CN116269573A

CN116269573A - Surgical instrument and surgical robot

Info

Publication number: CN116269573A
Application number: CN202111481917.4A
Authority: CN
Inventors: 吴渡江; 孙培原; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2023-06-23

Abstract

The present application provides a surgical instrument and a surgical robot, wherein the surgical instrument includes an instrument shaft assembly having a longitudinal axis and an interior cavity defined along the longitudinal axis, an implement assembly, and an actuation mechanism; the actuating assembly comprises an end effector arranged at the distal end, and the proximal end of the actuating assembly is connected with the distal end of the instrument shaft assembly; the actuating mechanism comprises an actuating rod assembly, a flexible actuating transmission piece and an actuating driving assembly, wherein the actuating rod assembly is arranged in the inner cavity and can move in a translational mode along the direction of the longitudinal axis, the distal end of the actuating rod assembly is drivingly connected to the end effector, the actuating rod assembly is in transmission connection with the actuating driving assembly through the flexible actuating transmission piece, the actuating driving assembly can rotate to drive the flexible actuating transmission piece to move so as to drive the actuating rod assembly to move in a translational mode, the actuating end effector is actuated, and the rotating axis of the actuating driving assembly is parallel to the longitudinal axis. The surgical instrument has compact structure, small volume and light weight.

Description

Surgical instrument and surgical robot

Technical Field

The application belongs to the technical field of medical instruments, and more particularly relates to a surgical instrument and a surgical robot.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. With the progress of technology, minimally invasive surgery and robotics are becoming mature and widely used, and robot-assisted minimally invasive surgery is becoming a trend of development of minimally invasive surgery and has been gradually applied to actual clinics.

In minimally invasive surgery, staplers are often used. A stapler is a surgical instrument that is a medical alternative to manual stapling and that generally includes two corresponding actuators (typically including a cartridge assembly and an anvil assembly) disposed at the distal end of an elongate shaft. In use of the stapler, the anvil assembly and cartridge assembly are first closed to clamp tissue, and then one or more actuation assemblies are advanced or pushed to push out the rows of staples in the cartridge assembly, which are stapled to body tissue, stapling the tissue together, similar to a stapler. The stapler can further comprise a knife for cutting the stapled tissue. The actuator of the anastomat can be bent at a certain angle, so that the actuator can effectively reach the operation position to clamp, transect and anastomose tissues, and a doctor can more effectively finish cutting and suturing of tissues at a certain narrow position. The stapler and the stitching nails are used for stitching, compared with the traditional manual stitching, the stitching method is tighter, the stitching steps are simplified, the stitching difficulty is reduced, the operation is simple and convenient, the stitching speed is high, the operation time is greatly reduced, and the method has the advantages of being less in bleeding in operation, short in operation time, capable of avoiding infection, high in function recovery after operation and the like.

Most of the existing anastomat is manually operated, the number of the anastomat used for the surgical robot is small, the closing degree and closing time of tissue implementation are easy to be inconsistent during manual closing operation, the triggering force during firing operation can be greatly different, the surgical quality is reduced, once misoperation occurs, surgical failure and waste of medical equipment are easy to be caused, and even medical accidents are caused during serious cases.

The existing anastomat has complex structure, particularly adopts gear transmission, so that a transmission mechanism is complex, the cost is high, the volume of the anastomat is large, and the weight is heavy. The existing anastomat is directly applied to robot-assisted minimally invasive surgery, the movable space of the robot can be compressed, the requirements of the minimally invasive surgery on the degree of freedom, flexibility and accuracy of surgical instruments can not be met, and the surgical quality is affected.

Disclosure of Invention

An object of the embodiment of the application is to provide a surgical instrument and a surgical robot, so as to solve the technical problems of complex transmission mechanism, large volume and heavy weight of an anastomat in the prior art, which are not suitable for the surgical robot.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: there is provided a surgical instrument comprising: an instrument shaft assembly having a longitudinal axis and a lumen defined along the longitudinal axis;

An implement assembly including an end effector disposed at a distal end, the end effector including a stapler, a proximal end of the implement assembly being connected to a distal end of the instrument shaft assembly; and

the actuating mechanism comprises an actuating rod assembly, a flexible actuating transmission piece and an actuating driving assembly, wherein the actuating rod assembly is arranged in the instrument shaft assembly through the inner cavity and can move in a translational mode along the longitudinal axis direction, the distal end of the actuating rod assembly is drivingly coupled to the end effector, the flexible actuating transmission piece is in transmission connection with the actuating driving assembly, the actuating driving assembly can rotationally drive the flexible actuating transmission piece to move so as to drive the actuating rod assembly to move in a translational mode, the end effector is further actuated, and the rotating axis of the actuating driving assembly is parallel to the longitudinal axis.

In one embodiment, the actuation mechanism further comprises a distal guide surface disposed on the instrument shaft assembly and toward the distal end of the lumen; the flexible actuation transmission member is fixedly connected with the proximal end of the actuation rod assembly, and the connection position is located between the actuation drive assembly and the distal guide surface along the traction direction of the flexible actuation transmission member;

The flexible actuation transmission includes a first portion cable extending from the connection location toward the distal end of the instrument shaft assembly, bypassing the distal guide surface, extending toward the proximal end of the instrument shaft assembly and through the lumen to the actuation drive assembly, and a second portion cable extending from the connection location toward the proximal end of the instrument shaft assembly and through the lumen to the actuation drive assembly;

the actuation drive assembly rotates, which can increase tension in the first portion cable to move the actuation rod assembly in a distal direction in translation, or increase tension in the second portion cable to move the actuation rod assembly in a proximal direction in translation.

In one embodiment, the actuation mechanism further comprises a proximal guide surface disposed toward a proximal end of the surgical instrument and disposed between the actuation drive assembly and the distal guide surface along a traction direction of the flexible actuation transmission, the first and second portions of the flexible actuation transmission extending about a respective winding of the proximal guide surface to the actuation drive assembly.

In one embodiment, the actuation mechanism further comprises a transition surface disposed between the actuation drive assembly and the proximal guide surface along a traction direction of the flexible actuation transmission, the first and second portion cables of the flexible actuation transmission respectively wrapping around at least one of the transition surfaces.

In one embodiment, the first portion of the cable of the flexible actuation transmission member has a first length and the second portion of the cable of the flexible actuation transmission member has a second length;

the actuation mechanism further includes a distal pulley including the distal guide surface.

In one embodiment, the actuation drive assembly includes an actuation wheel disposed on a proximal side of the instrument shaft assembly and rotatable about its own axis, with the axis of rotation of the actuation wheel being parallel to the longitudinal axis; the first part cable and the second part cable of the flexible actuation transmission piece are fixed and connected to the actuation wheel in a winding way.

In one embodiment, the actuation drive assembly further comprises an actuation input in driving connection with the actuation wheel, the actuation input for inputting rotational power.

In one embodiment, the actuating drive assembly further comprises an operating member in driving connection with the actuating wheel, and operating the operating member can drive the actuating wheel to rotate.

In one embodiment, the actuator rod assembly includes an actuator rod and a connector fixedly coupled to a proximal end of the actuator rod, the flexible actuator transmission being fixedly coupled to the connector.

In one embodiment, the instrument shaft assembly includes a cannula extending along the longitudinal axis, an interior of the cannula defining the lumen; the distal end of the sleeve is provided with a mounting hole, the actuating rod is arranged in the mounting hole in a sliding penetrating mode, the connecting piece is arranged in the inner cavity, and the distal pulley is arranged at the distal end of the sleeve and is adjacent to the mounting hole.

In one embodiment, the distal end of the cannula is provided with a cable guide hole through which the second portion of the cable of the flexible actuation transmission extends.

In one embodiment, the surgical instrument includes a plurality of sets of the actuation mechanisms for actuating the end effector to perform a plurality of actions.

In one embodiment, the actuating assembly further comprises a tool rest, a proximal end of the tool rest is fixedly connected to a distal end of the sleeve, the end effector is arranged at the distal end of the tool rest, and the pipe body is sleeved outside the tool rest; the actuating mechanism comprises a first actuating mechanism, a first actuating rod assembly of the first actuating mechanism is connected with the pipe body, the translational motion of the first actuating rod assembly drives the pipe body to perform translational motion, and the pipe body actuates the jaw opening and closing actions of the end effector.

In one embodiment, the actuation assembly further comprises a firing bar disposed inside the tube; the actuating mechanisms further comprise a second actuating mechanism, a second actuating rod assembly of the second actuating mechanism is connected with the firing rod, the translational movement of the second actuating rod assembly drives the translational movement of the firing rod, and the firing rod actuates the anastomat to perform anastomosis.

In one embodiment, the actuating assembly further comprises a swing arm tie disposed inside the tube; the actuating mechanisms further comprise a third actuating mechanism, a third actuating rod assembly of the third actuating mechanism is connected with the swing arm pull rod, the third actuating rod assembly is in translational motion to drive the swing arm pull rod to perform translational motion, and the swing arm pull rod actuates the joint swing motion of the end effector.

In one embodiment, the executing assembly further comprises two swing arms and two swing pull rods hinged to two ends of the swing arms, the swing arm pull rods are connected with the swing arms, the swing arm pull rods are driven to rotate through translational motion of the swing arms, the two swing pull rods are driven to do parallelogram motion, and then the joint swinging motion of the end effector is actuated.

In one embodiment, the tool holder is removably coupled to the sleeve and the first actuator rod assembly is removably coupled to the tube.

In one embodiment, the surgical instrument further comprises a rotary drive mechanism comprising a rotary drive assembly and a flexible rotary drive transmission in driving connection with the proximal end of the instrument shaft assembly and the rotary drive assembly, the rotary drive assembly being capable of rotationally driving the instrument shaft assembly about the longitudinal axis to rotate the actuation assembly about its own axis; and the rotational axis of the rotary drive assembly is parallel to the longitudinal axis.

