis center of the second rotating shaft 245 and the axis center of the first rotating shaft 285 and the line connecting the axis center of the second rotating shaft 245 and the second protrusion 282 are The value of the angle ∠a ₂ between the connecting lines at the position can be set to a ₂₀ .

In some embodiments, the angle between the abscissa of the second coordinate system and the abscissa of the first coordinate system is the angle between the axis of the second rotation axis 245 and the axis of the first rotation axis 285 when the first protrusion 281 is at the initial position. The angle between the line connecting the center and the line connecting the center of the second rotating shaft 245 and the position of the first protrusion 281 is ∠a ₁₀ , that is, the angle between the X axis and the X' axis is ∠a ₁₀ . The angle between the abscissa of the third coordinate system and the abscissa of the first coordinate system is the line connecting the axis of the second rotation axis 245 and the axis of the first rotation axis 285 when the second protrusion 282 is at the initial position and the The angle between the axis of the two rotating shafts 245 and the position of the second protrusion 282 is ∠a ₂₀ , that is, the angle between the X axis and the X″ axis is ∠a ₂₀ . In some embodiments, The difference between ∠a ₁₀ and ∠a ₂₀ can be less than the preset value. In some embodiments, the preset value can be set according to the actual situation. In some embodiments, the difference between ∠a ₁₀ and ∠a ₂₀ can be is 0, that is, ∠a ₁₀ = ∠a ₂₀ . At this time, the first protrusion 281 and the second protrusion 282 are arranged symmetrically with respect to the first rotation axis 245 (ie, point O).

In some embodiments, the distance between the origin O of the first coordinate axis and the origin O' of the second coordinate axis may be L, that is, the distance between the axis center of the second rotation axis 245 and the axis center of the first rotation axis 285 is L, OO'=L.

After determining the positional relationship between the second coordinate system and the third coordinate system and the first coordinate system, the first functional expression can be converted into the third coordinate system under the second coordinate system based on the positional relationship between the first coordinate system and the second coordinate system. a functional expression; and based on the positional relationship between the first coordinate system and the third coordinate system, convert the second functional expression into a fourth functional expression in the third coordinate system.

In some embodiments, the first coordinate system XOY is a coordinate system established on the driving wheel 280 with the axis center of the first rotation axis 285 of the driving wheel 280 as the origin; the second coordinate system X'O'Y' is based on the third The axis center of the second rotating shaft 245 of an operating member 240 is the origin, and the coordinate system is established on the first operating member 240; the third coordinate system X"O'Y" is based on the second rotating axis 240 of the second operating member 260. The axis is the origin, and the coordinate system is established on the second operating member 245. Under the boundary conditions that ∠b ₁ = ∠b ₂ and the difference between ∠a ₁₀ and ∠a ₂₀ is less than the preset value, the motion trajectory of the first protrusion 281 on the driving wheel 280 is converted to the motion trajectory of the first protrusion 281 on the first operating member 240 The shape trajectory of the first chute 243 converts the movement trajectory of the second protrusion 282 on the driving wheel 280 into the shape trajectory of the second chute 263 on the second operating member 260, which can ensure that the driving wheel 280 rotates During the rotation of the first operating member 260 and the second operating member 280 , the rotation angle of the first operating member 260 and the rotation angle of the second operating member 280 are substantially equal.

In some embodiments, the third functional formula may refer to the first protrusion 281 in the second coordinate system X'O'Y', and the coordinates (x' ₁ , y' ₁ ) of the first protrusion 281 with respect to the first The functional relationship expression of the rotation angle ∠b ₁ of the protrusion 281. The fourth functional expression may refer to the rotation angle of the second protrusion 282 with respect to the coordinates (x' ₂ , y' ₂ ) of the second protrusion 282 in the third coordinate system X"O'Y" The functional relationship expression of ∠b ₂ .

In some embodiments, the third functional formula can be determined based on the first functional formula and the positional relationship between the first coordinate system XOY and the second coordinate system X'O'Y', and the fourth functional formula can be determined based on the second functional formula and the second coordinate system X'O'Y'. The positional relationship between the first coordinate system XOY and the third coordinate system X"O'Y" is determined.

In some embodiments, the positional relationship between the first coordinate system XOY and the second coordinate system X'O'Y' may include the origin O of the first coordinate system XOY and the origin O' of the second coordinate system X'O'Y' The distance L between them, and the angle ∠a ₁₀ between the X-axis of the first coordinate system XOY and the X'-axis of the second coordinate system X'O'Y'. The positional relationship between the first coordinate system XOY and the third coordinate system X"O'Y" may include the distance L between the origin O of the first coordinate system XOY and the origin O' of the third coordinate system X"O'Y", And the angle ∠a ₂₀ between the X-axis of the first coordinate system XOY and the X”-axis of the third coordinate system X”O’Y”.

As shown in Figure 7, point A represents the position of the first protrusion 281, point C is the corresponding point of point A on the X axis of the first coordinate system XOY, and point D is the point of point A on the second coordinate system X'O'Y' The corresponding point on the X' axis, point B is the intersection point of the line segment AC and the It is the corresponding point of point E on the X" axis of the third coordinate system X"O'Y", and point F is the intersection point of the line segment EG and the X" axis.

It can be seen from Figure 7 that the line segment OC corresponds to the size of the abscissa x ₁ of the first protrusion 281 in the first coordinate system XOY, and the line segment AC corresponds to the size of the ordinate y ₁ of the first protrusion 281 in the first coordinate system XOY. , the length of the line segment O'D corresponds to the size of the abscissa _x'1 of the first protrusion 281 in the second coordinate system X'O'Y', and the length of the line segment AD corresponds to the size of the first protrusion 281 in the second coordinate system X The size of the ordinate y' under 'O'Y' _{is 1} ; the line segment OG corresponds to the size of the abscissa x ₂ of the second protrusion 282 under the first coordinate system XOY, and the line segment EG corresponds to the size of the second protrusion 282 at the first coordinate The size of the ordinate y ₂ in the system XOY, the length of the line segment O'H corresponds to the size of the abscissa x' ₂ of the second protrusion 282 in the third coordinate system The size of the second protrusion 282 is the ordinate y' ₂ in the third coordinate system X"O'Y". The length of line segment OO' is L, ∠AOC＝b ₀ +b ₁ , ∠GOE＝b ₀ +b ₂ , ∠BO'C＝a ₁₀ , ∠GO'F＝a ₂₀ , ∠BAD＝a ₁₀ , ∠FEH =a ₂₀ .

Since point A is located in the first quadrant of the first coordinate system XOY, both x ₁ and y ₁ are positive (that is, both x ₁ and y ₁ are greater than 0). In some embodiments, the length of line segment BC is set to m. In triangle BO'C, O'C=O'O-OC=Lx ₁ , BC=m=O'Ctan∠BO'C=(Lx ₁ )tan(a ₁₀ ), O'B=O'C/ cos∠BO'C=(Lx ₁ )/cos(a ₁₀ ). Therefore AB=AC-BC=y ₁ -m. In triangle ADB, BD=ABsin∠BAD=(y ₁ -m)sin(a ₁₀ ), AD=ABcos∠BAD=(y ₁ -m)cos(a ₁₀ ). Therefore, the abscissa coordinate x' ₁ of the first protrusion 281 in the second coordinate system X'O'Y'=O'B+BD=(Lx ₁ )/cos(a ₁₀ )+(y ₁ -m)sin (a ₁₀ )=(Lx ₁ )/cos(a ₁₀ )+(y ₁ -(Lx ₁ )tan(a ₁₀ ))sin(a ₁₀ ), the first protrusion 281 is in the second coordinate system X'O' The ordinate y' ₁ under Y' is =AD=(y ₁ -m)cos(a ₁₀ )=(y ₁ -(Lx ₁ )tan(a ₁₀ ))cos(a ₁₀ ). At this time, the corresponding third expression is (x' ₁ , y' ₁ )=((Lx ₁ )/cos(a ₁₀ )+(y ₁ -(Lx ₁ )tan(a ₁₀ ))sin(a ₁₀ ), (y ₁ -(Lx ₁ )tan(a ₁₀ ))cos(a ₁₀ )).

Since point E is located in the third quadrant of the first coordinate system XOY, both x ₂ and y ₂ are negative (that is, both x ₂ and y ₂ are less than 0). In some embodiments, the length of line segment GF is set to n. In triangle GO'F, GO'=O'O+OG=Lx ₂ , GF=n=GO'tan∠GO'F=(Lx ₂ )tan(a ₂₀ ), O'F=GO'/cos∠ GO'F=(Lx ₁ )/cos(a ₂₀ ). Therefore EF=EG-GF=|y ₂ |-n. In the triangle EHF, FH=EFsin∠FEH=(|y ₂ |-n)sin(a ₂₀ ), EH=EFcos∠FEH=(|y ₂ |-n)cos(a ₂₀ ). Therefore, the abscissa coordinate of the second protrusion 282 in the third coordinate system X"O'Y" is x' ₂ =O'F+FH=(Lx ₂ )/cos(a ₂₀ )+(|y ₂ |-n )sin(a ₂₀ )=(Lx ₂ )/cos(a ₂₀ )+(|y ₂ |-(Lx ₂ )tan(a ₂₀ ))sin(a ₂₀ ), the second protrusion 282 is in the third coordinate system _{The ordinate y ' 2 under ​} ). At this time, the corresponding fourth expression is (x' ₂ , y' ₂ )=((Lx ₂ )/cos(a ₂₀ )+(|y ₂ |-(Lx ₂ )tan(a ₂₀ ))sin( a ₂₀ ), (|y ₂ |-(Lx ₂ )tan(a ₂₀ ))cos(a ₂₀ )).

After determining the third functional expression and the fourth functional expression, the shape of at least part of the first chute may be determined based on the third functional expression, and the shape of at least part of the second chute may be determined based on the fourth functional expression.

In some embodiments, since both x ₁ and y ₁ are only related to changes in the rotation angle ∠b ₁ of the first protrusion 281 around the first rotation axis 285 , and L and ∠a ₁ are known constants, therefore x' ₁ And y' ₁ is also only related to the change of ∠b ₁ . Therefore, the image of the third functional expression can be obtained, thereby determining the movement trajectory of the first protrusion 281 relative to the first connecting portion 241, and further determining at least part of the shape of the first chute 243.

In some embodiments, since x ₂ and y ₂ are only related to changes in the rotation angle ∠b ₂ of the second protrusion 282 around the first rotation axis 285 , and L and ∠a ₂ are known constants, therefore x' ₂ And y' ₂ is also only related to the change of ∠b ₂ . Therefore, the image of the fourth functional expression can be obtained, thereby determining the movement trajectory of the second protrusion 282 relative to the second connecting portion 261, and further determining at least part of the shape of the second slide groove 263.

Some embodiments of this specification provide an end effector. The end effector includes an execution end, a driving wheel, a base, and a transmission member located on the base. The transmission member is provided with a guide structure that can provide a guiding direction for the transmission member. , when the driving wheel rotates, it can drive the transmission member to move in the guide direction relative to the base, so that the transmission member and the execution end can switch between the first state and the second state. The end effector provided in this embodiment controls the rotation of the driving wheel to switch the transmission member and the execution end between the first state and the second state, thereby controlling the execution end to perform corresponding actions (for example, the rotation of a single execution end, the rotation of two execution ends, etc.) To perform the purpose of end opening and closing).

