CN216221646U - Surgical instrument and surgical robot - Google Patents

Abstract

The utility model provides a surgical instrument and a surgical robot, wherein the surgical instrument comprises a mounting assembly, an execution drilling mechanism and a first driving mechanism, the execution assembly comprises an end effector arranged at the far end of the execution assembly, and the near end of the execution assembly is rotatably connected with the mounting assembly; the first driving mechanism comprises a first driving assembly and a flexible transmission piece, the first driving assembly is arranged on the mounting assembly, the flexible transmission piece is in transmission connection with the first driving assembly, the near end of the executing assembly is in transmission connection with the flexible transmission piece, and the first driving assembly can rotate and drive the executing assembly to rotate around the longitudinal axis of the first driving assembly. The surgical operation instrument provided by the utility model has the advantages that the flexible transmission part is adopted, the transmission structure is simplified, the transmission is simple and reliable, the structure of the mounting assembly is more compact, the volumes of the transmission structure and the mounting assembly are reduced, the weight is reduced, the requirements of the minimally invasive surgery on the freedom degree, the flexibility and the accuracy of the surgical operation instrument are met, and the operation quality is ensured.

Description

Surgical instrument and surgical robot

Technical Field

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

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. 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 science and technology, minimally invasive surgery technology and robot technology are gradually mature and widely applied, and robot-assisted minimally invasive surgery gradually becomes the development trend of minimally invasive surgery and is gradually applied to actual clinic.

In minimally invasive surgery, it is often necessary to perform cutting, dissection, suturing, etc. of tissue. Ultrasonic surgical devices generate high frequency electrical energy from a generator, which converts the high frequency electrical energy into high frequency mechanical vibrations (e.g., 55500 times per second) using piezoelectric or electromagnetically compressible materials and transmits the vibrations to an actuator at the end of the ultrasonic surgical instrument, which transmits ultrasonic energy into biological tissue to produce a physiological effect, particularly burning, stopping bleeding, or cutting tissue using the generated heat. Ultrasonic surgical devices have been used in a variety of surgical applications because they are capable of substantially simultaneously performing tissue cutting and hemostasis by coagulation, and at temperatures lower than those used in conventional electrosurgery, thereby advantageously minimizing patient trauma.

In robot-assisted minimally invasive surgery, an ultrasonic surgical instrument is used in connection with a surgical robot. The existing ultrasonic surgical instrument has more complex structure and higher cost, particularly has complex transmission structure, so that the ultrasonic surgical instrument has larger volume and heavier weight, the moving space of a robot is compressed, the robot cannot move freely, the requirements of the minimally invasive surgery on the freedom degree, flexibility and accuracy of the surgical instrument cannot be met, and the quality of the surgery is influenced; when a plurality of surgical instruments are used, the surgical instruments are easy to interfere with each other, and the application range of the surgical instruments is influenced.

SUMMERY OF THE UTILITY MODEL

An object of an embodiment of the present invention is to provide a surgical instrument and a surgical robot, so as to solve the technical problems of complex structure, large volume and heavy weight of the surgical instrument in the prior art.

In order to achieve the purpose, the utility model adopts the technical scheme that: a surgical instrument is provided, comprising:

a mounting assembly for connection to a surgical robot;

an actuator assembly including an end effector disposed at a distal end thereof, a proximal end of the actuator assembly being rotatably coupled to the mounting assembly; and

first actuating mechanism, including first drive assembly and flexible drive spare, first drive assembly set up in on the installation component, flexible drive spare with first drive assembly transmission is connected, flexible drive spare with execution component's near-end transmission is connected, first drive assembly can rotate and drive flexible drive spare motion, flexible drive spare drives execution component rotates around self longitudinal axis.

In one embodiment, the mounting assembly includes a bracket and a sleeve disposed on the bracket and rotatable about its longitudinal axis; the near end of the execution assembly penetrates through the sleeve, and the near end of the execution assembly is connected with the sleeve.

In one embodiment, the first driving assembly includes a driving wheel rotatably disposed on the bracket, one end of the flexible transmission member is fixedly connected to the driving wheel, and the other end of the flexible transmission member is fixedly connected to the sleeve.

In one embodiment, the first drive mechanism comprises a plurality of said flexible drives.

In one embodiment, the periphery of the driving wheel and/or the periphery of the sleeve are/is provided with a limiting groove, and the flexible transmission part is connected in the limiting groove.

In one embodiment, the first drive assembly has a zero position corresponding to a rotational initial position of the actuator assembly;

the first driving mechanism further comprises a return part, one end of the return part is connected with the support, the other end of the return part is connected with the first driving assembly, the return part is elastic, and the return part can generate a moment towards the zero-position rotation to the first driving assembly.