In one embodiment, the rotary drive assembly comprises a drive wheel disposed on a proximal side of the cannula and rotatable about its own axis, the axis of rotation of the drive wheel being parallel to the longitudinal axis; one end of the flexible rotation transmission piece is fixed and connected to the driving wheel in a winding way, and the other end of the flexible rotation transmission piece is fixed and connected to the sleeve in a winding way.

In one embodiment, the surgical instrument further comprises a mounting assembly for connection to a surgical robot; the proximal end of the instrument shaft assembly is rotatably coupled to the center of the mounting assembly; the rotary driving assembly and the actuating driving assemblies are arranged on the mounting assembly and are uniformly distributed around the instrument shaft assembly.

The present application also provides a surgical robot comprising a slave manipulator, a master manipulator and a surgical instrument according to any one of the above; the slave operation device comprises at least one mechanical arm, and the surgical instrument is detachably arranged on the mechanical arm; the master operation device is used for sending a control command to the slave operation device according to the operation of an operator, and the slave operation device is used for responding to the control command and controlling the mechanical arm and the surgical instrument to execute corresponding operation.

The surgical instrument provided by the application has the beneficial effects that:

compared with the prior art, the surgical instrument can be applied to robot-assisted minimally invasive surgery, rotary power is input by the actuating drive assembly, the rotary motion of the actuating drive assembly is converted into linear motion of the actuating rod assembly by adopting the flexible actuating transmission piece, the transmission structure of the actuating mechanism is simplified, and the volume of the actuating mechanism and the inner diameter of the instrument shaft assembly can be reduced; meanwhile, the rotation axis of the actuating drive assembly is parallel to the translational motion direction of the actuating rod assembly, so that the actuating mechanism is more compact in structure, the occupied space of the actuating mechanism is reduced, the volume of a surgical instrument can be effectively reduced, the weight is reduced, the connection is convenient, the movable space of a surgical robot is ensured, and the technical problems that the conventional anastomat transmission mechanism is complex, large in volume and heavy in weight and is not suitable for the surgical robot are effectively solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a partially exploded view of a surgical instrument provided in an embodiment of the present application;

fig. 3 is a schematic perspective view of a mounting assembly according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of a mounting assembly provided in an embodiment of the present application;

FIG. 5 is a schematic perspective view of an instrument shaft assembly, an actuation mechanism, a rotary drive mechanism, and a mounting assembly provided in an embodiment of the present application;

FIG. 6 is a schematic perspective view of another view of an instrument shaft assembly, an actuation mechanism, a rotary drive mechanism, and a mounting assembly provided in an embodiment of the present application;

FIG. 7 is a cross-sectional view of a rotary drive mechanism, instrument shaft assembly and mounting assembly provided in an embodiment of the present application;

FIG. 8 is a longitudinal partial plan cross-sectional view of an instrument shaft assembly provided in an embodiment of the present application;

FIG. 9 is a schematic perspective view of the distal interior of an instrument shaft assembly provided in an embodiment of the present application;

FIG. 10 is an enlarged schematic view of the portion B of FIG. 8;

FIG. 11 is a transverse, perspective cross-sectional view of an instrument shaft assembly provided in an embodiment of the present application;

FIG. 12 is an enlarged schematic view of the portion C in FIG. 8;

FIG. 13 is a partial cross-sectional view of an actuator assembly provided in an embodiment of the present application;

FIG. 14 is a longitudinal partial plan cross-sectional view of a first actuation mechanism and instrument shaft assembly provided in an embodiment of the present application;

FIG. 15 is a schematic structural view of a first actuation mechanism, instrument shaft assembly and mounting assembly provided in an embodiment of the present application;

FIG. 16 is a schematic diagram of a transmission circuit of a first actuator mechanism provided in an embodiment of the present application;

FIG. 17 is a longitudinal partial plan cross-sectional view of a second actuation mechanism and instrument shaft assembly provided in an embodiment of the present application;

FIG. 18 is a schematic structural view of a second actuation mechanism, instrument shaft assembly and mounting assembly provided in an embodiment of the present application;

FIG. 19 is a schematic diagram of a transmission circuit of a second actuator mechanism provided in an embodiment of the present application;

FIG. 20 is a longitudinal partial plan cross-sectional view of a third actuation mechanism and instrument shaft assembly provided in an embodiment of the present application;

FIG. 21 is a schematic structural view of a third actuator mechanism, instrument shaft assembly and mounting assembly provided in an embodiment of the present application;

FIG. 22 is a schematic diagram of a transmission circuit of a third actuator mechanism provided in an embodiment of the present application;

FIG. 23 is a partial cross-sectional view of a proximal end of an actuation assembly provided in an embodiment of the present application;

FIG. 24 is a schematic perspective view of the proximal end of the outer tube removed from the actuator assembly according to an embodiment of the present application;

FIG. 25 is a schematic perspective view of an actuator assembly according to an embodiment of the present disclosure from another perspective proximal end of the outer tube;

FIG. 26 is a partial cross-sectional view of a distal end of an actuation assembly provided in an embodiment of the present application;

FIG. 27 is a schematic perspective view of a distal end of an instrument shaft assembly provided in an embodiment of the present application;

FIG. 28 is an enlarged schematic view of the portion A in FIG. 2;

fig. 29 is a schematic structural view of a slave operation device according to an embodiment of the present application;

FIG. 30 is a state diagram of use of a slave operation device according to an embodiment of the present application;

fig. 31 is a schematic structural diagram of a main operation device according to an embodiment of the present application.

Wherein, each reference sign in the figure:

1. An instrument shaft assembly;

11. a sleeve;

110. an inner cavity; 111. a cable guide hole; 112. a cable limiting hole; 113. connecting the clamping hooks;

12. an outer tube; 13. a seal ring; 14. driven wheel;

2. an execution component;

21. an end effector;

22. a tool holder; 221. a connection bayonet;

23. a tube body; 231. a key hole;

24. a firing bar; 241. firing square head;

25. swing arm tie rod; 251. connecting short rods;

26. swing arms; 27. swinging the pull rod;

3. an actuating mechanism;

31. an actuator rod assembly;

311. an actuating lever; 312. a connecting piece;

3111. a key slot; 3112. square head holes; 3113. a short rod clamping groove;

32. a flexible actuation transmission;

321. a first portion of cable; 322. a second portion of cable;

33. actuating the drive assembly;

331. an actuation wheel; 332. actuating the input; 333. an actuating shaft; 334. pressing a wire wheel into a block; 335. an operating member; 336. a manual transfer shaft;

34. a distal pulley; 35. a proximal pulley; 36. a transition pulley;

3a, a first actuating mechanism;

31a, a first actuator rod assembly; 311a, a first actuating lever; 312a, a first connection block;

32a, clamping the steel wire;

331a, clamping a wire wheel; 332a, clamping drive capstan; 333a, clamping spindles; 334a, clamping wire wheel press blocks; 335a, a grip handle; 336a, clamping the manual transfer shaft;

34a, gripping the distal pulley; 35a, clamping the proximal pulley; 36a, clamping the transition pulley;

37a, clamping key;

3b, a second actuating mechanism;

31b, a second actuator rod assembly; 311b, a second actuation lever; 312b, a second connection block;

32b, firing wire;

331b, firing wire wheel; 332b, firing drive capstan; 333b, firing spindle; 334b, firing wire wheel briquetting; 335b, firing handle; 336b, firing manual transfer shaft;

34b, firing distal pulley; 35b, firing the proximal pulley; 36b, a firing transition pulley;

3c, a third actuating mechanism;

31c, a third actuator rod assembly; 311c, a third actuation lever; 312c, a third connection block;

32c, swinging the steel wire;

331c, swinging the wire wheel; 332c, swing drive winches; 333c, swinging the spindle; 334c, swinging the wire wheel press block; 335c, a swing handle; 336c, swinging the manual transfer shaft;

34c, swinging the distal pulley; 35c, swinging the proximal pulley; 36c, swinging the transition pulley;

4. sealing the tube;

5. a rotary driving mechanism;

51. a rotary drive assembly;

511. a driving wheel; 512. a rotary drive winch; 513. a rotation shaft; 514. a driving wheel is pressed into blocks;

52. a flexible rotary transmission member;

6. a mounting assembly;

61. A base; 611. a sleeve mounting hole; 612. driving the mounting hole;

62. a first support frame; 63. a second support frame; 64. a top plate; 65. a pulley seat;

100. a surgical instrument; 200. a mechanical arm; 300. a slave operating device; 400. a main operation device; 500. a main control console; 600. an input device.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

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

A surgical instrument provided by embodiments of the present application will now be described.

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

Referring now to the drawings, in which like reference numerals refer to like parts throughout the several views.

Fig. 1 illustrates an example of a surgical instrument 100 provided herein. Fig. 2 is a partially exploded view showing the assembled structure of surgical instrument 100. The surgical instrument 100 includes an instrument shaft assembly 1, an implement assembly 2, a seal tube 4, and a mounting assembly 6; the mounting assembly 6 is for connection to a surgical robot; the instrument shaft assembly 1 has a longitudinal axis, the proximal end of the instrument shaft assembly 1 being rotatably connected to the center of the mounting assembly 6; the actuating assembly 2 also has a longitudinal axis, the proximal end of the actuating assembly 2 being detachably connected to the distal end of the instrument shaft assembly 1, the actuating assembly 2 including a distally disposed end effector 21, the end effector 21 including a stapler. The sealing tube 4 is sleeved outside the connecting position of the execution assembly 2 and the instrument shaft assembly 1, and plays a role in sealing connection.

Fig. 3 is a schematic perspective view showing the internal structure of the mounting assembly 6. Fig. 4 is an exploded structural schematic view showing the structure of the mounting assembly 6. The mounting assembly 6 comprises a base 61, a first supporting frame 62, a second supporting frame 63, a top plate 64 and a pulley seat 65, wherein a sleeve mounting hole 611 is formed in the center of the base 61, and four driving mounting holes 612 are formed in four corners; the first support frame 62 and the second support frame 63 are fixed to the base 61 using screw connection; the top plate 64 is fixed to the top of the first support frame 62 and the second support frame 63 using screw connection, so that the top plate 64 is supported and fixed above the base 61; the pulley mount 65 is secured to the top of the top plate 64 using a screw connection.