Figure 8 is a schematic structural diagram of an end effector according to some embodiments of this specification. Figure 9 is a schematic diagram of the transmission process of the end effector according to some embodiments of this specification. Figure 10 is a schematic structural diagram of a guide according to some embodiments of this specification. Figure 11 is a schematic structural diagram of a driving wheel according to some embodiments of this specification.

As shown in FIGS. 8-11 , the end effector 800 may include a base 810 , a driving wheel 830 and an execution tip 850 . There is a driving fitting part (not shown in the figure) between the driving wheel 820 and the execution end 850. When the driving wheel 830 rotates, the driving wheel 830 can drive the execution end 850 relative to the first state and the second state through the driving fitting part. Switch between states. In some embodiments, the driving fitting part includes a transmission member 820 provided on the base 810. The transmission member 820 is provided with a guide structure 840. The guide structure 840 can provide a guiding direction for the transmission member 820. When the driving wheel 820 rotates, The transmission member 820 can be driven to move along the guide direction relative to the base 810, so that the transmission member 820 and the execution end 850 can switch between the first state and the second state to achieve the purpose of controlling the execution end to complete the opening and closing action.

In some embodiments, the guide structure 840 may include a first guide hole 841 and a second guide hole 842 . The first guide hole 841 may be located at the proximal end of the transmission member 820 , and the second guide hole 842 may be located at the distal end of the transmission member 820 . The guide direction may be parallel to a line connecting the center of the first guide hole 841 and the center of the second guide hole 842 . By providing a guide structure 840 on the transmission member 820 to provide a guide direction for the transmission member 820, the transmission member 820 can move along the guide direction when driven by the rotation of the driving wheel 830. In some embodiments, the guiding direction may be a direction from the proximal end of the transmission member 820 to the distal end of the transmission member 820 (for example, the direction from the first guide hole 841 to the second guide hole 842 ), or may be a direction from the transmission member 820 to the distal end of the transmission member 820 . 820 to the proximal end of the transmission member 820 (for example, the direction from the second guide hole 842 to the first guide hole 841). It should be noted that, without special explanation, the “proximal end” mentioned in this specification may refer to the execution end instrument 800 and its components (for example, the transmission member 820, the first guide hole 841, the second guide hole 842, the first operating member 851, the second operating member 852, etc.) is close to the operator, and the “distal end” mentioned in this specification refers to the end of the execution end instrument 800 and its components that is away from the operator.

In some embodiments, the driving matching part includes a cam groove 831 provided on the driving wheel 830 and a third protrusion 821 provided on the transmission member 820 that cooperates with the cam groove 831. When the driving wheel 830 rotates in the first direction, the cam The cooperation between the groove 831 and the third protrusion 821 can drive the transmission member 820 and the execution end 850 to move from the first state to the second state; when the driving wheel 830 rotates in the second direction, the interaction between the cam groove 831 and the third protrusion 821 Cooperation can drive the transmission member 820 and the execution end 850 to move from the second state to the first state. In some embodiments, the first state may refer to the state when the transmission member 820 moves to the corresponding position so that the execution end 850 is relatively open (as shown in FIG. 12B ), and the second state may refer to the state when the transmission member 820 moves to the corresponding position so that the execution end 850 is relatively open. The state when the end 850 is relatively closed (as shown in Figure 13). In some embodiments, the first direction and the second direction may be opposite directions. For example, the first direction may be the clockwise direction in FIG. 9 , and the second direction may be the counterclockwise direction in FIG. 9 .

In some embodiments, the cam groove 831 can be understood as a groove having at least two positions unequal distances from the rotation center of the driving wheel 830 in shape. As an example, the distance between one end of the cam groove 831 and the rotation center of the driving wheel 830 is the shortest, and the distance between the other end of the cam groove 831 and the rotation center of the driving wheel 830 is the longest. In some embodiments, when the driving wheel 830 is circular, its center of rotation is the center of the circle. In some embodiments, the cooperation of the third protrusion 821 with the cam groove 831 may mean that the third protrusion 821 can move within the cam groove 831 when the driving wheel 830 rotates. Further, the third protrusion 821 is located in the cam groove 831 and contacts at least part of the inner surface of the cam groove 831. When the driving wheel 830 rotates, power can be transmitted to the third protrusion 821, so that the third protrusion 821 can Movement in cam groove 831. In some embodiments, the guidance of the cam groove 831 may be a straight line, that is, the movement trajectory of the third protrusion 821 in the cam groove 831 is a straight line. In some embodiments, the guide of the cam groove 831 may be an arc, that is, the movement trajectory of the third protrusion 821 in the cam groove 831 is an arc. In some embodiments, the third protrusion 821 can be understood as being disposed on the transmission member 820 or on the transmission member 820 , at least partially capable of intervening in the cam groove 831 to form a fit with the cam groove 831 , and capable of moving in the cam groove 831 . structure. In some embodiments, the third protrusion 821 may include a cylindrical structure or a spherical structure, and the cam groove 831 may have a consistent width along its length direction, in order to form a fit between the third protrusion 821 and the cam groove 831 , the outer diameter of the third protrusion 821 may be the same or substantially the same as the width of the cam groove 831 .

In some embodiments, the base 810 is provided with a first rotating shaft 811 , the first rotating shaft 811 can pass through the first guide hole 841 , and the driving wheel 830 can be rotatably mounted on the first rotating shaft 811 . As an example, the rotation center of the driving wheel 830 is provided with a through hole, and a bearing is installed in the through hole. The bearing is sleeved outside the first rotating shaft 811, so that the driving wheel 830 can rotate around the axis of the first rotating shaft 811 relative to the first rotating shaft 811. A rotating shaft 811 rotates. The first guide hole 841 can provide a space for the first rotating shaft 811 so that the first rotating shaft 811 can pass through the transmission member 820 and be fixedly connected to the base 810 to ensure that the driving wheels 830 can form a relatively stable connection.

Figure 12A is a schematic structural diagram of the end effector when the transmission member and the first operating member are in the first state according to some embodiments of this specification. Figure 12B is a schematic structural diagram of the end effector when the transmission member, the first operating member, and the second operating member are in the first state according to some embodiments of this specification. Figure 13 is a schematic structural diagram of the end effector when the transmission member and the first and second operating members are in the second state according to some embodiments of this specification.

In some embodiments, the execution end 850 may include a first operating member 851, as shown in Figure 12A. The proximal end of the first operating member 851 is hinged with the distal end of the transmission member 820 through the second rotating shaft 853, and the first operating member 851 can rotate around the axis of the second rotating shaft 853. At this time, the transmission member 820 may be provided with a fourth protrusion 823, and the first operating member 851 is provided with an inclined groove 854 that cooperates with the fourth protrusion 823. When the transmission member 820 moves along the guide direction, the fourth protrusion 823 is driven to move in the chute 854 along the length direction of the chute 854, and the power is transmitted to the first operating member 851, so that the first operating member 851 rotates around the second operating member 851. The axis of the rotating shaft 853 rotates so that the first operating member 851 performs a preset action (for example, rotates to relatively switch between the first state and the second state).

In some embodiments, as shown in FIG. 8 , FIG. 12B and FIG. 13 , the execution end 850 may be connected to the distal end of the transmission member 820 . In some embodiments, the execution end 850 may include a first operating member 851 and a second operating member 852, as shown in Figure 12B. The proximal ends of the first operating member 851 and the second operating member 852 can be hinged through the second rotating shaft 853. That is to say, the first operating member 851 and the second operating member 852 can move in opposite directions around the axis of the second rotating shaft 853. The rotation direction enables the first operating member 851 and the second operating member 852 to be relatively far apart or relatively close to each other, thereby realizing the opening and closing action of the execution end 850 .

In some embodiments, when the execution end 850 includes a first operating member 851 and a second operating member 852, the transmission member 820 may be provided with a fourth protrusion 823, and both the first operating member 851 and the second operating member 852 An inclined groove 854 matching the fourth protrusion 823 is provided. In some embodiments, the fourth protrusion 823 cooperating with the chute 854 may mean that when the transmission member 820 moves along the guide direction, the fourth protrusion 823 is driven to move in the chute 854 along the length direction of the chute 854. And the power is transmitted to the first operating part 851 and the second operating part 852, so that the first operating part 851 and the second operating part 852 rotate around the axis of the second rotating shaft 853. Further, when the transmission member 820 moves to the first position, the cooperation between the fourth protrusion 823 and the inclined groove 854 can drive the first operating member 851 and the second operating member 852 to relatively open; when the transmission member 820 moves to the second position, When the fourth protrusion 823 cooperates with the inclined groove 854, the first operating member 851 and the second operating member 852 can be relatively closed. In some embodiments, the cooperation between the fourth protrusion 823 and the inclined groove 854 can also realize the connection between the first operating member 851 and the second operating member 852 and the distal end of the transmission member 820 . In other embodiments, the transmission member 820 may be provided with a first chute and a second chute arranged in a "V" shape, and the first operating member 851 may be provided with a fourth protrusion that cooperates with the first chute. 823. The second operating member 852 is provided with a fourth protrusion 823 that cooperates with the second inclined groove. When the transmission member 820 moves along the guide direction, the first chute and the second chute respectively drive the corresponding fourth protrusion 823 to move, and transmit the power to the corresponding first operating member 851 and second operating member 852, so that The first operating member 851 and the second operating member 852 respectively rotate around the axis of the second rotating shaft 853 . In some embodiments, the chute 854 may be an elongated straight groove. In other embodiments, the inclined groove 854 may also be an arc-shaped groove.

In addition, it can be understood that when the execution end 850 only includes one operating member (such as the first operating member 851), the structure of the fourth protrusion 823 on the transmission member 820 remains unchanged. The execution end 850 can disassemble and assemble the operating parts according to the type of the operating parts and usage requirements to adjust the number of operating parts.

In some embodiments, at least one end of the second rotating shaft 853 can pass through the second guide hole 842 and be fixedly connected to the base 810 . Among them, the second guide hole 842 can not only provide space for the second rotating shaft 853, so that the second rotating shaft 853 can pass through the transmission member 820 and be fixedly connected to the base, ensuring that the execution end 850 and the base 810 can form a relatively stable relationship. Connection.

The end effector 800 in the embodiment of this specification allows the first rotating shaft 811 and the second rotating shaft 853 to pass through the first guide hole 841 and the second guide hole 842 respectively, so that the transmission member 820 can rotate when the driven wheel 830 rotates. When driving, the cooperation between the first rotating shaft 811 and the first guide hole 841 and the cooperation between the second rotating shaft 853 and the second guide hole 842 can limit the movement direction of the transmission member 820 , that is, between the center of the first guide hole 841 and the second guide hole 842 . A guide direction is established on the connection between the centers of the two guide holes 842, so that the transmission member 820 moves relative to the base 810 along the guide direction. In some embodiments, the centers of the first guide hole 841 and the second guide hole 842 may refer to the geometric centers of the shapes of the first guide hole 841 and the second guide hole 842 . In some embodiments, in order to increase the stability of the movement of the transmission member 820 in the guide direction (for example, to avoid shaking during the movement of the transmission member 820 in the guide direction), the diameter of the first rotating shaft 811 can be the same as that of the first guide hole. 841 has the same or substantially the same width and/or the diameter of the second rotating shaft 853 may be the same or substantially the same as the width of the second guide hole 841 . In some embodiments, the width of the first guide hole 841 or the second guide hole 842 may refer to the size of the first guide hole 841 or the second guide hole 842 in a direction perpendicular to the guide direction.