In one embodiment, the actuating assembly further comprises a mandrel extending along a longitudinal axis of the actuating assembly, the end effector is connected to a distal end of the mandrel, a proximal end of the mandrel is used for connecting an ultrasonic transducer, and an outer tube is sleeved outside the mandrel;

a sleeve positioning hole is formed in the periphery of the near end of the sleeve, an outer tube positioning hole is formed in the periphery of the near end of the outer tube, and a mandrel positioning hole is formed in the periphery of the near end of the mandrel;

the installation component further comprises a positioning piece, the near end of the mandrel and the near end of the outer tube are arranged in the sleeve in a penetrating mode, and the positioning piece is arranged in the sleeve positioning hole, the outer tube positioning hole and the mandrel positioning hole in a penetrating mode simultaneously so as to connect the sleeve, the mandrel and the outer tube.

In one embodiment, the actuating assembly further comprises a jaw member disposed at a distal end of the actuating assembly and adjacent to the end effector, and an open-close driver extending longitudinally of the actuating assembly, the distal end of the open-close driver being connected to the jaw member;

the opening and closing drive is capable of translational reciprocating motion relative to the mandrel along the longitudinal direction of the execution assembly to drive the opening and closing motion of the jaw members relative to the end effector.

In one embodiment, the surgical instrument further comprises a second drive mechanism comprising a second drive component and an actuator, the second drive component being disposed on the housing, the second drive component being in driving communication with the actuator, the actuator being in communication with the proximal end of the opening and closing drive;

the second driving component can rotate and drive the actuating piece to do reciprocating motion along the longitudinal translation of the executing component, and the actuating piece drives the opening and closing driving piece to move.

In one embodiment, the opening and closing driving member is tubular, the opening and closing driving member is sleeved between the mandrel and the outer tube, and the periphery of the proximal end of the opening and closing driving member is provided with a long hole which extends along the axial direction of the opening and closing driving member; the locating element wears to locate simultaneously rectangular hole, sleeve pipe locating hole, outer tube locating hole and in the dabber locating hole, just the locating element can for the driving piece that opens and shuts follows rectangular hole translation motion.

In one embodiment, the proximal end of the opening and closing driving piece is fixedly provided with a connecting structure, and the connecting structure comprises a ring groove; the actuating piece is provided with an installation ring, an inner ring of the installation ring is provided with a ring rib in an inward protruding mode, the installation ring is sleeved outside the near end of the actuating component, and the ring rib is connected with the ring groove in a matched mode so as to connect the near end of the opening and closing driving piece with the actuating piece.

In one embodiment, the actuating element is further provided with a limiting tube, the limiting tube is coaxial with the mounting ring and is connected to one axial end of the mounting ring, the limiting tube is sleeved outside the proximal end of the sleeve, and the limiting tube at least partially covers the sleeve positioning hole.

In one embodiment, the second driving mechanism further comprises a guide assembly, the guide assembly comprises a guide piece and a sliding piece, the guide piece is fixedly arranged on the bracket, and the guide piece is parallel to the longitudinal axis of the actuating assembly; the sliding piece is arranged on the guide piece in a sliding mode, and the actuating piece is fixedly connected with the sliding piece.

In one embodiment, the distal end of the sleeve extends out of the bracket, and the outer periphery of the distal end of the sleeve is further provided with an operating part, the operating part has a shape matched with the disassembling tool, and the sleeve can be driven to rotate around the axis of the sleeve by operating the operating part.

In one embodiment, the mounting assembly further comprises a sleeve bearing and a retaining member, wherein the outer ring of the sleeve bearing is fixedly connected with the bracket, the sleeve is supported on the inner ring of the sleeve bearing, the retaining member is fixedly connected with the sleeve, and the retaining member abuts against the inner ring of the sleeve bearing to fixedly connect the sleeve with the inner ring of the sleeve bearing; and the outer diameter of the locking piece is smaller than or equal to the outer diameter of the inner ring of the sleeve bearing.

The present invention also provides a surgical robot comprising a slave operation device, a master operation device and a surgical instrument as described in any one of the above;

the slave manipulation apparatus comprises at least one robotic arm to which the surgical instrument is detachably mounted; 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 operation instrument provided by the utility model has the beneficial effects that:

compared with the prior art, the surgical instrument disclosed by the utility model has the advantages that the flexible transmission part and the first driving assembly are used as driving elements to drive the whole executing assembly to rotate in an autorotation manner, the transmission structure is simplified, the flexible transmission is simple and reliable, the structure of the mounting assembly is more compact, the volumes of the transmission structure and the mounting assembly can be reduced, the weight is reduced, the technical problems of complex structure, large volume and heavier weight of the conventional ultrasonic knife surgical instrument are effectively solved, the requirements of the minimally invasive surgical operation on the freedom, flexibility and accuracy of the surgical instrument are met, the operation quality is ensured, and the practicability is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a slave operation device according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a slave operation device according to another embodiment of the present invention;

fig. 3 is a schematic perspective view of a main operation device according to an embodiment of the present invention;

FIG. 4 is a perspective view of a surgical instrument according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 6 is a cross-sectional view of an actuator assembly in assembly with a housing and actuator according to an embodiment of the present invention;

FIG. 7 is an enlarged view of portion A of FIG. 5;

FIG. 8 is a schematic view of a surgical instrument and ultrasonic transducer assembly provided by an embodiment of the present invention;

FIG. 9 is an exploded view of the actuator assembly assembled with the housing and actuator provided by an embodiment of the present invention;

fig. 10 is a schematic perspective view of a fixed-force wrench according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1. mounting the component;