Fig. 5 is a perspective view showing the internal structure of the proximal end of the surgical instrument 100. Fig. 6 is another perspective view showing the internal structure of the proximal end of surgical instrument 100. The surgical instrument 100 further comprises an actuation mechanism 3 and a rotational drive mechanism 5.

Wherein the actuating mechanism 3 comprises a flexible actuating transmission member 32 and an actuating drive assembly 33, the flexible actuating transmission member 32 may be a cable, such as a wire rope; the actuating drive assembly 33 is arranged on the mounting assembly 6 at the proximal end side of the instrument shaft assembly 1, the flexible actuating transmission member 32 is in transmission connection with the actuating drive assembly 33, the actuating drive assembly 33 is capable of rotationally driving the flexible actuating transmission member 32 to move, and the rotational axis of the actuating drive assembly 33 is parallel to the longitudinal axis of the instrument shaft assembly 1.

The actuation drive assembly 33 comprises an actuation wheel 331, the actuation wheel 331 being arranged on the proximal side of the instrument shaft assembly 1 and being rotatable about its own axis, and the axis of rotation of the actuation wheel 331 being parallel to the longitudinal axis of the instrument shaft assembly 1; the flexible actuation transmission member 32 is fixedly and windingly connected to the actuation wheel 331.

The actuation drive assembly 33 further comprises an actuation input 332, the actuation input 332 being in driving connection with the actuation wheel 331, the actuation input 332 being connectable to a power means, such as the mechanical arm 200 of a surgical robot, the actuation input 332 being adapted to input rotational power by means of which the actuation drive assembly 33 is driven in rotation.

In one embodiment, the actuation input 332 is a drive capstan, the actuation drive assembly 33 further includes an actuation shaft 333 and a wire wheel press 334, the drive capstan is fixedly connected to the actuation shaft 333, the actuation shaft 333 is disposed parallel to the longitudinal axis of the instrument shaft assembly 1 on the proximal side of the instrument shaft assembly 1, and the actuation shaft 333 is rotatable about its own axis while axial linear translational movement is limited; the actuating wheel 331 is fixedly mounted on the actuating shaft 333 by using a wire wheel pressing block 334, so that the actuating shaft 333 rotates to drive the actuating wheel 331 to rotate, and further drive the wire rope to linearly translate.

The actuating drive assembly 33 further comprises an operating member 335, the operating member 335 being in driving connection with the actuating wheel 331, the operating member 335 being capable of driving the actuating wheel 331 in rotation. The operation member 335 can be manually operated to drive the end effector 21, so that the end effector 21 can be conveniently operated continuously under special conditions such as power failure during operation.

In a specific embodiment, the operating member 335 is in a handle or knob structure, the actuating drive assembly 33 further includes a manual switching shaft 336, the operating member 335 is fixedly connected to the manual switching shaft 336, and the manual switching shaft 336 is fixedly connected to the actuating shaft 333, so that the rotational movement of the operating member 335 can be converted into the rotational movement of the actuating shaft 333.

The actuating mechanism 3 further comprises a proximal pulley 35, the proximal pulley 35 being disposed at the proximal end of the instrument shaft assembly 1, the proximal pulley 35 being mounted on a pulley mount 65; the outer circumferential surface of the proximal pulley 35, which faces the proximal end of the surgical instrument 100, forms a proximal guide surface, and the cable of the flexible actuation transmission 32 extends towards the actuation drive assembly 33 after bypassing the proximal guide surface on the proximal pulley 35. The direction of traction movement of the flexible actuation transmission member 32 can be changed by the proximal guiding surface of the proximal pulley 35, which turns the cable from moving in the direction of the longitudinal axis of the instrument shaft assembly 1 to moving around the rotational axis of the actuation drive assembly 33, thereby enabling the rotational axis of the actuation drive assembly 33 to be parallel to the direction of linear translational movement of the actuation rod assembly 31. Wherein the proximal pulley 35 may comprise a plurality.

The actuating mechanism 3 further comprises a transition pulley 36, the transition pulley 36 is arranged on the proximal end side of the instrument shaft assembly 1, and the transition pulley 36 is arranged on the first supporting frame 62 and the second supporting frame 63; the outer peripheral surface of the transition pulley 36 forms a transition surface and the cable of the flexible actuation transmission member 32 is pulled to the actuation drive assembly 33 after bypassing the transition surface on the transition pulley 36. It can be seen that a transition pulley 36 is disposed between the actuation drive assembly 33 and the proximal pulley 35 in the traction direction of the flexible actuation transmission member 32. The transition surface of the transition pulley 36 can gradually change the traction direction of the flexible actuation transmission member 32 between the actuation drive assembly 33 and the proximal pulley 35, so that the flexible actuation transmission member 32 is prevented from sliding or even loosening on the actuation drive assembly 33 and the proximal guide surface due to excessive traction direction change, and stable and reliable transmission of the flexible actuation transmission member 32 is ensured. Wherein the transition pulley 36 may comprise a plurality of.

With continued reference to fig. 6, the rotary drive mechanism 5 includes a rotary drive assembly 51 and a flexible rotary transmission 52; the flexible rotation transmission piece 52 is in transmission connection with the proximal end of the instrument shaft assembly 1 and the rotation driving assembly 51, and the rotation driving assembly 51 can rotate to drive the instrument shaft assembly 1 to rotate around the longitudinal axis so as to drive the execution assembly 2 to rotate around the axis thereof; and the rotational axis of the rotary drive assembly 51 is parallel to the longitudinal axis of the instrument shaft assembly 1. The rotary driving assembly 51 can input the rotary power of an external robot, the flexible rotary driving part 52 is adopted to drive the instrument shaft assembly 1 and the execution assembly 2 to rotate in a autorotation mode, the transmission structure of the rotary driving mechanism 5 is simplified, the volume of the rotary driving mechanism 5 can be reduced, the flexible transmission structure is simple and reliable, the connection is convenient, and the cost is reduced; meanwhile, the rotation axis of the rotation driving assembly 51 is parallel to the rotation axis of the instrument shaft assembly 1 and the rotation axis of the execution assembly 2, so that the structure of the rotation driving mechanism 5 is more compact, the occupied space of the rotation driving mechanism 5 is further reduced, the volume of the surgical instrument 100 can be effectively reduced, the weight is reduced, the movable space of the surgical robot is ensured, interference among multiple surgical instruments 100 during simultaneous use is avoided, the requirements of the minimally invasive surgical operation on the degree of freedom, flexibility and accuracy of the surgical instrument are met, the surgical quality is ensured, and the practicability is high.

The rotary driving assembly 51 includes a driving wheel 511, the driving wheel 511 is disposed at a proximal end side of the instrument shaft assembly 1 and is rotatable about its own axis, and a rotation axis of the driving wheel 511 is parallel to a longitudinal axis of the instrument shaft assembly 1; one end of the flexible rotation transmission member 52 is fixed and wound on the driving wheel 511, and the other end of the flexible rotation transmission member 52 is fixed and wound on the instrument shaft assembly 1. The driving wheel 511 is driven to rotate, the driving wheel 511 winds and pulls one end of the flexible rotation transmission piece 52, and the other end of the flexible rotation transmission piece 52 synchronously pulls the instrument shaft assembly 1 to rotate; the flexible rotation transmission piece 52 is fixedly connected with the driving wheel 511 and the instrument shaft assembly 1, so that slipping phenomenon is not easy to occur, transmission is stable and reliable, accurate control of the rotation angle of the execution assembly 2 can be realized, and operation quality is ensured.

The rotary drive assembly 51 further includes a rotary drive capstan 512, a rotary shaft 513, and a capstan block 514; the rotation driving winch 512 is used for being connected with the mechanical arm 200 of the surgical robot, and is used for converting the power of the mechanical arm 200 into the rotation motion of the rotation driving winch 512; the rotation driving winch 512 is fixedly connected with the rotation shaft 513, and the rotation movement of the rotation driving winch 512 can be converted into the rotation movement of the rotation shaft 513; the driving wheel 511 and the driving wheel pressing block 514 are fixed on the rotating shaft 513 after being connected by screws, so that the rotating motion of the rotating shaft 513 can be converted into the rotating motion of the driving wheel 511, and the rotating directions of the driving wheel 511 and the driving wheel pressing block are consistent.

The flexible rotary drive 52 is a cable, for example, the cable may be a wire rope; the flexible rotary transmission member 52 includes two cables, and has a higher bearing capacity and a stronger transmission capacity, so that requirements on materials and dimensions can be reduced under the same transmission force requirement, which is beneficial to reducing cost. The driving wheel 511 is a wire wheel with a wire groove formed in the outer peripheral surface, and preferably comprises an upper wire wheel and a lower wire wheel, the wire ropes of the two cables are fixedly wound on the two wire wheels respectively, a wire rope loop is formed through a wire wheel transmission system, and the two cables can drive the instrument shaft assembly 1 to rotate forwards and reversely respectively.

In the embodiment of the application, the surgical instrument 100 comprises a plurality of groups of actuating mechanisms 3, the plurality of groups of actuating mechanisms 3 are used for actuating the end effector 21 to execute a plurality of actions, the using function of the surgical instrument 100 is enhanced, the use is more flexible, and the application range is wider.

Wherein the rotary driving component 51 and the plurality of groups of actuating driving components 33 are arranged on the mounting component 6 and are uniformly distributed around the instrument shaft component 1; the mounting assembly 6 is compact in structure, facilitates reduction of the volume and weight of the surgical instrument 100, and is uniform in stress, long in service life and low in cost.