As shown in FIG. 12B , when the transmission member 820 and the execution end 850 are in the first state, the transmission member 820 moves to the first position, and the first operating member 851 and the second operating member 852 are relatively opened. In some embodiments, the movement of the transmission member 820 to the first position may refer to the movement of the proximal end of the first guide hole 841 to a position abutting against the first rotating shaft 811 or the movement of the proximal end of the second guide hole 842 to a position in contact with the second The position where the rotating shaft 853 abuts. As shown in Figure 13, when the transmission member 820 and the execution end 850 are in the second state, the transmission member 820 moves to the second position, and the first operating member 851 and the second operating member 852 are relatively closed. In some embodiments, the movement of the transmission member 820 to the second position may mean that the distal end of the first guide hole 841 moves to a position that abuts the first rotating shaft 811 or the second guide hole 842 moves to abuts the second rotating shaft 853 . Lean position.

In some embodiments, the first operating member 851 and the second operating member 852 can be driven by the same transmission member 820 to rotate in opposite directions around the second rotating axis 853 to relatively open or close. As an example, the transmission member 820 can be disposed between the first operating member 851 and the second operating member 852. The transmission member 820 is provided with fourth protrusions 823 on both sides facing the first operating member 851 and the second operating member 852. To cooperate with the inclined grooves 854 on the first operating member 851 and the second operating member 852 respectively, when the transmission member 820 moves between the first position and the second position along the guide direction, the first operating member 851 and the second operating member 852 Pieces 852 are relatively open or closed.

In some embodiments, in order to ensure that the first operating member 851 and the second operating member 852 can rotate in opposite directions around the second rotating axis 853 to achieve the purpose of opening or closing the first operating member 851 and the second operating member 852 relative to each other. , when the first operating member 851 and the second operating member 852 are relatively closed, the angle between the extending direction of the inclined groove 854 on the first operating member 851 and the extending direction of the inclined groove 854 on the second operating member 852 may be greater than 0° but less than 180°. That is, the extending direction of the inclined groove 854 on the first operating member 851 and the extending direction of the inclined groove 854 on the second operating member 852 are not parallel. In some embodiments, the included angle between the extending direction of the inclined groove 854 on the first operating member 851 and the extending direction of the inclined groove 854 on the second operating member 852 may range from 30° to 60°, which can ensure The execution end 850 can perform opening and closing actions at a larger angle, and at the same time, it can ensure that the driving force required for the rotation of the driving wheel 830 when the execution end 850 completes the opening and closing actions is small, thereby reducing the burden on the operator. In some embodiments, the extending direction of the chute 854 may be parallel to the line connecting the two ends of the chute 854 when the execution end 850 is in the second state (that is, when the first operating member 851 and the second operating member 852 are relatively closed). direction.

In some embodiments, in order to reduce the gap between the first operating member 851 and the second operating member 852 and make the execution end 850 more compact, the first operating member 851 and the second operating member 852 may be composed of two The two transmission members 820 respectively drive the second rotating shaft 853 to rotate in opposite directions to relatively open or close. In some embodiments, the end effector 800 may include two transmission members 820 , and the driving wheel 830 , the first operating member 851 and the second operating member 852 may be disposed between the two transmission members 820 . The fourth protrusion 823 on one transmission member 820 cooperates with the inclined groove 854 on the first operating member 851, and the fourth protrusion 823 on the other transmission member 820 cooperates with the inclined groove 854 on the second operating member 852. The third protrusions 821 on the two transmission members 820 cooperate with the cam groove 831 on the driving wheel 830 at the same time. Further, when the driving wheel 830 rotates, the cooperation between the third protrusions 821 on the two transmission members 820 and the cam groove 831 simultaneously drives the two transmission members 820 to move between the first position and the second position along the guide direction. , through the cooperation of the fourth protrusions 823 on the two transmission members 820 with the first operating member 851 and the second operating member 852 respectively, the first operating member 851 and the second operating member 852 are driven along the second rotating axis 853 at the same time. Rotate in opposite directions, thereby causing the first operating member 851 and the second operating member 852 to open or close relative to each other.

In some embodiments, in order to facilitate the assembly and disassembly of the end effector 800, the fourth protrusion 823 and the third protrusion 821 may be detachably provided on the transmission member 820. As an exemplary explanation, referring to FIG. 10 , the transmission member 820 may be provided with a fourth protrusion assembly hole 8231 and a third protrusion assembly hole 8211 for installing the fourth protrusion 823 and the third protrusion 821 respectively. The fourth protrusion 823 and the third protrusion 821 may be assembled in the fourth protrusion assembly hole 8231 and the third protrusion assembly hole 8211 in an interference manner, respectively. In some embodiments, in order to avoid the movement of the third protrusions 821 of the two transmission members 820 in the cam groove 830 from interfering with each other, the third protrusions 821 of the two transmission members 820 may be of an integrated structure. As an example, the third protrusion 821 of the two transmission members 820 may be a pin connected between the two transmission members 820. The pin can cooperate with the cam groove 830, so that when the driving wheel 830 rotates, the two The transmission member 820 can move in the guiding direction simultaneously. In some embodiments, semicircular protrusions 825 are provided around the fourth protruding assembly hole 8231 and the third protruding assembly hole 8211. The semicircular protrusions 825 can be used to reduce the distance between the transmission member 820 and the driving wheel 830. And the surface contact friction between the first operating member 851 and the second operating member 852 makes the movement of the third protrusion 821 in the cam groove 831 and the movement of the fourth protrusion 823 in the inclined groove 854 smoother. In some embodiments, the transmission member 820 is also provided with a wire fixing hole 826. The wire fixing hole 826 can be used to fix the wire. The wire can be connected to the first operating member 851 and/or the second operating member 852. The wire can be used for High-frequency electricity is supplied to the first operating member 851 and/or the second operating member 852, so that the first operating member 851 and/or the second operating member 852 can function as a high-frequency cutter with electrocoagulation or electrocution.

The end effector 800 in the embodiment of this specification converts the rotation of the driving wheel 830 into a linear movement of the transmission member 820 along the guide direction through the cooperation of the third protrusion 821 and the cam groove 831, and then through the fourth protrusion 823 and the third protrusion 823. The cooperation of the inclined groove 854 of the first operating member 851 and the second operating member 852 converts the linear motion of the transmission member 820 along the guide direction into the first operating member 851 and the second operating member 852 moving in opposite directions simultaneously around the second rotating axis 853 Rotate to achieve relative opening or closing of the first operating member 851 and the second operating member 852. The end effector 800 in the embodiment of this specification can realize the first operating member 851 and the second operating member 852 to simultaneously rotate in opposite directions by simply rotating the driving wheel 830, so that the first operating member 851 and the second operating member 852 Relatively open or closed, thereby achieving bilateral opening and closing control of the execution end 850. The execution end 850 can not only have a larger opening and closing angle, so that the end effector 800 can meet the requirements of some surgical instruments through a single drive (for example, only driving the drive wheel 830 rotation) to achieve the need for bilateral opening and closing control, and the motion transmission in the end effector 800 is one-way, that is, the opening and closing action of the execution end 850 can be easily controlled by the rotation of the driving wheel 830, and the opening and closing of the execution end 850 It is difficult for the driving wheel 830 to rotate during the operation, which ensures that when the execution end 850 encounters greater resistance during the opening and closing action (for example, when the execution end 850 is scissors to cut hard tissue at the lesion), the driving wheel 830 It will not rotate under the effect of this resistance, and the operator can continue to rotate the driving wheel 830 to overcome the resistance to perform corresponding surgical operations.

In some embodiments, by designing the cam groove 831 and/or the inclined groove 854, the opening and closing angle of the execution end 850 (ie, the maximum relative opening angle of the first operating member 851 and the second operating member 852) can be adjusted and /Or execute the driving force required for the rotation of the driving wheel 830 when the end 850 completes the opening and closing action. In some embodiments, the rotation center of the driving wheel 830 is a first distance from one end of the cam groove 831 (the end of the cam groove 831 that is closer to the rotation center of the driving wheel 830 ), and the rotation center of the driving wheel 830 is from the other end of the cam groove 831 . One end (the end where the cam groove 831 is farther from the rotation center of the driving wheel 830) is the second distance. The greater the difference between the first distance and the second distance, the greater the opening and closing angle of the execution end 850; the first distance The smaller the difference between the second distance and the second distance, the smaller the driving force required to rotate the driving wheel 830 when the execution end 850 completes the opening and closing action. In some embodiments, the difference between the first distance and the second distance may be equal to the distance between the first location and the second location. Such an arrangement can not only ensure that the transmission member 820 can have sufficient stroke in the guide direction, so that the execution end 850 has a larger opening and closing angle, but also ensure the drive required for the rotation of the driving wheel 830 when the execution end 850 completes the opening and closing action. The force is small, which can reduce the burden on the operator. In some embodiments, when the first operating member 851 and the second operating member 852 are relatively closed, the angle between the inclined groove 854 on the first operating member 851 and the second operating member 852 and the guide direction is greater than 0°. Less than 180°. This ensures that when the transmission member 820 moves along the guiding direction, the first operating member 851 and the second operating member 852 can be driven to rotate relative to each other around the second rotating shaft 853 . In some embodiments, the angle between the chute 854 on the first operating member 851 and the second operating member 852 and the guide direction may range from 30° to 60°, which ensures that the execution end 850 can perform larger angle operations. At the same time, it can ensure that the driving force required for the rotation of the driving wheel 830 when the execution end 850 completes the opening and closing action is small, so as to reduce the burden on the operator.

In some embodiments, when the driving wheel 830 rotates to drive the transmission member 820 to move in the guiding direction, the first operating member 851 and the second operating member 852 may be driven to rotate around the same time without the cooperation between the fourth protrusion 823 and the inclined groove 854 . The second rotating shaft 853 rotates in the opposite direction, but the transmission member 820 directly drives the first operating member 851 and the second operating member 852 to rotate in the opposite direction around the second rotating shaft 853 at the same time. This will be described in detail below with reference to FIG. 14 .

Figure 14 is a partial structural diagram of the end effector when the execution ends are relatively open according to some embodiments of this specification. Figure 15 is a partial structural diagram of the end effector when the execution end is relatively closed according to some embodiments of this specification.

In some embodiments, as shown in FIGS. 14 and 15 , the end effector 800 may include two transmission members 820 , the distal ends of the two transmission members 820 are respectively connected to the proximal ends of the first operating member 851 and the second operating member 852 . End hinge, that is, the transmission member 820 and the first operating member 851 or the second operating member 852 can be equivalent to a linkage mechanism, and the transmission member 820 can transmit force to the first operating member 851 or the second operating member 852, so that the first operating member 851 or the second operating member 852 can rotate in the opposite direction around the second rotating shaft 853. At this time, the guide structure 840 only includes the first guide hole 841 for the first rotating shaft 811 to pass through. Specifically, when the driving wheel 830 rotates, the cooperation between the third protrusion 821 and the cam groove 831 can drive the two transmission members 820 to move in the guiding direction. In some embodiments, the guiding direction may be related to the length direction of the first guide hole 841 (ie, the direction parallel to the line between two ends of the first guide hole 841) and/or the guidance of the cam groove 831. Specifically, during the movement of the transmission member 820 along the guide direction, the length direction of the first guide hole 841 will change as the third protrusion 821 moves in the cam groove 831, so the transmission member 820 moves along the guide direction. The movement can be regarded as a composite movement composed of the movement along the cam groove 831 and the movement along the length direction of the first guide hole 841 . In some embodiments, as shown in Figure 14, when the two transmission members 820 move to the first position, the first operating member 851 and the second operating member 852 are relatively opened. The movement of the two transmission members 820 to the first position may mean that the proximal end of the first guide hole 841 moves to a position abutting against the first rotating shaft 811 . As shown in Figure 15, when the two transmission members 820 move to the second position, the first operating member 851 and the second operating member 852 are relatively closed. The movement of the two transmission members 820 to the second position may mean that the distal end of the first guide hole 841 moves to a position abutting against the first rotating shaft 811 .