Fig. 7 is a sectional view showing the assembled structure of the rotary drive mechanism 5 and the instrument shaft assembly 1 on the mounting assembly 6. The instrument shaft assembly 1 comprises a cannula 11, the interior of the cannula 11 defining a lumen 110, the cannula 11 and the lumen 110 extending along a longitudinal axis of the instrument shaft assembly 1; the instrument shaft assembly 1 also includes a driven wheel 14 and a driven wheel compact. The sleeve 11 is sleeved into the sleeve mounting hole 611 of the base 61 from the lower part, the lower surface of the lower bearing is jointed with the step surface of the sleeve 11, the upper surface of the lower bearing is jointed with the bearing vacancy step surface of the base 61, and the lower surface of the upper bearing is jointed with the bearing vacancy step surface of the base 61; the driven wheel 14 is sleeved outside the sleeve 11 from the upper part until being attached to the upper surface of the upper bearing, and the driven wheel pressing block is fixed on the sleeve 11, so that the sleeve 11 and the driven wheel 14 are mounted; the sleeve 11 is rotatable only about its own axis, whereas linear translational movement in the axial direction of the sleeve 11 is limited. The rotary driving winch 512 is sleeved into a bearing from the lower part and then sleeved into a driving mounting hole 612 of the base 61, and the upper surface and the lower surface of the bearing are jointed with the step surface of the base 61 and the bearing positioning surface of the rotary driving winch 512; the rotating shaft 513 is sleeved on the top plate 64 from the lower part, the other bearing is sleeved on the top plate 64 and the rotating shaft 513 from the upper part, and the upper surface of the bearing is provided with a clamp spring, the lower surface is attached to the step surface of a bearing hole of the top plate 64 and the step surface of the rotating shaft 513, so that the rotating shaft 513 and the rotary driving winch 512 are installed in the installation assembly 6; the rotation shaft 513 is rotatable about its own axis, and linear translational movement in the axial direction of the rotation shaft 513 is restricted. The driven wheel 14 is sleeved outside the sleeve 11 and is fixed on the sleeve 11 by using a driven wheel pressing block; the flexible rotation transmission member 52 is wound between the driving wheel 511 and the driven wheel 14, so that when the capstan 512 is rotationally driven, the sleeve 11 can be driven to rotate, thereby realizing the autorotation motion of the actuator assembly 2.

In a specific embodiment, the outer circumferences of the driving wheel 511 and the driven wheel 14 are provided with limiting grooves, so that the winding position of the cable can be limited, the cable is prevented from sliding on the driving wheel 511 and the driven wheel 14 along the axial direction, the driving execution assembly 2 rotates more stably, and the practicability is high.

Fig. 8 is a partial cross-sectional view showing the internal structure of the instrument shaft assembly 1. The actuation mechanism 3 further includes an actuation rod assembly 31, the actuation rod assembly 31 being disposed on the instrument shaft assembly 1 through the lumen 110 and being translatable along the longitudinal axis of the instrument shaft assembly 1, the distal end of the actuation rod assembly 31 being drivingly coupled to the end effector 21; the flexible actuating transmission member 32 connects the actuating rod assembly 31 with the actuating drive assembly 33 in a transmission manner, and the flexible actuating transmission member 32 can move to drive the actuating rod assembly 31 to move in a translational manner along the longitudinal axis direction relative to the instrument shaft assembly 1, namely, the translational movement direction of the actuating rod assembly 31 is parallel to the rotation axis of the actuating drive assembly 33, and the translational movement of the actuating rod assembly 31 can actuate the end effector 21 to act, so that the surgical instrument 100 can be operated.

The actuating rod assembly 31 comprises an actuating rod 311 and a connecting piece 312 fixedly connected to the proximal end of the actuating rod 311, a mounting hole (not shown in the figure) is formed in the distal end of the sleeve 11, the actuating rod 311 is slidably arranged in the mounting hole, the mounting hole can play a role in guiding and limiting the linear translational movement of the actuating rod 311, the translational movement of the actuating rod 311 is more stable and is not easy to shake, and the surgical quality is guaranteed; the connecting piece 312 is slidably disposed in the inner cavity 110, and the connecting piece 312 may be a connecting block to prevent the actuating rod 311 from being pulled out of the mounting hole; the axis of rotation of the actuation drive assembly 33 is parallel to the direction of translational movement of the actuation rod assembly 31.

The flexible actuation transmission 32 comprises a first part cable 321 having a first length and a second part cable 322 having a second length; one end of each of the first portion cable 321 and the second portion cable 322 is fixedly connected to the connector 312, thereby fixedly connecting the flexible actuation transmission member 32 to the proximal end of the actuation rod assembly 31. The first portion cable 321 and the second portion cable 322 of the flexible actuation transmission member 32 are fixed and are wound around and connected to the actuation wheel 331.

In a specific embodiment, the actuation wheel 331 is a wire wheel with a wire groove on its outer peripheral surface, and preferably includes an upper wire wheel and a lower wire wheel, and the first portion cable 321 and the second portion cable 322 are fixedly wound on the two wire wheels respectively, and form a wire rope loop through a wire wheel transmission system.

Fig. 9 is a perspective view showing the internal structure of the distal end of the instrument shaft assembly 1. The actuating mechanism 3 further comprises a distal pulley 34, the distal pulley 34 is fixedly connected to the distal end of the sleeve 11, or the distal pulley 34 is rotatably arranged at the distal end of the sleeve 11, and the distal pulley 34 is adjacent to the mounting hole; the outer peripheral surface of distal pulley 34 facing the distal end of lumen 110 forms a distal guide surface, and the cable of flexible actuation transmission 32 extends toward actuation drive assembly 33 after bypassing the distal guide surface on distal pulley 34. The traction direction of the first portion of the cable 321 of the flexible actuation transmission member 32 is changed by the distal guiding surface on the distal pulley 34, the flexible actuation transmission member 32 forms a cable loop through the actuation drive assembly 33 and the distal pulley 34, and the connecting member 312 is fixedly connected to a single side of the cable loop of the flexible actuation transmission member 32, such that the flexible actuation transmission member 32 drivingly connects the connecting member 312 and the actuation drive assembly 33.

In an embodiment not shown, the flexible actuation transmission member 32 may also be fixedly connected directly to the proximal end of the actuation rod 311, the first portion cable 321 and the second portion cable 322 being separated by the connection location of the flexible actuation transmission member 32 to the actuation rod 311; the distal guide surface may also be a cambered surface formed directly at the distal end of the cannula 11. The first portion cable 321 extends from the connection position toward the distal guide surface toward the distal end of the instrument shaft assembly 1, bypasses the distal guide surface and extends toward the proximal end of the instrument shaft assembly 1 toward the actuation drive assembly 33, and finally connects with the actuation drive assembly 33; a second portion of cable 322 extends from the connection location toward the proximal end of instrument shaft assembly 1 and through lumen 110 to actuation drive assembly 33.

Fig. 10 is a partially enlarged view showing the internal structure of the instrument shaft assembly 1. Fig. 11 is a transverse perspective cross-sectional view showing the internal structure of the instrument shaft. The proximal end of the cannula 11 is provided with a cable guide bore 111 through which a second portion of the cable 322 of the flexible actuation transmission member 32 extends. The traction direction of the flexible actuating transmission member 32 can be guided and limited through the cable guide hole 111, so that the cables are effectively prevented from deviating from the linear motion direction, winding interference among the cables is prevented, the stable and reliable use of the surgical instrument 100 is ensured, and the surgical quality is ensured.

The proximal end of the sleeve 11 may be provided with a plurality of cable guiding holes 111, and the first and second

partial cables

321 and 322 of the flexible actuation transmission member 32 may extend through the cable guiding holes 111, respectively, so that the first and second

partial cables

321 and 322 may be spaced apart, thereby further preventing winding interference and deviation from the linear motion direction between the cables. A cable guide hole 111 may also be provided on the connector 312 and a first portion of the cable 321 of the flexible actuation transmission member 32 may extend through the cable guide hole 111 on the connector 312.

Fig. 12 is another enlarged partial view showing the internal structure of the instrument shaft assembly 1. The distal end of the sleeve 11 is provided with a plurality of cable limiting holes 112, and the cable limiting holes 112 are symmetrically arranged at two sides of the distal pulley 34 and correspond to the positions of the distal guiding surfaces, so that when the first part of the cable 321 of the flexible actuating transmission member 32 extends through the cable limiting holes 112, the cable is prevented from being separated from the distal guiding surfaces, and stable and reliable transmission of the flexible actuating transmission member 32 is ensured.

Fig. 13 shows an example of the execution assembly 2. The actuating assembly 2 further comprises a knife rest 22, a tube 23, a firing bar 24 and a swing arm pull rod 25 disposed within the tube 23, and an end effector 21 disposed at a distal end of the knife rest 22. The proximal end of blade holder 22 is adapted to be fixedly attached to the distal end of cannula 11, thereby connecting the proximal end of implement assembly 2 to the distal end of instrument shaft assembly 1. The tube 23 is sleeved outside the tool holder 22, and the tube 23 can move in a translational manner relative to the tool holder 22 along the longitudinal axis direction, so as to actuate the jaw opening and closing operation of the end effector 21, and the jaw opening and closing operation clamps body tissues such as blood vessels. The firing bar 24 is movable in translation along the longitudinal axis relative to the knife holder 22 to actuate the stapling action of the stapler of the end effector 21, which staple cuts the blood vessel while firing staples to staple the severed blood vessel. The swing arm pull rod 25 can move in a translational manner along the longitudinal axis direction relative to the knife rest 22, so as to actuate the joint swing action of the end effector 21, the end effector 21 can be bent by a certain angle, the end effector 21 can effectively reach the operation position to clamp, transect and anastomose tissues, and the like, so that a doctor can more effectively complete cutting and suturing of tissues of some narrow parts.

In the embodiment of the present application, corresponding to the actuating assembly 2, the surgical instrument 100 comprises three sets of actuating mechanisms 3 for driving the movement of the tube 23, the firing bar 24 and the swing arm lever 25, respectively, so as to actuate the jaw opening and closing action, the stapler anastomotic action and the articulation swinging action, respectively, of the end effector 21.

Fig. 14 is a sectional view showing an assembled structure of the first actuating mechanism 3a and the instrument shaft assembly 1. The first actuating mechanism 3a includes a first actuating rod assembly 31a, a clamping wire 32a and a clamping distal pulley 34a, the first actuating rod assembly 31a includes a first actuating rod 311a and a first connecting block 312a, the first connecting block 312a is fixedly connected with the first actuating rod 311a, and the first actuating rod assembly 31a is used for being connected with the pipe body 23. The first connecting block 312a is fixedly connected with the clamping steel wire 32a in a unilateral manner, a first part of the cable 321 of the clamping steel wire 32a extends from the first connecting block 312a to the distal end of the first actuating rod 311a, bypasses the distal guiding surface on the clamping distal pulley 34a, and then is folded back to extend towards the proximal end of the instrument shaft assembly 1 through the inner cavity 110, and the traction direction of the first part of the cable 321 of the clamping steel wire 32a is changed through the distal guiding surface on the clamping distal pulley 34 a; a second portion of cable 322, which retains wire 32a, extends from first connector block 312a through lumen 110 toward the proximal end of instrument shaft assembly 1.

Changing the traction direction realizes the linear motion of the cable of the clamping steel wire 32a in the inner cavity 110 along the longitudinal axis direction of the instrument shaft assembly 1, when the clamping steel wire 32a moves linearly, the first connecting block 312a can be driven to move linearly towards the far end or the near end of the inner cavity 110, the linear translational motion of the first connecting block 312a can drive the first actuating rod 311a to move linearly towards the far end or withdraw, the translational motion of the first actuating rod 311a drives the pipe body 23 to move translationally, and then the end effector 21 is actuated to perform the jaw opening and closing actions.

Fig. 15 is a front view showing the assembled structure of the first actuating mechanism 3a and the mounting assembly 6. The first actuating mechanism 3a further includes a grip wire wheel 331a, a grip drive capstan 332a, a grip spindle 333a, a grip wire wheel press 334a, a grip handle 335a, a grip manual transfer shaft 336a, a grip proximal pulley 35a, and a grip transition pulley 36a.

Wherein the clamping driving capstan 332a is inserted into the bearing and then is fitted into one driving installation hole 612 of the base 61; the bearing upper surface is bonded to the step surface of the base 61, and the lower surface is bonded to the bearing mounting surface of the clamp driving capstan 332 a; the clamping driving winch 332a is fixedly connected with the clamping main shaft 333a, the clamping main shaft 333a is inserted into the top plate 64 from the lower part, the bearing is sleeved into the clamping main shaft 333a and the top plate 64 from the upper part, the lower surface of the bearing is attached to the step surface of the top plate 64, and the upper surface of the bearing is attached to the clamping spring arranged on the clamping main shaft 333a, so that the clamping main shaft 333a and the clamping driving winch 332a are limited in the installation assembly 6; the clamp spindle 333a can rotate about its own axis, but linear translational movement in the axial direction of the clamp spindle 333a is restricted. The clamping manual transfer shaft 336a is fixedly connected with the clamping main shaft 333a by using screws, and the clamping handle 335a is fixedly connected with the clamping manual transfer shaft 336a by using screws, so that the rotation motion of the clamping handle 335a can be converted into the rotation motion of the clamping main shaft 333 a. The clamping screw 331a is fixedly mounted on the clamping spindle 333a by using a clamping screw pressing block 334a, so that the clamping spindle 333a rotates to drive the clamping screw 331a to rotate.

The first part of the cable 321 of the clamping steel wire 32a extends to reach and fixedly wind on one clamping wire wheel 331a through the inner cavity 110, and the second part of the cable 322 extends to reach and fixedly wind on the other clamping wire wheel 331a through the inner cavity 110; the wire rope loop is formed through the wire wheel transmission system, the clamping wire 32a is used for connecting the first connecting block 312a with the clamping wire wheel 331a in a transmission mode, and the clamping wire wheel 331a rotates to drag a cable of the clamping wire 32a to move. The grip distal pulley 34a converts the rotational movement of the grip wire wheel 331a into the linear reciprocating movement of the cable of the grip wire 32a, thereby retracting or releasing the grip wire 32a.

The clamp proximal pulley 35a is mounted on the pulley mount 65 and the cable of the clamp wire 32a extends toward the clamp wire wheel 331a after bypassing the proximal guide surface on the clamp proximal pulley 35 a. The pulling movement direction of the first and second

partial cables

321, 322 of the clamp wire 32a can be further changed by clamping the proximal guide surface of the proximal pulley 35a, turning the cables from movement in the longitudinal axis direction of the instrument shaft assembly 1 to movement about the rotational axis direction of the clamp wire wheel 331a, thereby achieving parallelism of the rotational axis direction of the clamp wire wheel 331a with the linear translational movement direction of the first actuator rod assembly 31 a.

Wherein it is preferred that the grip proximal pulley 35a and the grip distal pulley 34a are generally aligned along the longitudinal axis of the instrument shaft assembly 1, i.e., the proximal guide surface and the distal guide surface are generally aligned along the longitudinal axis of the instrument shaft assembly 1, but are oppositely directed. The grip proximal pulley 35a may include a plurality of first and second

partial cables

321 and 322 of the grip wire 32a respectively extend toward the grip wire wheel 331a after bypassing the proximal guide surfaces of the different grip proximal pulleys 35a, preventing interference between the cables.

The clamp transition pulley 36a is mounted on the first support frame 62 and the second support frame 63, and the cable of the clamp wire 32a is pulled to the clamp wire wheel 331a after passing around the transition surface on the clamp transition pulley 36 a. Wherein, the clamping transition pulleys 36a may comprise a plurality of first part cables 321 and second part cables 322 of the clamping steel wires 32a respectively pass through the transition surfaces of different clamping transition pulleys 36a and then are pulled to the clamping wire wheels 331a; it is also possible to have the first portion of the cable 321 of the clamp wire 32a pull around the transition surfaces of the plurality of different clamp transition pulleys 36a to one clamp wire wheel 331a and the second portion of the cable 322 pull around the transition surfaces of the plurality of different clamp transition pulleys 36a to the other clamp wire wheel 331a.

Fig. 16 is a simplified schematic diagram showing the transmission circuit of the first actuating mechanism 3 a. The clamping wire 32a forms a cable loop through the clamping wire wheel 331a, the clamping distal pulley 34a, the clamping proximal pulley 35a and the clamping transition pulley 36a, and the first connecting block 312a is fixedly connected with a single side of the cable loop of the clamping wire 32a, so that the clamping wire 32a drivingly connects the first connecting block 312a and the clamping wire wheel 331 a. It can be seen that the location of the connection of the clamp wire 32a to the first actuator rod assembly 31a (i.e., the first connection block 312 a) is located along the longitudinal axis of the instrument shaft assembly 1 between the clamp wire wheel 331a and the distal guide surface (i.e., the clamp distal pulley 34 a); the grip proximal pulley 35a is disposed between the grip wire wheel 331a and the grip distal pulley 34a in the traction direction of the grip wire 32 a.

The clamping wire wheel 331a is driven to rotate, and the clamping wire 32a is pulled to perform translational motion along the wire loop, namely, the clamping wire wheel 331a rotates to retract or release the cable of the clamping wire 32a, so that the first connecting block 312a is driven to move towards the proximal end or the distal end, and linear reciprocating translational motion of the first actuating rod assembly 31a is realized.

Fig. 17 is a sectional view showing an assembled structure of the second actuating mechanism 3b and the instrument shaft assembly 1. The second actuating mechanism 3b comprises a second actuating rod assembly 31b, a firing wire 32b and a firing distal pulley 34b, the second actuating rod assembly 31b comprises a second actuating rod 311b and a second connecting block 312b, the second connecting block 312b is fixedly connected with the second actuating rod 311b, and the second actuating rod assembly 31b is used for being connected with the firing rod 24. The second connecting block 312b is fixedly connected with the firing wire 32b in a unilateral manner, a first part of the cable 321 of the firing wire 32b extends from the second connecting block 312b to the distal end of the second actuating rod 311b, bypasses the distal guiding surface on the firing distal pulley 34b, and then is folded back to extend towards the proximal end of the instrument shaft assembly 1 through the inner cavity 110, and the traction direction of the first part of the cable 321 of the firing wire 32b is changed through the distal guiding surface on the firing distal pulley 34 b; a second portion of the cable 322 of the firing wire 32b extends from the second connection block 312b through the lumen 110 toward the proximal end of the instrument shaft assembly 1.

Changing the traction direction realizes the linear motion of the cable of the firing wire 32b along the longitudinal axis direction of the instrument shaft assembly 1 in the inner cavity 110, when the firing wire 32b moves linearly, the second connecting block 312b can be driven to move linearly distally or proximally, the second connecting block 312b can be driven to move linearly to perform the firing or retracting action by driving the second actuating rod 311b to move linearly, and the second actuating rod assembly 31b moves translationally to drive the firing rod 24 to move translationally, so that the end effector 21 is actuated to perform the anastomosis action of the anastomat.

Fig. 18 is a front view showing the assembled structure of the second actuating mechanism 3b and the mounting assembly 6. The second actuating mechanism 3b includes a firing wire wheel 331b, a firing drive capstan 332b, a firing spindle 333b, a firing wire wheel compact 334b, a firing handle 335b, a firing manual transfer shaft 336b, a firing proximal pulley 35b, and a firing transition pulley 36b.