In some embodiments, since the distal ends of the two transmission members 820 are respectively hinged with the proximal ends of the first operating member 851 and the second operating member 852, when the two transmission members 820 move along the guiding direction, the two transmission members 820 Force can be transmitted to the first operating member 851 and the second operating member 852 respectively to generate a torque capable of rotating the first operating member 851 and the second operating member 852, so that the first operating member 851 and the second operating member 852 can At the same time, the second rotating shaft 853 rotates in opposite directions, thereby achieving the purpose of enabling the first operating member 851 and the second operating member 852 to relatively open or close. In some embodiments, at least part of the two transmission members 820 may be curved, so as to ensure that when the two transmission members 820 move along the guide direction, the transmission members 820 transmit to the first operating member 851 and the second operating member 852 The force can generate a moment to rotate the first operating member 851 and the second operating member 852 .

Some embodiments of this specification also provide an end-effector. The end-effector may include an execution end, a driving wheel, and a base. The cooperation between the execution end and the base may form a rotation center, and the execution end can rotate around the rotation center. . The end effector provided in this embodiment is directly driven by the driving wheel to perform end rotation. The structure is simple and compact, which can make the overall length of the end effector smaller and the turning radius smaller, and has good performance in application scenarios in small spaces. flexibility.

Figure 16 is a schematic structural diagram of an end effector according to some embodiments of this specification. Figure 17 is a schematic front structural view of an end effector according to some embodiments of this specification. Figure 18A is a schematic structural diagram of an end effector including a first operating member after the base is hidden according to some embodiments of this specification. 18B is a schematic structural diagram of an end effector including a first operating member and a second operating member after the base is hidden according to some embodiments of this specification. Figure 19 is a schematic structural diagram of the base of an end effector according to some embodiments of this specification. Figure 20 is a schematic structural diagram of the execution end of the end effector according to some embodiments of this specification. Figure 21 is a schematic structural diagram of a driving wheel according to some embodiments of this specification. The structure of the end effector 1600 will be described below with reference to Figures 16-21.

As shown in Figures 16 and 17, in some embodiments, the end effector 1600 includes a base 1610, a driving wheel 1620 provided on the base 1610, and an execution end 1630 connected to the driving wheel 1620 and the base 1610. The cooperation between the execution end 1630 and the base 1610 forms a rotation center 1640. As shown in FIGS. 18A and 18B, the execution end 1630 can rotate around the rotation center 1640 through the driving fitting part 1650, so that in the first state and Switch between the second state. A driving fitting portion 1650 is formed between the execution end 1630 and the driving wheel 1620, as shown in Figures 18A and 18B.

When the driving wheel 1620 rotates, the driving wheel 1620 can drive the execution end 1630 to switch between the first state and the second state relative to the base 1610 .

In some embodiments, the execution end 1630 may only include the first operating member 1630-1, as shown in Figure 18A. The first state and the second state may refer to different position states of the first operating member 1630-1. In other embodiments, the execution end 1630 may include a first operating member 1630-1 and a second operating member 1630-2. The first state refers to the execution end 1630 (ie, the first operating member 1630-1 and the second operating member 1630-2). The operating member 1630-2) is in a relatively open state, as shown in Figure 18B. The second state refers to that the execution end 1630 (ie, the first operating member 1630-1 and the second operating member 1630-2) is in a closed state, as shown in FIG. 17 .

In some embodiments, at the rotation center 1640, a fifth protrusion 1631 may be provided on the execution end 1630, and the fifth protrusion 1631 forms a rotation axis of the execution end 1630, as shown in FIG. 20 . In some embodiments, the base 1610 may be provided with a first recess 1611 that cooperates with the fifth protrusion 1631, as shown in FIG. 19 . Through the cooperation of the fifth protrusion 1631 and the first recess 1611, the detachable connection between the execution end 1630 and the base 1610 is achieved, which facilitates the disassembly and replacement of the execution end 1630.

In some embodiments, at the rotation center 1640, the execution end 1630 may be provided with a first recess 1611, and the base 1610 may be provided with a fifth protrusion 1631 that cooperates with the first recess 1611. In other embodiments, the execution end 1630 and the base 1610 may also be directly connected through a third rotating shaft. Further, the third rotating shaft may be detachably connected to the execution end 1630 and the base 1610.

When the fifth protrusion 1631 is located in the first recess 1611, the fifth protrusion 1631 and the first recess 1611 cooperate to form the rotation center 1640, and the fifth protrusion 1631 can rotate relative to the rotation center 1640 in the first recess 1611, executing The tip 1630 can rotate about the rotation center 1640.

In some embodiments, the first recess 1611 may be a counterbore or a through hole. In some embodiments, the first depression 1611 may be a circular hole. In some embodiments, the first depression 1611 may be a partial circular hole with a central angle less than 180°.

In some embodiments, the driving fitting portion 1650 may include a seventh protrusion 1623 provided on the driving wheel 1620, and a second recess 1633 provided on the execution end 1630, with the seventh protrusion 1623 located within the second recess 1633. Among them, the seventh protrusion 1623 in some embodiments may be as shown in FIG. 21 . Among them, the second recess 1633 in some embodiments may be as shown in FIG. 20 . Through the cooperation of the seventh protrusion 1623 and the second recess 1633, the driving wheel 1620 can drive the execution end 1630, and at the same time, the detachable connection between the execution end 1630 and the driving wheel 1620 can be realized, which facilitates the disassembly of the execution end 1630. with replacement.

In some alternative embodiments, the driving engagement portion 1650 may include a seventh protrusion 1623 provided on the execution end 1630 and a second recess 1633 provided on the driving wheel 1620 .

When the seventh protrusion 1623 is located in the second recess 1633, the seventh protrusion 1623 and the second recess 1633 cooperate to form the driving fitting portion 1650. When the driving wheel 1620 rotates, the execution end 1630 can be driven to rotate around the rotation center 1640 through the driving fitting portion 1650 .

In some embodiments, the seventh protrusion 1623 may be disposed at an outer edge position of the driving wheel 1620, as shown in FIG. 21 . The outer edge position is the position on the driving wheel 1620 close to the edge, which may refer to the position outside the upper edge of the driving wheel 1620 , or may refer to the position within the edge of the driving wheel 1620 , or may also refer to the position at the upper edge of the driving wheel 1620 . Specifically, the seventh protrusion 1623 may be completely outside the edge of the driving wheel 1620 or completely within the edge of the driving wheel 1620 , or may be partially outside the edge of the driving wheel 1620 and partially within the edge of the driving wheel 1620 . In some embodiments, the seventh protrusion 1623 may be disposed anywhere within the outer edge of the drive wheel 1620 . In some embodiments, the second recess 1633 may be disposed on the execution end 1630 at a position far away from the rotation center 1640 , for example, at an edge position of the execution end 1630 away from the rotation center 1640 . The farther the seventh protrusion 1623 and/or the second recess 1633 is from the rotation center 1640, the smaller the force of the driving wheel 1620 to drive the execution end 1630 to rotate.

In some embodiments, the ratio of the shortest distance from the second depression 1633 to the rotation center 1640 and the diameter of the driving wheel 1620 may be 0.6˜1. In some embodiments, the ratio of the shortest distance from the second depression 1633 to the rotation center 1640 and the diameter of the driving wheel 1620 may be 0.7˜0.9. In some embodiments, the ratio of the shortest distance from the second depression 1633 to the rotation center 1640 and the diameter of the driving wheel 1620 may be 0.75˜0.85.

In some embodiments, the driving wheel 1620 may be provided with a sixth protrusion 1621 , and the execution end 1630 may be provided with a limiting groove 1632 , and the limiting groove 1632 is used to cooperate with the sixth protrusion 1621 on the driving wheel 1620 . Through the cooperation between the limiting groove 1632 and the sixth protrusion 1621, the execution end 1630 can be restricted to rotate around the rotation center 1640. In some embodiments, the limiting groove 1632 may be arc-shaped, and the center of the arc-shaped limiting groove 1632 coincides with the rotation center 1640, as shown in FIG. 20 . In some embodiments, the distance between the limiting groove 1632 and the fifth protrusion 1631 is equal to the distance between the sixth protrusion 1621 and the first recess 1611 to avoid misalignment between the limiting groove 1632 and the sixth protrusion 1621. /Or the fifth protrusion 1631 is misaligned with the first recess 1611 to ensure that the execution end 1630 can be mated and connected with the driving wheel 1620 .

In some embodiments, at least one end of the limiting groove 1632 is closed to limit the movement stroke of the sixth protrusion 1621 within the limiting groove 1632 . For example, both ends of the limiting groove 1632 can be closed. At this time, the limiting groove 1632 can be a closed limiting groove, that is, both ends of the limiting groove 1632 are closed, and the movement stroke of the sixth protrusion 1621 in the limiting groove 1632 is controlled. limit.

For another example, the limiting groove 1632 can be closed at one end and open at the other end. In this case, the limiting groove 1632 can be an open limiting groove, and the sixth protrusion 1621 can move outside the limiting groove 1632 when the execution end 1630 rotates around the rotation center 1640. , as shown in Figure 22.

In some of the aforementioned embodiments, the limiting groove 1632 is designed as an open limiting groove, and when the sixth protrusion 1621 moves outside the limiting groove 1632, the fifth protrusion 1631 of the execution end 1630 can be removed from the third protrusion 1631 on the base 1610. A recess 1611 exits, allowing the execution end 1630 to be easily removed.

In some embodiments, the driving wheel 1620 can be connected to the base 1610 through a first rotating shaft, and the driving wheel 1620 rotates with the first rotating shaft as a central axis. In some embodiments, the first rotation axis may serve as the sixth protrusion 1621 . In some embodiments, a shaft hole 1612 is opened in the base 1610, and inserting the first rotating shaft into the shaft hole 1612 can realize the rotational connection between the driving wheel 1620 and the base 1610.

The width of the limiting groove 1632 may be slightly larger (for example, 0 mm-0.5 mm larger) than the diameter of the first rotating shaft to facilitate movement of the first rotating shaft in the limiting groove 1632 . When the limit slot 1632 is an arc-shaped slot, the corresponding arc should meet the opening and closing angle requirements of the execution end 1630. That is, when the first rotating shaft moves from one end to the other in the limit slot 1632, the execution end 1630 can close Switch between the state and the state of opening to the maximum working angle.

In some alternative embodiments, the first rotating shaft and the sixth protrusion 1621 may be two different components. Accordingly, a rotation groove corresponding to the first rotating shaft needs to be opened on the execution end 1630 . In some embodiments, the rotation groove may be a closed rotation groove or an open rotation groove. The structure of the rotation groove is similar to the structure of the aforementioned limiting groove 1632. Please refer to the aforementioned description of the limiting groove 1632.

Figure 22 is a schematic diagram of the position of the execution end when it is detachable according to some embodiments of this specification. In some embodiments, when the execution end 1630 needs to be replaced, the execution end 1630 can be driven to open at a larger angle (for example, 95° or greater) than the designed opening and closing angle (for example, 60°-90°). When the first rotating shaft no longer contacts the limiting groove 1632, as shown in FIG. 22, the execution end 1630 can be removed from the first recess 1611 of the base 1610.

In some embodiments, when the execution end 1630 only includes the first operating member 1630-1, the number of the driving wheel 1620 may be one, and the connection structure between the first operating member 1630-1, the driving wheel 1620 and the base 1610 may be Refer to the above relevant descriptions and will not repeat them here.

In some embodiments, the execution end 1630 may include a first operating member 1630-1 and a second operating member 1630-2, as shown in FIG. 18B; the driving wheel 1620 includes a first driving wheel 1620- that can perform relative rotation independently of each other. 1 and the second driving wheel 1620-2. As shown in FIG. 23B, the first driving wheel 1620-1 and the second driving wheel 1620-2 are coaxially arranged, and both are rotationally connected to the base 1610 through the first rotating shaft. When the driving wheel 1620 drives the first operating member 1630-1 and the second operating member 1630-2 to switch between the first state and the second state, that is, the first operating member 1630-1 and the second operating member 1630-2 open. When combined, the first driving wheel 1620-1 and the second driving wheel 1620-2 rotate in opposite directions. The cooperation between the first operating member 1630-1 and the base 1610 forms a first rotation center, and the cooperation between the second operating member 1630-2 and the base 1610 forms a second rotation center. At the first rotation center, the first operating member 1630-1 is provided with a corresponding fifth protrusion 1631; at the second rotation center, the second operating member 1630-2 is provided with a corresponding fifth protrusion 1631, basically The seat 1610 is provided with two first recesses 1611 that respectively cooperate with the two fifth protrusions 1631. Each fifth protrusion 1631 can rotate relative to the corresponding rotation center in the corresponding first recess 1611. In some embodiments, the first driving wheel 1620-1 and the second driving wheel 1620-2 are respectively provided with sixth protrusions 1621, and the two ends of the first rotating shaft serve as the first driving wheel 1620-1 and the second driving wheel 1620-1 respectively. The sixth protrusion 1621 of the driving wheel 1620-2 and the first operating member 1630-1 are provided with a limiting groove 1632 that cooperates with the sixth protrusion 1621 of the first driving wheel 1620-1. The second operating member 1630-2 There is a limiting groove 1632 that cooperates with the sixth protrusion 1621 of the second driving wheel 1620-2. In some embodiments, the first driving wheel 1620-1 and the second driving wheel 1620-1 are respectively provided with seventh protrusions 1623, and the first operating member 1630-1 and the second operating member 1630-2 are respectively provided with seventh protrusions 1623. There is a second recess 1633, the seventh protrusion 1623 of the first driving wheel 1620-1 is located in the second recess 1633 of the first operating member 1630-1, and the seventh protrusion 1623 of the second driving wheel 1620-2 is located in the second recess 1633. 1633 in the second recess of the operating member 1630-2. Moreover, the second recess 1633 and the fifth protrusion 1631 on the first operating member 1630-1 are located on both sides of the limiting groove 1632 of the first operating member 1630-1; the second recess on the second operating member 1630-2 1633 and the fifth protrusion 1631 are located on both sides of the limiting groove 1632 of the second operating member 1630-2.

The end effector provided in some embodiments of this specification may also include a traction member, and the traction member is used to control the rotation of the driving wheel, thereby driving the execution end to switch between the first state and the second state. In some embodiments, the traction member may include a traction wire, at least part of which is wound around the driving wheel to drive the driving wheel to rotate. In some embodiments, the driving wheel may be provided with a fixing groove (such as the fixing groove 283 in Figures 3A and 3B, the fixing groove 832 in Figure 11, the fixing groove 1622 in Figure 16, etc.), and at least part of the traction line can It is fixed in the fixed groove to realize the connection between the traction wire and the driving wheel, so that the traction wire can drive the driving wheel to rotate.

In some embodiments, the number of driving wheels may be one, such as the driving wheel 280 in the end effector 100, the driving wheel 830 in the end effector 800, and so on. The following uses the end effector 800 as an example to describe the connection structure between a single driving wheel and the traction wire.

In some embodiments, the end effector 800 may further include a traction member wound around the driving wheel 830 , and the traction member may include a traction wire 860 . In some embodiments, the pulling wire 860 may include a first wire body 861 and a second wire body 862 . Among them, one end of the first wire body 861 is fixed on the driving wheel 830, and at least part of the first wire body 861 (at least part close to the end fixed on the driving wheel 830) is wound around the driving wheel 830 in the first direction; One end of the second wire body 862 is fixed on the driving wheel 830, and at least part of the second wire body 862 (at least part close to the end fixed on the driving wheel 830) is wound around the driving wheel 830 in the second direction. In some embodiments, by pulling the other ends of the first wire body 861 and the second wire body 862, the driving wheel 830 can be caused to rotate in the first direction and the second direction respectively. Specifically, by pulling the other end of the first wire body 861, the part of the first wire body 861 wrapped around the driving wheel 830 is released from the driving wheel 830, driving the driving wheel 830 to rotate in the first direction, and at the same time as The driving wheel 830 rotates around the first direction, and the second wire body 862 will be continuously wound around the driving wheel 830; by pulling the other end of the second wire body 862, the part of the second wire body 862 wound around the driving wheel 830 is removed from the driving wheel 830. The first wire body 861 is continuously wound around the driving wheel 830 as the driving wheel 830 rotates in the second direction. In some embodiments, the pulling wire 860 may have a split structure, that is, the first wire body 861 and the second wire body 862 can be separated from each other, and one end of the first wire body 861 and the other end of the second wire body 862 can be Fixed in the same position on the drive wheel 830. In some embodiments, the pulling wire 860 may be an integrated structure, that is, the first wire body 861 and the second wire body 862 are inseparable as two parts of the pulling wire 860 . Further, as shown in FIG. 11 , the pulling wire 860 may be provided with a fixed terminal 863 , and the fixed terminal 863 separates the pulling wire 860 into two parts, namely a first wire body 861 and a second wire body 862 . By installing the fixed terminal 863 into the fixing groove 832, one end of the first wire body 861 and one end of the second wire body 862 can be fixed to the driving wheel 830.

In some embodiments, the pulling of the other ends of the first wire body 861 and the second wire body 862 can be achieved through a winding wheel, wherein the winding wheel can be disposed within an operation capable of controlling the end effector 800 to perform a surgical operation.

In some embodiments, a first reel and a second reel may be provided within the operating handle. Wherein, the other end of the first wire body 861 is fixed on the first reel, and at least part of the first wire body 861 (at least part close to the other end of the first wire body 861) is wound around the first reel. on; the other end of the second wire body 862 is fixed on the second reel, and at least part of the second wire body 862 (at least part close to the other end of the second wire body 862) is wound on the second reel. When the operator operates the operating handle to cause the first reel to rotate, more and more parts of the first line body 861 (the portion close to the other end of the first line body 861) will be wound on the first reel. , so that the first wire body 861 is pulled, and the part of the first wire body 861 wound around the driving wheel 830 is released from the driving wheel 830, driving the driving wheel 830 to rotate in the first direction, and at the same time, the second wire body 862 moves closer and closer The more part (the part close to the end where the second wire body 862 is fixed to the driving wheel 830) is wound on the driving wheel 830, the part of the second wire body 862 wound around the second reel is released from the second reel. When the operator operates the operating handle to cause the second reel to rotate, more and more parts of the second line body 862 (the portion close to the other end of the second line body 862) will be wound on the second reel, so that The second wire body 862 is pulled, and the part of the second wire body 862 wound around the driving wheel 830 is released from the driving wheel 830, driving the driving wheel 830 to rotate in the second direction. At the same time, more and more parts of the first wire body 861 are (The portion near the end where the first wire body 861 is fixed to the driving wheel 830) is wound on the driving wheel 830, and the portion of the first wire body 861 wound around the first reel is released from the first reel.

In some embodiments, only one reel may be provided in the operating handle to pull the other ends of the first wire body 861 and the second wire body 862 . Specifically, the other end of the first wire body 861 and the other end of the second wire body 862 can be fixed on the same reel, wherein at least part of the first wire body 861 near its other end is wound along the first direction. On the reel, at least part of the second wire body 862 near its other end is wound around the reel along the second direction. In some embodiments, the other end of the first wire body 861 and the other end of the second wire body 862 can be fixed at the same position on the reel. When the operator operates the operating handle to cause the reel to rotate in the first direction, more and more parts of the first line body 861 (the portion close to the other end of the first line body 861) will be wound around the reel. on the wire wheel, so that the first wire body 861 is pulled, and the part of the first wire body 861 wound around the driving wheel 830 is released from the driving wheel 830, driving the driving wheel 830 to rotate in the first direction, and at the same time, the second wire body 862 More and more parts of the second wire body 862 (the part close to the end where the second wire body 862 and the driving wheel 830 are fixed) are wound on the driving wheel 830, and the part of the second wire body 862 wound around the reel will be removed from the reel. on release. When the operator operates the operating handle to cause the reel to rotate in the second direction, more and more parts of the second wire body 862 (the portion close to the other end of the second wire body 862) will be wound around the second winding wheel. on the wheel, so that the second wire body 862 is pulled, and the part of the second wire body 862 wound around the driving wheel 830 is released from the driving wheel 830, driving the driving wheel 830 to rotate in the second direction, and at the same time, the first wire body 861 crosses More and more parts (the part close to the end where the first wire body 861 and the driving wheel 830 are fixed) are wound on the driving wheel 830, and the part of the first wire body 861 wound around the reel will be separated from the reel. on release.

In some embodiments, a method similar to a belt drive may be used to control the driving wheel 830 to rotate in the first direction or the second direction. As an example, the traction wire 860 can be set in a closed loop to serve as a transmission belt. A driving wheel is provided in the operating handle, and the driving wheel 830 can serve as a driven wheel. The traction wire 860 is sleeved on the driving wheel and the driving wheel 830 to form a belt drive. mechanism. When the operator operates the operating handle to cause the driving wheel to rotate in the first direction, the driving wheel 830 rotates in the first direction, and when the operator operates the operating handle to cause the driving wheel to rotate in the second direction, the driving wheel 830 rotates in the second direction. Rotate in the second direction.

In some embodiments, the number of driving wheels may be two, such as the first driving wheel 1620-1 and the second driving wheel 1620-2 in the end effector 1600. The following uses the end effector 1600 as an example to describe the connection structure between the two driving wheels and the traction wire. In some embodiments, the end effector 1600 may also include a traction member, which is used to control the rotation of the driving wheel 1620 (such as the first driving wheel 1620-1 and the second driving wheel 1620-2), thereby driving the execution end 1630 Switch between first state and second state. In some embodiments, the traction member may include a traction wire 1660, and the traction wire 1660 may control the driving wheel 1620 to rotate clockwise or counterclockwise, as shown in FIG. 21 .

In some embodiments, the pulling wire 1660 is connected to the fixed terminal 1661. The fixed terminal 1661 can be accommodated in the fixed groove 1622, and the fixed terminal 1661 is used to stably and reliably transmit the rotational force of the traction wire 1660 to the driving wheel 1620 in the fixed groove 1622.