Wherein, the firing drive capstan 332b is inserted into a drive mounting hole 612 of the base 61 after being inserted into the bearing; the upper surface of the bearing is attached to the step surface of the base 61, and the lower surface is attached to the bearing mounting surface of the firing drive capstan 332 b; the firing drive winch 332b is fixedly connected with the firing main shaft 333b, the firing main shaft 333b is inserted into the top plate 64 from the lower part, a bearing is sleeved into the firing main shaft 333b and the top plate 64 from the upper part, the lower surface of the bearing is attached to the step surface of the top plate 64, and the upper surface of the bearing is attached to a clamp spring arranged on the firing main shaft 333b, so that the firing main shaft 333b and the firing drive winch 332b are limited in the installation component 6; the firing spindle 333b may rotate about its own axis, but linear translational movement along the axis of the firing spindle 333b is limited. The firing manual transfer shaft 336b is fixedly connected with the firing spindle 333b by using screws, and the firing handle 335b is fixedly connected with the firing manual transfer shaft 336b by using screws, so that the rotary motion of the firing handle 335b can be converted into the rotary motion of the firing spindle 333 b. The firing wheel 331b is fixedly mounted on the firing spindle 333b by using a firing wheel pressing block 334b, so that the rotation of the firing spindle 333b can drive the rotation of the firing wheel 331 b.

The first portion of the cable 321 of the firing wire 32b extends through the lumen 110 to and is fixedly wrapped around one firing wheel 331b, and the second portion of the cable 322 extends through the lumen 110 to and is fixedly wrapped around the other firing wheel 331 b; a wire rope loop is formed through a wire wheel transmission system, the firing wire 32b is used for connecting the second connecting block 312b with the firing wire wheel 331b in a transmission way, and the firing wire wheel 331b rotates and can pull a cable of the firing wire 32b to move. The firing distal pulley 34b converts the rotational motion of the firing wire wheel 331b into linear reciprocating motion of the firing wire 32b cable, thereby retracting or releasing the firing wire 32b linear translational motion.

The firing proximal pulley 35b is mounted to the pulley mount 65 with the cable of the firing wire 32b extending toward the firing wire wheel 331b after bypassing the proximal guide surface on the firing proximal pulley 35 b. The direction of the pulling motion of the first and second

partial cables

321, 322 of the firing wire 32b can be further changed by firing the proximal guide surface of the proximal pulley 35b, turning the cables from moving in the direction of the longitudinal axis of the instrument shaft assembly 1 to moving about the rotational axis of the firing wire wheel 331b, thereby effecting parallelism of the rotational axis of the firing wire wheel 331b to the direction of the linear translational motion of the second actuation bar assembly 31 b.

Wherein it is preferred that the firing proximal and

distal pulleys

35b, 34b be generally aligned along the longitudinal axis of the instrument shaft assembly 1, i.e., the proximal and distal guide surfaces are generally aligned along the longitudinal axis of the instrument shaft assembly 1, but oppositely directed. The firing proximal pulley 35b may include a plurality of first and second

partial cables

321, 322 of the firing wire 32b, respectively, that extend toward the firing wire wheel 331b after bypassing the proximal guide surfaces of the different firing proximal pulleys 35b, preventing interference between the cables.

The firing transition pulley 36b is mounted on the first support frame 62 and the second support frame 63, and the cable of the firing wire 32b is pulled to the firing wire wheel 331b after bypassing the transition surface on the firing transition pulley 36 b. Wherein, the firing transition pulleys 36b may comprise a plurality of first part cables 321 and second part cables 322 of the firing wire 32b respectively wind the transition surfaces of different firing transition pulleys 36b and then are pulled to the firing wire wheel 331b; the first portion of the firing cable 321 of the firing wire 32b may also be routed around the transition surfaces of the plurality of different firing transition pulleys 36b and then routed to one firing wheel 331b, and the second portion of the cable 322 may be routed around the transition surfaces of the plurality of different firing transition pulleys 36b and then routed to another firing wheel 331b.

Fig. 19 is a simplified schematic diagram showing the transmission circuit of the second actuating mechanism 3 b. The firing wire 32b forms a cable loop through the firing wire wheel 331b, the distal firing pulley 34b, the proximal firing pulley 35b, and the transition firing pulley 36b, and the second connecting block 312b is fixedly connected to a single side of the cable loop of the firing wire 32b, such that the firing wire 32b drivingly connects the second connecting block 312b to the firing wire wheel 331 b. It can be seen that the location of the connection of the firing wire 32b to the second actuation bar assembly 31b (i.e., the second connection block 312 b) is located along the longitudinal axis of the instrument shaft assembly 1 between the firing wire wheel 331b and the distal guide surface (i.e., the firing distal pulley 34 b); the firing proximal pulley 35b is disposed between the firing wire wheel 331b and the firing distal pulley 34b in the direction of traction of the firing wire 32 b.

The trigger wire wheel 331b is driven to rotate, and the trigger wire 32b is pulled to move in a translational manner along the cable loop, that is, the rotation of the trigger wire wheel 331b can retract or release the cable of the trigger wire 32b, so that the second connecting block 312b is driven to move towards the proximal end or the distal end, and the linear reciprocating translational movement of the second actuating rod assembly 31b is realized.

Fig. 20 is a sectional view showing an assembled structure of the third actuating mechanism 3c and the instrument shaft assembly 1. The third actuating mechanism 3c includes a third actuating lever assembly 31c, a swinging wire 32c and a swinging distal pulley 34c, the third actuating lever assembly 31c includes a third actuating lever 311c and a third connecting block 312c, the third connecting block 312c is fixedly connected with the third actuating lever 311c, and the third actuating lever assembly 31c is used for being connected with the swing arm pull rod 25. The third connecting block 312c is fixedly connected with the swinging steel wire 32c in a unilateral manner, a first part of the cable 321 of the swinging steel wire 32c extends from the third connecting block 312c to the distal end of the third actuating rod 311c, bypasses the distal guiding surface on the swinging distal pulley 34c, and then is folded back to extend towards the proximal end of the instrument shaft assembly 1 through the inner cavity 110, and the traction direction of the first part of the cable 321 of the swinging steel wire 32c is changed through the distal guiding surface on the swinging distal pulley 34 c; a second portion of cable 322 of wobble wire 32c extends from third connection block 312c through lumen 110 toward the proximal end of instrument shaft assembly 1.

Changing the traction direction realizes the linear motion of the swinging wire 32c cable in the inner cavity 110 along the longitudinal axis direction of the instrument shaft assembly 1, when the swinging wire 32c moves linearly, the third connecting block 312c is driven to move linearly towards the distal end or the proximal end of the inner cavity 110, the third connecting block 312c moves linearly can drive the third actuating rod 311c to perform linear motion to move distally or retract, the third actuating rod assembly 31c moves translationally to drive the swinging arm pull rod 25 to move translationally, and then the end effector 21 is actuated to perform joint swinging motion.

Fig. 21 is a front view showing the assembled structure of the third actuating mechanism 3c and the mounting assembly 6. The third actuating mechanism 3c further includes a swing wire wheel 331c, a swing drive capstan 332c, a swing spindle 333c, a swing wire wheel press block 334c, a swing handle 335c, a swing manual switching shaft 336c, a swing proximal pulley 35c, and a swing transition pulley 36c.

Wherein the swing driving winch 332c is inserted into a bearing and then is mounted into a driving mounting hole 612 of the base 61; the bearing upper surface is bonded to the step surface of the base 61, and the lower surface is bonded to the bearing mounting surface of the swing drive capstan 332 c; the swing driving winch 332c is fixedly connected with the swing main shaft 333c, the swing main shaft 333c is inserted into the top plate 64 from the lower part, the bearing is sleeved into the swing main shaft 333c and the top plate 64 from the upper part, the lower surface of the bearing is attached to the step surface of the top plate 64, and the upper surface of the bearing is attached to the clamp spring arranged on the swing main shaft 333c, so that the swing main shaft 333c and the swing driving winch 332c are limited in the installation component 6; the swing main shaft 333c can rotate around its own axis, but the linear translational movement in the direction of the axis of the swing main shaft 333c is restricted. The swing manual transfer shaft 336c is fixedly connected with the swing main shaft 333c by using screws, and the swing handle 335c is fixedly connected with the swing manual transfer shaft 336c by using screws, so that the rotational movement of the swing handle 335c can be converted into the rotational movement of the swing main shaft 333 c. The oscillating wire wheel 331c is fixedly mounted on the oscillating spindle 333c by using an oscillating wire wheel pressing block 334c, so that the oscillating spindle 333c rotates to drive the oscillating wire wheel 331c to rotate.

The first part of the cable 321 of the swinging wire 32c extends to reach and is fixedly wound and connected on one swinging wire wheel 331c through the inner cavity 110, and the second part of the cable 322 extends to reach and is fixedly wound and connected on the other swinging wire wheel 331c through the inner cavity 110; the wire wheel transmission system forms a wire rope loop, the swinging wire 32c connects the third connecting block 312c with the swinging wire wheel 331c in a transmission way, the swinging wire wheel 331c rotates, and the cable motion of the swinging wire 32c can be pulled. The swinging distal pulley 34c converts the rotational movement of the swinging wire wheel 331c into the linear reciprocating movement of the swinging wire 32c cable, thereby retracting or releasing the swinging wire 32c in linear translational movement.

The swinging proximal pulley 35c is mounted on the pulley mount 65, and the cable of the swinging wire 32c extends toward the swinging wire wheel 331c after bypassing the proximal guide surface on the swinging proximal pulley 35 c. The direction of the pulling movement of the first and second

partial cables

321, 322 of the rocking wire 32c can be further changed by rocking the proximal guide surface of the proximal pulley 35c, turning the cables from moving in the longitudinal axis direction of the instrument shaft assembly 1 to moving around the rotational axis direction of the rocking wire wheel 331c, thereby achieving that the rotational axis direction of the rocking wire wheel 331c is parallel to the direction of the linear translational movement of the third actuating lever assembly 31 c.

Wherein it is preferred that the oscillating proximal pulley 35c and the oscillating distal pulley 34c are generally aligned along the longitudinal axis of the instrument shaft assembly 1, i.e. the proximal guide surface and the distal guide surface are generally aligned along the longitudinal axis of the instrument shaft assembly 1, but in opposite directions. The swing proximal pulley 35c may include a plurality of first and second

partial cables

321 and 322 of the swing wire 32c respectively extend toward the swing wire wheel 331c after bypassing the proximal guide surfaces of the different swing proximal pulleys 35c, preventing interference between the cables.