It is worth noting that the position where the traction wire 1660 transmits the rotational force to the driving wheel 1620 includes but is not limited to the fixing groove 1622 . For example, a wire trough can be provided on the driving wheel 1620, and the traction wire 1660 is wound in the wire trough. When the traction wire 1660 is pulled, the rotational force can also be transmitted to the driving wheel 1620 through the static friction between the traction wire 1660 and the wire trough.

Figure 23A and Figure 23B are between the traction wire (including the first wire body and the second wire body) and the driving wheel (including the first driving wheel and the second driving wheel) of the end effector according to some embodiments of this specification. Connection structure diagram. In some embodiments, the traction wire 1660 may include a first wire body 1662 and a second wire body 1663, wherein the first wire body 1662 is used to drive the first driving wheel 1620-1, and the second wire body 1663 is used to drive the second driving wheel 1620-1. Round 1620-2.

In some embodiments, there may be two fixed terminals 1661, which are respectively provided on the first wire body 1662 and the second wire body 1663.

In some embodiments, at least part of the first wire body 1662 may be wound around the first driving wheel 1620-1 along the first direction, and at least part of the second wire body 1663 may be wound around the second driving wheel 1620 along the second direction. -2 on.

The first direction may refer to the clockwise direction or the counterclockwise direction. The second direction may refer to the clockwise direction or the counterclockwise direction. In some embodiments, the first direction and the second direction are opposite directions. For example, if the first direction is clockwise, then the second direction is counterclockwise, as shown in Figure 23B. In some of the foregoing embodiments, the first wire body 1662 and the second wire body 1663 are wound in different directions on two first driving wheels 1620-1 and second driving wheels 1620-2 that can rotate independently relative to each other, thereby The opening and closing action of the end 1630 can be realized by driving the pulling wire 1660.

In some embodiments, the fixation between the first wire body 1662 and the first driving wheel 1620-1 can be achieved by using the fixed terminal 1661 disposed in the fixing groove 1622, and the second wire can be achieved by disposing the fixed terminal 1661 in the fixing groove 1622. The fixation between the body 1663 and the second driving wheel 1620-2 is as shown in Figure 21.

Embodiments of this specification also provide a surgical instrument that includes an end effector that can accurately convert the movement of the surgeon's hands, wrists and arms from outside the patient's body into corresponding movements of the end effector inside the patient's body. , to achieve the need for bilateral opening and closing control of the execution end of the end effector, with a simple and compact structure and easy operation. The surgical instrument provided by the embodiment of this specification will be described in detail below with reference to the end effector provided by the embodiment of this specification and FIG. 24 .

Figure 24 is a schematic structural diagram of a surgical instrument according to some embodiments of this specification. As shown in Figure 24, surgical instrument 2400 may include an end effector 2410, an instrument joint 2420, and an operating handle 2430. The instrument joint 2420 may be used to drive the end effector 2410 to move (eg, yaw or rotate). As an example, the instrument joint 2420 can be similar to a snake bone structure, and the distal end of the instrument joint 2420 can be connected to the proximal end of the base 2410. By bending or rotating the instrument joint 2420 around its own axis, the end effector 2410 can be driven. Yaw or rotational motion.

In some embodiments, the structure of the end effector 2410 may be the same or similar to the structure of the end effector described in various embodiments above. For example, end effector 200, end effector 800, and end effector 1600. In some embodiments, the operating handle 2430 can be used to control the rotation of the driving wheel of the end effector 2410, thereby controlling the switching of the execution end between the first state and the second state through the driving fitting portion. The following description assumes that the end effector 2410 and the end effector 800 have the same structure. The operating handle 2430 can at least be used to control the transmission member (such as the transmission member 820) of the end effector 2410 and the execution end (such as the execution end 850) to switch between the first state and the second state, thereby causing the execution end (such as the execution end 850) to switch. 850) Able to perform opening and closing actions. Further, the operating handle 2430 can control the driving wheel (such as the driving wheel 830) to rotate in the first direction or the second direction through the traction wire (such as the traction wire 860), thereby causing the transmission member (such as the transmission member 820) and the execution end (such as The execution end 850) switches between the first state and the second state. As an exemplary illustration, the operating handle 2430 is provided with a handle 2431, a driving gear 2432, a driven gear 2433, a first wire wheel 2434, a second wire wheel 2435 and a winding wheel 2436. Among them, the handle 2431 is connected to the driving gear 2432, the driving gear 2432 is meshed with the driven gear 2433, the driven gear 2433 is coaxial with the first wire wheel 2434, and the first wire wheel 2434 and the second wire wheel 2435 are surrounded by a transmission rope assembly 2437, the transmission rope assembly 2437 is in the shape of "8", the winding wheel 2436 and the second wire wheel 2435 are coaxial, the first line body (such as the first line body 861) and the second line in the traction line (such as the traction line 860) The other end of the first wire body (such as the second wire body 862) is fixed on the reel 2436, and at least part of the first wire body (such as the first wire body 861) and the second wire body (such as the second wire body 862) are wound in opposite directions. Located on the reel 2436. When the operator wants to control the execution end (such as execution end 850) in the end effector 2410 to open and close through the operating handle 2430, the operator can tighten or loosen the handle 2431 to drive the driving gear 2432 to rotate, and the operator The rotation of the gear 2432 can be transmitted to the driven gear 2433 through gear meshing, so that the first wire wheel 2434 is driven to rotate by the driven gear 2433, and the rotation of the first wire wheel 2434 can be transmitted to the second wire wheel 2435 through the transmission rope assembly 2437. , so that the reel 2436 can rotate under the driving of the second reel 2435, so that the first thread body (such as the first thread body 861) or the second thread body (such as the second thread body 862) can be continuously wound around the reel. on the wire wheel 2436 to pull the other end of the first wire body (such as the first wire body 861) or the second wire body (such as the second wire body 862), so that the first wire body (such as the first wire body 861 ) or the part of the second wire body (such as the second wire body 862) wound around the driving wheel (such as the driving wheel 830) is loosened from the driving wheel (such as the driving wheel 830), so that the driving wheel (such as the driving wheel 830) moves along the third Rotate in one direction or the second direction to switch the transmission member (such as the transmission member 820) and the execution end (such as the execution end 850) between the first state and the second state, and reach the control execution end (such as the execution end 850). The purpose of the opening and closing action. In some embodiments, the operating handle 2430 can also be used to control the instrument joint 2420 to bend or rotate, thereby driving the end effector 2410 to perform a yaw movement or a rotation movement.

In other embodiments, the structure of end effector 2410 may be similar to the structure of end effector 1600. The operating handle 2430 can control the driving wheel (such as the driving wheel 1620) to rotate in the first direction or the second direction through the traction wire (such as the traction wire 1660), so that the execution end (such as the execution end 1630) is in the first state and the second state. switch between. Regarding the specific structure of the operating handle 2430 and the connection structure between the operating handle 2430, the traction wire (such as the traction wire 1660), and the driving wheel (such as the driving wheel 1620), please refer to the above related content, and will not be described again here.

In some embodiments, when the structure of the end effector 2410 is similar to that of the end effector 1600, the operating handle 2430 may include a handle housing 2440, a handle trigger 2438, and a replacement trigger 2439 disposed on the handle housing 2440.

Fig. 25 is a schematic structural diagram of the operating handle of the surgical instrument shown in Fig. 24. In some embodiments, replacement trigger 2439 is located at the end of the travel range of handle trigger 2438, as shown in Figure 25.

Replacement trigger 2439 is operable between a first position and a second position. For example, when the operator presses the replacement triggering member 2439, the replacement triggering member 2439 is in the second position. When the operator releases the pressure on the replacement triggering member 2439, the replacement triggering member 2439 can automatically reset under the action of the return spring. First position.

FIG. 26 is a schematic structural diagram of the replacement of the activating part according to some embodiments of this specification, and FIG. 27 is a schematic position diagram of the different states of the replacement of the activating part according to some embodiments of this specification. When the replacement trigger 2439 is in the first position, as shown in the left half of Figure 27, the handle trigger 2438 can move within the prescribed stroke, and the sixth protrusion (such as the sixth protrusion 1621) is located in the limiting groove. (such as the limit slot 1632). The movement stroke of the handle trigger 2438 corresponds to the rotation angle of the execution end (such as the execution end 1630), that is, the rotation angle of the execution end (such as the execution end 1630) is within a preset range. When the handle trigger 2438 moves from the starting point to the end point of the prescribed stroke, the execution end (such as the execution end 1630) can be driven by the driving wheel (such as the driving wheel 1620) to switch from the fully open state to the closed state. Similarly, when the handle trigger 2438 moves from the end point of the prescribed stroke to the starting point, the execution end (such as the execution end 1630) can be driven from the closed state to the fully open state through the driving wheel (such as the driving wheel 1620).

In some embodiments, the operator can hold the handle trigger 2438 tightly to move the handle trigger 2438 from the starting point to the end point or any position between the starting point and the end point. In some embodiments, after the operator releases the handle trigger 2438, the handle trigger 2438 automatically returns to the starting point under the action of the return spring disposed between the handle trigger 2438 and the grip 2431.

In some embodiments, when the handle trigger 2438 moves, it can drive the execution end (such as the execution end 1630) to perform opening and closing actions.

When the replacement trigger 2439 is in the second position, as shown in the right half of Figure 27, the handle trigger 2438 can move outside the prescribed stroke, and the rotation angle of the execution end (such as the execution end 1630) can be greater than the preset range. The six protrusions (such as the sixth protrusion 1621) can be separated from the limiting groove (such as the limiting groove 1632). After the handle trigger 2438 moves beyond the prescribed stroke, it can drive the execution end (such as the execution end 1630) to open a larger angle (such as 95° or greater), so that the first rotating shaft (i.e., the sixth protrusion, such as the sixth protrusion 1621) no longer contacts the limiting groove (such as the limiting groove 1632), as shown in Figure 24, which , the jaws of the execution end 1630 can fall off, and the operator can remove the execution end (such as the execution end 1630) from the first recess (such as the first recess 1611) of the base (such as the base 1610).

In some embodiments, the structure of the replacement activating part 2439 is as shown in FIG. 26 , and the replacement activating part 2439 may include a first limiting part 24391 and a second limiting part 24392. When the excitation piece 2439 is replaced in the first position, the first limiting portion 24391 can limit the movement of the handle trigger 2438. The rotation angle of the handle trigger 2438 is the first angle, and the handle trigger 2438 can move within a prescribed stroke. When the excitation member 2439 is replaced in the second position, the second limiting portion 24392 can limit the movement of the handle trigger 2438. The rotation angle of the handle trigger 2438 is the second angle, and the handle trigger 2438 can move beyond the prescribed stroke. The first angle is smaller than the second angle, so that when the excitation member 2439 is replaced in the second position, the handle trigger 2438 can drive the execution end (such as the execution end 1630) to open to a larger angle, thereby achieving the goal of opening the execution end (such as the execution end 1630). ) of the detachable control. In some embodiments, the diameter of the first limiting part 24391 is larger than the diameter of the second limiting part 24392. Therefore, when the first limiting part 24391 limits the handle trigger 2438, the stroke of the handle trigger 2438 is smaller, and the second limiting part 24391 limits the handle trigger 2438. When the position portion 24392 limits the handle trigger 2438, the stroke of the handle trigger 2438 is larger, so that the first angle of rotation of the handle trigger 2438 is smaller than the second angle of rotation of the handle trigger 2438.

In some embodiments, the replacement triggering part 2439 may include a variety of structures, so that when the replacement triggering part 2439 switches between the first position and the second position, the rotation angle of the handle trigger is correspondingly limited.

For example, the replacement activating part 2439 can also be rotatably mounted on the operating handle 2430 through a torsion spring, and the first limiting part 24391 and the second limiting part 24392 are provided along the circumferential direction of the replacing activating part 2439. When the operator rotates the replacement trigger 2439, the replacement trigger 2439 is in the second position, the second limiting portion 24392 limits the handle trigger 2438, and the rotation angle of the handle trigger is a larger second angle; the operator releases the handle trigger 2438. After the rotation of the excitation part 2439 is replaced, the excitation part 2439 can be automatically reset under the action of the torsion spring and is in the first position. The first limiting part 24391 limits the handle trigger 2438, and the rotation angle of the handle trigger is smaller. First angle.

For another example, the replacement activating member 2439 may include a telescopic structure, and the telescopic direction of the telescopic structure is toward the handle trigger 2438. When the replacement activating part 2439 is in the first position, the telescopic structure extends, the distance between the replacement activating part 2439 and the handle trigger 2438 is small, the handle trigger 2438 has a small stroke, and the rotation angle of the handle trigger 2438 is small. First angle. When the replacement trigger 2439 is in the second position, the telescopic structure is retracted, the distance between the replacement trigger 2439 and the handle trigger 2438 is larger, the handle trigger 2438 has a larger stroke, and the rotation angle of the handle trigger 2438 is the larger first. Two angles.

Figure 28 is a schematic structural diagram of a tooling according to some embodiments of this specification. Figure 29 is a schematic structural diagram of a tooling including an execution end according to some embodiments of this specification. Figure 30 is a schematic diagram of the tooling including an execution end according to some embodiments of this specification. A schematic diagram of the steps required to execute the end of the tooling installation. Referring to Figures 28, 29 and 30, this specification also provides a tooling 2800 that can install the execution end of the end effector 2410 of the surgical instrument 2400. The structure of the end effector 2410 of the surgical instrument 2400 may be similar to the structure of the end effector 1600. In some embodiments, the tooling 2800 mainly includes a housing 2810 and a cavity 2820 inside the housing 2810, where the cavity 2820 can be used to accommodate the fixed execution end 1630 (such as the first operating member 1630-1 and/or the second operating member 1630 -2).

In some embodiments, the housing 2810 includes two opposite first side walls 2811, two opposite second side walls 2812, and a bottom wall 2813. The bottom wall 2813 is connected between the first side wall 2811 and the second side wall. 2812 on one end.

In some embodiments, the housing 2810 has a first opening 2814, a second opening 2815 and a third opening 2816 that communicate with the cavity 2820. The first opening 2814 is provided on the housing 2810 opposite to the bottom wall 2813, and the execution end 1630 passes through the first opening 2814. An opening 2814 enters the cavity. In some embodiments, the second opening 2815 is provided on the first side wall 2811, and the execution tip 1630 can extend out of the cavity 2820 from the second opening 2815. Two third openings 2816 are provided at one end of the housing 2810 close to the first opening 2814, and the two third openings 2816 are respectively formed on the two second side walls 2812. The third openings 2812 can be used to receive the base 1610. A flexible pressing part 2817 is provided on one end of the first side wall 2811 close to the first opening 2814.

In some embodiments, when the execution end 1630 only includes the first operating member 1630-1, at least one first side wall 2811 may be provided with a second opening 2815 and a corresponding pressing portion 2817. In other embodiments, when the execution end 1630 includes a first operating member 1630-1 and a second operating member 1630-2, the cavity 2820 may accommodate the first operating member 1630-1 and the second operating member 1630-2, The number of the second openings 2815 may be two, and the two second openings 2815 are respectively provided on the two first side walls 2811; the number of the pressing parts 2817 may also be two, and the two pressing parts 2817 are respectively provided on the two first side walls 2811. on the first side wall 2811.

In some embodiments, after the execution end 1630 enters the cavity 2820 and is fixed, the fifth protrusion 1631 of the execution end 1630 can protrude from the third opening 2816, so that the fifth protrusion 1631 can be located outside the cavity 2820, The fifth protrusion 1631 is not shielded by the shell 2810 of the tool 2800, so that the fifth protrusion 1631 can enter the first recess 1611 on the base 1610 to facilitate subsequent installation steps of the end 1630.

In some embodiments, the depth of the third opening 2816 may have a preset value range. The depth of the third opening 2816 can limit the size of the base 1610 extending into the tooling 2800, thereby limiting the opening angle of the execution end 1630, so as to prevent the execution end 1630 from having an excessively large opening angle, resulting in interference between the execution end 1630, the base 1610, and the driving wheel 1620. Disconnect.

In some embodiments, pressing portion 2817 may include flexible material. For example, the material of the pressing part 2817 may include but is not limited to rubber, silicone and other materials. For another example, the pressing part 2817 may also include but is not limited to elastic structures such as elastic pieces and springs.

In some embodiments, a limiting plate 28121 may be provided on the inner wall of the second side wall 2812. The limiting plate 28121 and the first side wall 2811 with the second opening 2815 can limit the execution end 1630 so that the execution end 1630 can be in a preset position after entering the cavity 2820. In some embodiments, when the execution end 1630 only includes the first operating member 1630-1, the number of limiting plates 28121 may be 2 or more, and the multiple limiting plates 28121 may be divided into one group or two groups, One set of limiting plates 28121 can cooperate with one first side wall 2811, and the other set of limiting plates 28128 can cooperate with the other first side wall 2811 to limit the first operating member 1630-1. In other embodiments, when the execution end 1630 includes a first operating member 1630-1 and a second operating member 1630-2, the number of limiting plates 28121 may be 2 or more, and multiple limiting plates 28121 may be Divided into two groups, one group of limiting plates 28121 can cooperate with a first side wall 2811 to limit the first operating member 1630-1, and the other group of limiting plates 28128 can cooperate with the other first side wall 2811 Cooperate to limit the position of the second operating member 1630-2.

In some embodiments, the inner wall of the bottom wall 2813 is provided with an arc-shaped structure 28131. The arc-shaped structure 28131 can cooperate with the limiting plate 28121 to limit the execution end 1630. In some embodiments, the arc-shaped structure 28131 can be disposed in the middle of the two second side walls 2812, and the arc-shaped structure 28131 can perform operations on the first operating member 1630-1 and/or the second operating member 1630-2. Limit.

In some alternative embodiments, the second side wall 2812 may be provided with a through hole 28122. Through the through hole 28122, the position state of the execution end 1630 in the cavity 2820 can be observed and determined (for example, whether the execution end 1630 is closed, as shown in FIG. (shown as S3 and S4 of 30), thereby reducing the installation difficulty of the execution end 1630. This specification does not place excessive restrictions on the number and shape of the through holes 28122.

In some embodiments, fourth openings 28132 may be respectively provided on both sides of the bottom wall 2813 close to the first side wall 2811 . The fourth opening 28132 may be used to observe and determine the position state of the execution end 1630 after entering the cavity 2820.

As shown in Figure 30, installing the execution end 1630 through the tooling 2800 may include the following steps:

S1. Place the execution end 1630 into the chamber 2820 through the first opening 2814. During the process of the execution end 1630 entering the chamber 2820, the position state of the execution end 1630 can be observed through the fourth opening 28132, so that the position state of the execution end 1630 can be adjusted at any time. The execution end 160 is limited by the limiting plate 29121 and the arc-shaped structure 28131, so that the execution end 1630 reaches the preset position.

S2. Make the seventh protrusion 1623 on the driving wheel 1620 be placed at the opening of the second depression 1633 of the execution end 1630. Specifically, the seventh protrusion 1623 of the first driving wheel 1620-1 is placed at the opening of the second recess 1633 of the first operating member 1630-1, and the seventh protrusion 1623 of the second driving wheel 1620-2 is placed at the opening of the second recess 1633 of the first operating member 1630-1. The opening of the second recess 1633 of the second operating member 1630-2. Press the pressing parts 2817 on both sides of the tool 2800 to make the seventh protrusion 1623 on the driving wheel 1620 snap into the second recess 1633 of the execution end 1630. Specifically, the seventh protrusion 1623 of the first driving wheel 1620-1 is engaged in the second recess 1633 of the first operating member 1630-1, and the seventh protrusion 1623 of the second driving wheel 1620-2 is engaged in the second operating member. into the second recess 1633 of the piece 1630-2.

S3. Press the replacement trigger 2439. At this time, the handle trigger 2438 moves beyond the prescribed stroke under the action of the spring in the handle 2431, thereby driving the driving wheel 1620 to rotate. At the same time, the tool 2800 is pressed so that the base 1610 enters the third opening 2816 of the tool 2800 until the top of the base 1610 contacts the inner wall of the third opening 2816, thereby causing the execution end 1630 to open at a preset angle, and then the The fifth protrusion 1631 of the execution end 1630 is snapped into the first depression 1611 of the base 1610, and at this time, the sixth protrusion 1621 is located at the opening of the limiting groove 1632.

S4. Hold the handle trigger 2438 tightly to close the execution end 1630. The sixth protrusion 1621 enters the limiting groove 1632. At this time, the closing condition of the execution end 1630 can be confirmed through the through hole 28122.

S5. Remove tooling 2800.

The basic concepts have been described above. It is obvious to those skilled in the art that the above detailed disclosure is only an example and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are suggested in this specification, and therefore such modifications, improvements, and corrections remain within the spirit and scope of the exemplary embodiments of this specification.

At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and/or "some embodiments" means a certain feature, structure, or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that “one embodiment” or “an embodiment” or “an alternative embodiment” mentioned twice or more at different places in this specification does not necessarily refer to the same embodiment. . In addition, certain features, structures or characteristics in one or more embodiments of this specification may be appropriately combined.

Similarly, it should be noted that, in order to simplify the expression disclosed in this specification and thereby help understand one or more embodiments of the invention, in the previous description of the embodiments of this specification, multiple features are sometimes combined into one embodiment. accompanying drawings or descriptions thereof. However, this method of disclosure does not imply that the subject matter of the description requires more features than are mentioned in the claims. In fact, embodiments may have less than all features of a single disclosed embodiment.

In some embodiments, numbers are used to describe the quantities of components and properties. It should be understood that such numbers used to describe the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Grooming. Unless otherwise stated, "about," "approximately," or "substantially" means that the stated number is allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending on the desired features of the individual embodiment. In some embodiments, numerical parameters should account for the specified number of significant digits and use general digit preservation methods. Although the numerical ranges and parameters used to identify the breadth of ranges in some embodiments of this specification are approximations, in specific embodiments, such numerical values are set as accurately as is feasible.

Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Accordingly, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to those expressly introduced and described in this specification.