The swinging transition pulley 36c is mounted on the first support frame 62 and the second support frame 63, and the cable of the swinging wire 32c is pulled to the swinging wire wheel 331c after bypassing the transition surface on the swinging transition pulley 36 c. Wherein, the swinging transition pulleys 36c may include a plurality of first part cables 321 and second part cables 322 of the swinging steel wires 32c respectively pass through the transition surfaces of different swinging transition pulleys 36c and then are pulled to the swinging wire wheels 331c; it is also possible to have the first portion of the swinging wire 32c be drawn to one swinging wire wheel 331c by passing around the transition surfaces of the plurality of different swinging transition pulleys 36c, and the second portion of the wire 322 be drawn to another swinging wire wheel 331c by passing around the transition surfaces of the plurality of different swinging transition pulleys 36 c.

Fig. 22 is a simplified schematic diagram showing the transmission circuit of the third actuating mechanism 3 c. The swinging wire 32c forms a cable loop through the swinging wire wheel 331c, the swinging distal end pulley 34c, the swinging proximal end pulley 35c and the swinging transition pulley 36c, and the third connecting block 312c is fixedly connected with a single side of the swinging wire 32c cable loop, so that the swinging wire 32c connects the third connecting block 312c and the swinging wire wheel 331c in a transmission manner. It can be seen that the connection location of the wobble wire 32c to the third actuation rod assembly 31c (i.e., the third connection block 312 c) is located along the longitudinal axis of the instrument shaft assembly 1 between the wobble wire wheel 331c and the distal guide surface (i.e., the wobble distal pulley 34 c); the swinging proximal pulley 35c is provided between the swinging wire wheel 331c and the swinging distal pulley 34c in the traction direction of the swinging wire 32 c.

The swinging wire wheel 331c is driven to rotate, and the swinging wire 32c is pulled to perform translational motion along the wire loop, that is, the swinging wire wheel 331c rotates to retract or release the cable of the swinging wire 32c, so that the third connecting block 312c is driven to move towards the proximal end or the distal end, and therefore linear reciprocating translational motion of the third actuating rod assembly 31c is achieved.

In fig. 15, 16, 18, 19, 21 and 22, solid and dashed straight arrows indicate the direction of traction movement of the flexible actuation transmission member 32 (i.e., the clamp wire 32a, the firing wire 32b, the swing wire 32 c), solid and dashed curved arrows indicate the direction of rotation of the actuation drive assembly 33, as well as the direction of rotation of the actuation wheel 331 (i.e., the clamp wire wheel 331a, the firing wire wheel 331b, the swing wire wheel 331 c).

The actuation wheel 331 (clamping wire wheel 331a, firing wire wheel 331b, swinging wire wheel 331 c) rotates in a first direction (e.g. clockwise indicated by solid curved arrow) and is capable of retracting and increasing the tension in the first portion cable 321, and the flexible actuation transmission member 32 (clamping wire 32a, firing wire 32b, swinging wire 32 c) moves in the direction indicated by solid straight arrow, so that the first portion cable 321 pulls the actuation rod assembly 31 (first actuation rod assembly 31a, second actuation rod assembly 31b, third actuation rod assembly 31 c) to translate in the distal direction.

The actuation wheel 331 (grip wire wheel 331a, firing wire wheel 331b, swing wire wheel 331 c) rotates in a second direction (e.g., counterclockwise direction indicated by solid arrow in dotted arc) opposite to the first direction, and is capable of retracting and increasing tension in the second portion cable 322, and the flexible actuation transmission member 32 (grip wire 32a, firing wire 32b, swing wire 32 c) moves in the direction indicated by solid arrow in dotted straight line, so that the second portion cable 322 pulls the actuation lever assembly 31 (first actuation lever assembly 31a, second actuation lever assembly 31b, third actuation lever assembly 31 c) to translate in the proximal direction.

The surgical instrument 100 in the above embodiment can be applied to a robot-assisted minimally invasive surgery, the actuation driving assembly 33 inputs rotation power, and by adopting the flexible actuation transmission member 32, the rotation motion of the actuation driving assembly 33 is converted into linear motion of the actuation rod assembly 31, so that the transmission structure of the actuation mechanism 3 is simplified, and the volume of the actuation mechanism 3 and the inner diameter of the instrument shaft assembly 1 can be reduced; meanwhile, the rotation axis of the actuating drive assembly 33 is parallel to the translational motion direction of the actuating rod assembly 31, so that the structure of the actuating mechanism 3 is more compact, the occupied space of the actuating mechanism 3 is reduced, the volume of the surgical instrument 100 can be effectively reduced, the weight is reduced, the connection is convenient, the movable space of the surgical robot is ensured, interference among multiple surgical instruments 100 during simultaneous use is avoided, the technical problems that the conventional anastomat transmission mechanism is complex, the volume is large, the weight is heavy and the existing anastomat transmission mechanism is not suitable for the surgical robot are effectively solved, the requirements of the minimally invasive surgical operation on the degree of freedom, the flexibility and the accuracy of the surgical instrument are met, the surgical quality is ensured, and the surgical stapler is suitable for popularization and application and high in practicability.

Fig. 23 is a partial cross-sectional view showing the internal structure of the proximal end of the actuating assembly 2. Fig. 24 is a perspective view showing a proximal structure of the actuating assembly 2 with the tube 23 removed. Fig. 25 is another perspective view showing the proximal structure of the actuating assembly 2 with the tube 23 removed. The proximal end of the tool holder 22 is provided with a connection bayonet 221. The proximal end of the firing bar 24 is provided with a firing square 241. The proximal end of the swing arm link 25 is provided with a connecting stub 251. The actuating assembly 2 further comprises a swing arm 26 and two swing pull rods 27 hinged to two ends of the swing arm 26, wherein one swing arm 26 is arranged at the proximal end of the actuating assembly 2, and the swing arm pull rods 25 are connected with the swing arm 26.

Fig. 26 is a partial cross-sectional view showing the internal structure of the distal end of the actuating assembly 2. The distal end of the actuating assembly 2 is provided with another swing arm 26, and the other ends of the two swing links 27 are hinged to the swing arm 26, so that the swing arm 26 and the swing links 27 form a parallelogram structure. The translational movement of the swing arm pull rod 25 drives the swing arm 26 to rotate, and drives the two swing pull rods 27 to do parallelogram movement, so as to actuate the joint swing action of the end effector 21. The single-side rigid linear motion of the third actuating rod assembly 31c drives the parallelogram motion of the two swing pull rods 27, so that the joint swing motion of the end effector 21 is realized, and the parallelogram structure is simple and the motion is stable and reliable.

Fig. 27 is a perspective view showing the distal structure of the instrument shaft assembly 1. The instrument shaft assembly 1 further comprises an outer tube 12 and a sealing ring 13, wherein the outer tube 12 is sleeved outside the sleeve 11, the distal end of the sleeve 11 extends out of the outer tube 12, and the sealing ring 13 is sleeved on the outer periphery of the distal end of the sleeve 11. The distal end of the cannula 11 is further provided with a connecting hook 113. The first actuating mechanism 3a further includes a clamp key 37a, the clamp key 37a being mounted to the distal end of the first actuating lever 311 a. The distal end of the second actuation rod 311b is also provided with a square-headed hole 3112. The distal end of the third actuation lever 311c is provided with a short lever catch 3113.

The tool rest 22 and the sleeve 11 are matched and detachably clamped through the connecting clamping hooks 113 and the connecting clamping bayonets 221. The second actuation bar 311b is detachably coupled to the firing bar 24 via the firing square 241 and square bore 3112. The third actuating rod 311c is detachably clamped with the swing arm pull rod 25 through the connecting short rod 251 and the short rod clamping groove 3113.

Fig. 28 shows the detachable connection of the actuator assembly 2 to the instrument shaft assembly 1. The proximal end of the tube 23 is provided with a keyhole 231. The distal end of the first actuating lever 311a is provided with a key groove 3111, and a clamp key 37a is mounted to the distal end of the first actuating lever 311a through the key groove 3111, the clamp key 37a being capable of being keyed in cooperation with the key hole 231. The proximal end of the tube body 23 is movably sleeved outside the distal end of the sleeve 11, the sleeve 11 and the outer tube 12 are sealed through the sealing ring 13, and the first actuating rod 311a is detachably connected with the tube body 23 through the clamping key 37 a. The outer diameter of the outer tube 12 is the same as the outer diameter of the tube body 23, and the sealing tube 4 is sleeved outside the connecting part of the outer tube 12 and the tube body 23 so as to seal the gap between the outer tube 12 and the tube body 23; thereby achieving a sealed detachable connection of the actuating assembly 2 to the instrument shaft assembly 1. The execution assembly 2 is detachably arranged on the instrument shaft assembly 1, so that the execution assembly 2 is convenient to replace and maintain, the service life is prolonged, and the use is flexible and convenient. Wherein, sealed tube 4 can be the pyrocondensation pipe, convenient assembling is swift.

Another embodiment of the present application also provides a surgical robot including the surgical instrument 100 provided by any of the above embodiments. By adopting the surgical instrument 100, the movable space of the surgical robot can be effectively ensured, the surgical robot can move freely, the requirements of the minimally invasive surgery on the degree of freedom, flexibility and accuracy of the surgical instrument 100 are met, and the surgical quality is ensured; interference between each other is less likely to occur when using a plurality of surgical instruments 100, increasing the range of use of the surgical instruments 100.

The surgical robot of the present embodiment includes a slave operation device 300 and a master operation device 400.

Fig. 29 shows an example of the slave operation device 300. Fig. 30 is a schematic diagram showing a state of use from the operation device 300. The slave manipulator 300 is located on the patient side for performing a surgical procedure, wherein the slave manipulator 300 comprises a robotic arm 200 and an actuation means arranged at the distal end of the robotic arm 200, to which the surgical instrument 100 is detachably connected by means of the mounting assembly 6, the actuation means driving the surgical instrument 100 in motion. The mechanical arm 200 may be connected to other surgical instruments such as an electrocautery, a forceps, an ultrasonic surgical knife, a scissor, etc. for performing a surgical operation, and may be a camera or other surgical instrument for acquiring images. An actuator may be coupled to a plurality of surgical instruments, the distal ends of the plurality of surgical instruments being passed through an incision into the body. The slave manipulator 300 may also be provided with a plurality of mechanical arms 200, each of which is connected to a plurality of surgical instruments, which are inserted into the patient from different incisions. The robotic arm 200 is configured to be supported by a plurality of struts, and in other embodiments, the robotic arm 200 of the slave manipulator 300 may also be mounted on a wall or ceiling.

The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to view the surgical site from outside the patient's body. The vision system portion typically includes a video image acquisition function (e.g., an instrument having an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, an instrument with image acquisition functionality includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that are to acquire images within the patient's body. The one or more imaging sensors may be positioned at the distal end of the instrument with image acquisition capabilities and the signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.

Fig. 31 shows an example of the main operation device 400. The main operation device 400 is located at an operator's side, and the main operation device 400 is used for transmitting control commands to the auxiliary operation device 300 and displaying images acquired from the operation device 300 according to the operation of the operator, the operator can observe three-dimensional stereoscopic imaging in the patient provided by the imaging system through the main operation device 400, and the operator can control the auxiliary operation device 300 to perform related operations (for example, performing surgery or acquiring images in the patient) with an immersive sense by observing the three-dimensional images in the patient.

The main operation device 400 includes a main control console 500 and an input device 600, wherein the main control console 500 includes a display device for displaying an image acquired by the imaging system, an armrest, a control signal processing system, and an observation device. The armrest is used to rest the arm and/or hand of the operator to make the operator more comfortable to operate the input device 600, and the viewing device is used to view the image displayed by the display device. According to actual needs, the armrests can be omitted; or the observation device is omitted, and the direct observation can be performed at this time. The operator controls the slave operation device 300 to perform a related operation through the operation input means 600, and the control signal processing system of the master control station 500 processes the input signal of the input means 600 and issues a control command to the slave operation device 300, and the slave operation device 300 is used to respond to the control command sent from the master control station 500 and perform a corresponding operation.

The master operation device 400 and the slave operation device 300 may be placed in one operating room, or may be placed in different rooms, or even the master operation device 400 and the slave operation device 300 may be far apart from each other, for example, the master operation device 400 and the slave operation device 300 may be respectively located in different cities, the master operation device 400 and the slave operation device 300 may perform data transmission in a wired manner, or may perform data transmission in a wireless manner, for example, the master operation device 400 and the slave operation device 300 may be located in one operating room, and perform data transmission in a wired manner between the two, or may perform remote data transmission in a 5G wireless signal between the two, for example, the master operation device 400 and the slave operation device 300 may be respectively located in different cities.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. A surgical instrument, comprising:

an instrument shaft assembly having a longitudinal axis and a lumen defined along the longitudinal axis;

2. The surgical instrument of claim 1, wherein,

the actuation mechanism further includes a distal guide surface disposed on the instrument shaft assembly and toward a distal end of the lumen; the flexible actuation transmission member is fixedly connected with the proximal end of the actuation rod assembly, and the connection position is located between the actuation drive assembly and the distal guide surface along the traction direction of the flexible actuation transmission member;

3. A surgical instrument according to claim 2, wherein,

the actuation mechanism further includes a proximal guide surface disposed toward a proximal end of the surgical instrument and disposed between the actuation drive assembly and the distal guide surface along a traction direction of the flexible actuation transmission, the first and second partial cables of the flexible actuation transmission extending about a winding of the proximal guide surface to the actuation drive assembly, respectively.

4. A surgical instrument according to claim 3, wherein,

the actuation mechanism further includes a transition surface disposed between the actuation drive assembly and the proximal guide surface along a traction direction of the flexible actuation transmission member, the first and second portions of the flexible actuation transmission member being wrapped around at least one of the transition surfaces, respectively.

5. A surgical instrument according to claim 2, wherein,

the first portion of the cable of the flexible actuation transmission member has a first length and the second portion of the cable of the flexible actuation transmission member has a second length;

6. The surgical instrument of claim 5, wherein,

the actuation drive assembly comprises an actuation wheel which is arranged on one side of the proximal end of the instrument shaft assembly and can rotate around the axis of the actuation wheel, and the rotation axis of the actuation wheel is parallel to the longitudinal axis; the first part cable and the second part cable of the flexible actuation transmission piece are fixed and connected to the actuation wheel in a winding way.

7. The surgical instrument of claim 6, wherein,

the actuation drive assembly further includes an actuation input in driving connection with the actuation wheel, the actuation input for inputting rotational power.

8. The surgical instrument of claim 6, wherein,

the actuating drive assembly further comprises an operating piece, the operating piece is in transmission connection with the actuating wheel, and the actuating wheel can be driven to rotate by operating the operating piece.

9. The surgical instrument of claim 5, wherein,

the actuating rod assembly comprises an actuating rod and a connecting piece fixedly connected to the proximal end of the actuating rod, and the flexible actuating transmission piece is fixedly connected with the connecting piece.

10. The surgical instrument of claim 9, wherein the surgical instrument,

the instrument shaft assembly includes a cannula extending along the longitudinal axis, an interior of the cannula defining the lumen; the distal end of the sleeve is provided with a mounting hole, the actuating rod is arranged in the mounting hole in a sliding penetrating mode, the connecting piece is arranged in the inner cavity, and the distal pulley is arranged at the distal end of the sleeve and is adjacent to the mounting hole.

11. The surgical instrument of claim 10, wherein the surgical instrument comprises,

the distal end of the cannula is provided with a cable guide bore through which the second portion of the cable of the flexible actuation transmission extends.

12. The surgical instrument of claim 10, wherein the surgical instrument comprises,

the surgical instrument includes a plurality of sets of the actuation mechanisms for actuating the end effector to perform a plurality of actions.

13. The surgical instrument of claim 12, wherein the surgical instrument,

the execution assembly further comprises a knife rest and a pipe body, wherein the proximal end of the knife rest is fixedly connected with the distal end of the sleeve, the end effector is arranged at the distal end of the knife rest, and the pipe body is sleeved outside the knife rest; the actuating mechanism comprises a first actuating mechanism, a first actuating rod assembly of the first actuating mechanism is connected with the pipe body, the translational motion of the first actuating rod assembly drives the pipe body to perform translational motion, and the pipe body actuates the jaw opening and closing actions of the end effector.

14. The surgical instrument of claim 13, wherein the surgical instrument comprises,

the execution assembly further comprises a firing bar arranged in the pipe body; the actuating mechanisms further comprise a second actuating mechanism, a second actuating rod assembly of the second actuating mechanism is connected with the firing rod, the translational movement of the second actuating rod assembly drives the translational movement of the firing rod, and the firing rod actuates the anastomat to perform anastomosis.

15. The surgical instrument of claim 13, wherein the surgical instrument comprises,

the execution assembly further comprises a swing arm pull rod arranged in the pipe body; the actuating mechanisms further comprise a third actuating mechanism, a third actuating rod assembly of the third actuating mechanism is connected with the swing arm pull rod, the third actuating rod assembly is in translational motion to drive the swing arm pull rod to perform translational motion, and the swing arm pull rod actuates the joint swing motion of the end effector.

16. The surgical instrument of claim 15, wherein the surgical instrument comprises,

the actuating assembly further comprises two swing arms and two swing pull rods hinged to two ends of the swing arms, the swing arm pull rods are connected with the swing arms, the swing arm pull rods are driven to rotate in a translational motion mode, the two swing pull rods are driven to do parallelogram motion, and then the end effector is actuated to swing in a joint mode.

17. The surgical instrument of claim 13, wherein the surgical instrument comprises,

the tool rest is detachably connected with the sleeve, and the first actuating rod assembly is detachably connected with the pipe body.

18. A surgical instrument according to any one of claims 1 to 17, wherein,

the surgical instrument further comprises a rotary driving mechanism, wherein the rotary driving mechanism comprises a rotary driving assembly and a flexible rotary transmission piece, the flexible rotary transmission piece is in transmission connection with the proximal end of the instrument shaft assembly and the rotary driving assembly, and the rotary driving assembly can rotationally drive the instrument shaft assembly to rotate around the longitudinal axis so as to drive the execution assembly to rotate around the self axis;

and the rotational axis of the rotary drive assembly is parallel to the longitudinal axis.

19. The surgical instrument of claim 18, wherein the surgical instrument,

the instrument shaft assembly includes a cannula extending along the longitudinal axis, an interior of the cannula defining the lumen; the rotary driving assembly comprises a driving wheel, the driving wheel is arranged on one side of the proximal end of the sleeve and can rotate around the axis of the driving wheel, and the rotation axis of the driving wheel is parallel to the longitudinal axis; one end of the flexible rotation transmission piece is fixed and connected to the driving wheel in a winding way, and the other end of the flexible rotation transmission piece is fixed and connected to the sleeve in a winding way.

20. The surgical instrument of claim 18, wherein the surgical instrument,

the surgical instrument further includes a mounting assembly for connection to a surgical robot; the proximal end of the instrument shaft assembly is rotatably coupled to the center of the mounting assembly; the rotary driving assembly and the actuating driving assemblies are arranged on the mounting assembly and are uniformly distributed around the instrument shaft assembly.

21. A surgical robot comprising a slave manipulator, a master manipulator and a surgical instrument according to any one of claims 1 to 20;

the slave operation device comprises at least one mechanical arm, and the surgical instrument is detachably arranged on the mechanical arm; the master operation device is used for sending a control command to the slave operation device according to the operation of an operator, and the slave operation device is used for responding to the control command and controlling the mechanical arm and the surgical instrument to execute corresponding operation.