Claims (37)

An end effector instrument, which includes: a driving wheel and an execution end, with a driving fitting portion between the driving wheel and the execution end, When the driving wheel rotates, the driving wheel can drive the execution end to switch between the first state and the second state through the driving fitting part. The end effector according to claim 1, wherein the end effector further includes a base, and the driving wheel is rotatably disposed on the base through a first rotating shaft. The end effector according to claim 2, wherein the driving fitting part includes a slide groove provided on the execution end and a protruding part provided on the driving wheel, and the protruding part is on the The slide groove slides so that the execution end switches between the first state and the second state. The end effector according to claim 3, wherein the execution end includes a first operating member and a second operating member, and the first operating member and the second operating member are rotationally connected through a second rotating shaft; The slide groove includes a first slide groove provided on the first operating member and a second slide groove provided on the second operating member; the raised portion includes a third slide provided on the driving wheel. A protrusion and a second protrusion, the first protrusion is located in the first chute, the second protrusion is located in the second chute, the first protrusion and the second The protrusions are respectively located on both sides of the driving wheel in the thickness direction, and the line connecting the first protrusion and the second protrusion passes through the axis of the first rotating shaft of the driving wheel; When the driving wheel rotates around the first rotating axis, the first protrusion slides in the first chute, the second protrusion slides in the second chute, and drives the third An operating member rotates away from or toward the second operating member. The end effector according to claim 4, wherein the rotation angle of the first operating member is equal to the rotation angle of the second operating member. The end effector according to claim 4, wherein the first operating member is provided with a first escape groove, the second operating member is provided with a second escape groove, and the first escape groove of the driving wheel is The rotating shaft passes through the first escape groove and the second escape groove. The end effector instrument according to claim 4, wherein the first operating member and the second operating member are rotatably connected to the base through the second rotating shaft. The end effector according to claim 7, wherein the first operating part includes a first connecting part and a first executing part provided on the first connecting part, and the second operating part includes a second connecting part. and a second execution part provided on the second connection part, the first connection part and the second connection part are rotationally connected through the second rotating shaft, and the driving wheel is located on the first connection part With the second connection part, the driving wheel is drivingly connected to the first connection part and the second connection part respectively. The first connection part, the driving wheel and the second connection part The sum of the three thicknesses is not greater than the maximum thickness of the first execution part. The end effector according to claim 8, wherein the base includes a mounting slot, the first connecting part and the second connecting part are connected in the mounting slot through the second rotating shaft, and the The driving wheel is connected to the installation groove through the first rotating shaft. The end effector of claim 5, wherein the line connecting the axis center of the second rotating shaft and the first rotating shaft and the connecting line between the axis center of the second rotating shaft and the first slide groove are The angle between the line connecting the position of the first protrusion is ∠a1, the line connecting the axis center of the second rotating shaft and the axis center of the first rotating shaft, and the connecting line between the axis center of the second rotating shaft and the axis center of the second rotating shaft. The angle between the lines connecting the positions of the second protrusions on the second chute is ∠a2; the absolute value of the difference between ∠a1 and ∠a2 is less than a preset value. The end effector of claim 10, wherein the first movement trajectory of the first protrusion during the rotation of the driving wheel about the first rotation axis is consistent with the shape of at least part of the first chute. To match, the second movement trajectory of the second protrusion during the rotation of the driving wheel around the first rotating axis matches at least part of the shape of the second chute; In a coordinate system with the center as the origin, the first movement trajectory satisfies the first functional expression, and the second movement trajectory satisfies the second functional expression; at least part of the shape of the first chute satisfies the first functional expression. , the shape of at least part of the second chute satisfies the second functional formula. The end effector according to claim 2, wherein the driving fitting part includes a transmission member provided on the base, a guide structure is provided on the transmission member, and the guide structure provides the transmission member with guiding direction; When the driving wheel rotates, the transmission member is driven to move in the guiding direction relative to the base, so that the transmission member and the execution end are switched between the first state and the second state. The end effector according to claim 12, wherein the driving fitting part includes a cam groove provided on the driving wheel and a third protrusion provided on the transmission member to cooperate with the cam groove; When the driving wheel rotates in the first direction, the cooperation between the cam groove and the third protrusion drives the transmission member and the execution end to move from the first state to the second state; When the driving wheel rotates in the second direction, the cooperation between the cam groove and the third protrusion drives the transmission member and the execution end to move from the second state to the first state. The end effector instrument according to claim 13, wherein the execution end is connected to the distal end of the transmission member, the execution end includes a first operating member and a second operating member; the proximal end of the first operating member The end and the proximal end of the second operating member are rotationally connected through a second rotating shaft; When the transmission member and the execution end are in the first state, the transmission member moves to the first position, and the first operating member and the second operating member are relatively open; When the transmission member and the execution end are in the second state, the transmission member moves to the second position, and the first operating member and the second operating member are relatively closed. The end effector according to claim 14, wherein the transmission member is provided with a fourth protrusion; the first operating member and the second operating member are provided with inclined grooves; When the transmission member moves to the first position, the fourth protrusion cooperates with the chute to drive the first operating member and the second operating member to open relatively; When the transmission member moves to the second position, the fourth protrusion cooperates with the chute to drive the first operating member and the second operating member to be relatively closed. The end effector of claim 15, wherein the guide structure includes a first guide hole and a second guide hole, and the guide direction is consistent with the center of the first guide hole and the center of the second guide hole. The lines between them are parallel. The end effector of claim 16, wherein at least one end of the second rotating shaft passes through the second guide hole and is fixedly connected to the base. The end effector of claim 16, wherein the first rotating shaft passes through the first guide hole. The end effector according to claim 14, wherein the end effector includes two transmission parts, and the driving wheel, the first operation part and the second operation part are arranged on the two transmission parts. between. The end effector instrument according to claim 19, wherein the distal ends of the two transmission members are hinged with the first operating member and the second operating member respectively. The end effector according to claim 15, wherein the distance from the rotation center of the driving wheel to one end of the cam groove is a first distance, and the distance from the rotation center of the driving wheel to the other end of the cam groove is a first distance. The distance is a second distance, and the difference between the first distance and the second distance is equal to the distance between the first position and the second position; and, the first operating member and the third When the two operating parts are relatively closed, the angle range between the extension direction of the chute and the guide direction is greater than 0° and less than 180°. The end effector instrument of claim 2, wherein the cooperation between the execution tip and the base forms a center of rotation about which the execution tip is rotatable. The end effector according to claim 22, wherein at the rotation center, the execution end is provided with a fifth protrusion, and the base is provided with a first protrusion that cooperates with the fifth protrusion. recess, the fifth protrusion can rotate relative to the rotation center in the first recess. The end effector according to claim 23, wherein the driving wheel is provided with a sixth protrusion, the execution end is provided with a limiting groove, and the limiting groove is connected with the sixth protrusion on the driving wheel. Cooperate. The end effector instrument according to claim 24, wherein at least one end of the limiting groove is closed. The end effector according to claim 24, wherein the limiting groove is arc-shaped, and the center of the arc-shaped limiting groove coincides with the rotation center, and the limiting groove is aligned with the fifth The distance between the protrusions is equal to the distance between the sixth protrusion and the first depression. The end effector of claim 24, wherein the first axis of rotation serves as the sixth protrusion. The end effector instrument according to claim 22, wherein the drive fitting portion includes a seventh protrusion provided on the drive wheel, and a second recess provided on the execution end, the seventh protrusion located in the second depression. The end effector instrument according to claim 28, wherein the seventh protrusion is provided at an outer edge position of the driving wheel; or, the second depression is provided on the execution end away from the center of rotation. Location. The end effector according to claim 22, wherein the execution end includes a first operating member and a second operating member, and the driving wheel includes a first driving wheel and a second driving wheel that can perform relative rotation independently of each other, The first driving wheel and the second driving wheel are coaxially arranged, and both are rotationally connected to the base through the first rotating shaft; The cooperation between the first operating member and the base forms a first rotation center, and the cooperation between the second operating member and the base forms a second rotation center; between the first rotation center and the base At the second rotation center, the first operating member and the second operating member are respectively provided with corresponding fifth protrusions, and the base is provided with two fifth protrusions respectively. Two matching first recesses, each of the fifth protrusions can rotate relative to the corresponding rotation center in the corresponding first recess; The first driving wheel and the second driving wheel are respectively provided with sixth protrusions, and the two ends of the first rotating shaft serve as the sixth protrusions of the first driving wheel and the second driving wheel respectively. Protrusions, the first operating member and the second operating member are respectively provided with the sixth protrusion that cooperates with the first driving wheel and the sixth protrusion that cooperates with the second driving wheel. Matching limit slot; The first driving wheel and the second driving wheel are respectively provided with seventh protrusions, and the first operating member and the second operating member are respectively provided with second depressions. The first driving wheel and the seventh protrusion of the second driving wheel are respectively located in the second recesses of the first operating member and the second operating member; the second recess on the first operating member The fifth protrusion is located on both sides of the limiting groove of the first operating member; the second depression and the fifth protrusion on the second operating member are located on the second operating member. on both sides of the limiting groove of the component. The end effector according to claim 1, wherein the end effector further includes a traction member for controlling the rotation of the driving wheel, thereby driving the execution end to switch between the first state and the second state. . The end effector according to claim 31, wherein the driving wheel is provided with a fixing groove, and at least part of the traction component is fixed in the fixing groove. The end effector according to claim 31, wherein the traction member includes a first wire body and a second wire body; wherein one end of the first wire body is fixed to the driving wheel, and the first wire body At least part of the second wire body is wound around the driving wheel along the first direction; one end of the second wire body is fixed to the driving wheel, and at least part of the second wire body is wound around the driving wheel along the second direction. . The end effector according to claim 31, wherein the driving wheel includes a first driving wheel and a second driving wheel that are independent of each other, and the traction member includes a first wire body and a second wire body; wherein the third A wire body is used to drive the first driving wheel, and the second wire body is used to drive the second driving wheel. A surgical instrument, which includes: instrument joints, operating handles and end-effector instruments; The instrument joint is used to drive the end-execution instrument to move; The operating handle is at least used to control the driving wheel to drive the execution end to switch between the first state and the second state; Therefore, the end effector includes a driving wheel, an execution end and a base, and there is a driving matching part between the driving wheel and the execution end, When the driving wheel rotates, the driving wheel can drive the execution end to switch between the first state and the second state through the driving fitting part, and the cooperation between the execution end and the base forms a rotation center , the execution end can rotate relative to the rotation center; The operating handle includes a handle housing, a grip, a handle trigger and a replacement triggering piece provided on the handle housing. The movement stroke of the handle trigger corresponds to the rotation angle of the execution end. The replacement triggering piece can operable for movement between a first position and a second position; When the replacement triggering part is in the first position, the handle trigger moves within a prescribed stroke; when the replacement triggering part is in the second position, the handle trigger can move beyond the prescribed stroke. . The surgical instrument according to claim 35, wherein the driving wheel is provided with a sixth protrusion, the execution end is provided with a limiting groove, and the limiting groove is connected with the sixth protrusion on the driving wheel. Cooperate; When the replacement triggering member is in the first position, the handle trigger moves within a prescribed stroke, the rotation angle of the execution end is within a preset range, and the sixth protrusion is located in the limiting groove. ; When the replacement triggering member is in the second position, the handle trigger can move outside the prescribed stroke, the rotation angle of the execution end is greater than the preset range, and the sixth protrusion can escape from the limit. bit slot. The surgical instrument according to claim 36, wherein the replacement activating member has a first limiting part and a second limiting part; when the replacing activating member is in the first position, the first limiting part The second limiting portion limits the handle trigger, and the rotation angle of the handle trigger is a first angle; when the replacement triggering member is in the second position, the second limiting portion limits the handle trigger. position, the rotation angle of the handle trigger is a second angle; the first angle is smaller than the second angle.

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