11. a support; 111. a top plate; 112. a base;

12. a sleeve; 121. a limiting groove; 122. a sleeve positioning hole; 123. an operation section;

13. a positioning member;

14. a housing; 141. opening the round mouth;

15. a locking member;

16. a sleeve bearing;

2. an execution component;

21. an end effector;

22. a mandrel; 221. positioning a mandrel hole; 222. a threaded hole;

23. an outer tube; 231. positioning holes of the outer pipe;

24. a jaw member;

25. a switching drive member; 251. a strip hole;

26. a connecting structure; 261. a ring groove; 262. a jaw plate; 263. a disk hoop; 264. a ring frame;

31. a first drive assembly; 311. a driving wheel; 312. a drive shaft; 313. a first bearing; 314. a second bearing; 315. a first drive capstan; 316. a clamp ring;

32. a flexible drive member;

33. returning parts;

41. a second drive assembly; 411. a coupling; 412. a third bearing; 413. a fourth bearing; 414. A bearing fixing nut; 415. a drive screw; 416. a second drive capstan; 417. a drive nut;

42. an actuator; 421. a mounting ring; 422. looping ribs; 423. a limiting pipe; 424. driving a shifting fork; 425. A clamping sleeve;

100. a surgical instrument;

201. a slave operation device; 202. a main operating device; 203. a mechanical arm; 204. an actuating device; 205. A main console; 206. an input device;

300. an ultrasonic transducer; 301. a cable; 302. an energy output interface;

400. a fixed-force wrench; 401. square hole characteristics.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention 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 merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" 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 will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the utility model.

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

A surgical instrument and a surgical robot provided by an embodiment of the present invention will now be described.

In the present invention, "distal" and "proximal" are used as terms of orientation that are conventional in the field of interventional medical devices, wherein "distal" refers to the end that is distal from the operator during the procedure and "proximal" refers to the end that is proximal to the operator during the procedure.

Referring to fig. 1 and 2, the surgical robot according to the present invention includes a slave manipulator 201 and a surgical instrument 100. The slave manipulator 201 is located on the patient side for performing a surgical operation, wherein the slave manipulator 201 comprises a robot arm 203 and an actuating device 204 arranged at the distal end of the robot arm 203, the surgical instrument 100 for performing the surgical operation is detachably connected to the actuating device 204, the actuating device 204 drives the surgical instrument 100 in motion, and the surgical instrument 100 may be an ultrasonic surgical instrument. The robotic arm 203 may also be connected to other surgical instruments such as an electrocautery, a forceps, a stapler, a scissors, etc. for performing a surgical procedure, or may be a camera or other surgical instruments for acquiring images. A plurality of surgical instruments can be connected to one actuator 204, and the distal ends of the plurality of surgical instruments enter the human body through one incision, so that the number of surgical incisions is reduced, and the postoperative recovery is faster. The slave operation device 201 may be provided with a plurality of robot arms 203 to which surgical instruments are respectively connected, and the plurality of surgical instruments are inserted into the body of the patient from different incisions. The robotic arm 203 is configured to be supported by a column via a plurality of large arms, and in other embodiments, the robotic arm 203 of the slave manipulator 201 may be mounted on a wall or ceiling.

The robotic arm 203 further includes a parallelogram linkage, with the actuation device 204 mounted on a distal end of the parallelogram linkage, which may allow the surgical instrument 100 to move or move in multiple mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). The parallelogram linkage is used to constrain the surgical instrument 100 from movement near a Remote Center of Motion (RCM) on the surgical instrument, which is held stationary relative to the patient, which is typically located where the surgical instrument enters the patient's body. In other embodiments, the slave manipulator 201 is configured differently from the master arm, and the plurality of surgical instruments of the slave manipulator 201 are detachably mounted on the power mechanism at the distal end of the master arm, and enter the human body from an incision, and the plurality of master arms control the movement of the surgical instruments to be restrained near the remote center of motion.

During use of the surgical robot, the surgical instrument 100 is entirely sterile, and the robotic arm 203 and the actuation device 204 of the slave manipulator 201 are sterile, and these sterile structures are isolated from the sterile environment by sterile finding (not shown).

Surgical robots also typically include an imaging system portion (not shown) that enables an operator to view the surgical site from outside the patient's body. The vision system portion typically includes a video image capture function (e.g., an instrument with image acquisition functionality) and one or more video display devices for displaying the captured images. Generally, instruments with image acquisition capabilities include optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the body of a patient. The one or more imaging sensors may be placed 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 by wireless for processing and display on a video display device.

Referring to fig. 3, the surgical robot further includes a main operation device 202. The main operation device 202 is located on the operator side, the main operation device 202 is used for sending control commands to the slave operation device 201 and displaying images acquired from the slave operation device 201 according to the operation of the operator, the operator can observe three-dimensional stereoscopic imaging in the patient body provided by the imaging system through the main operation device 202, and the operator can perform related operations (such as performing an operation or acquiring images in the patient body) from the slave operation device 201 by observing the three-dimensional images in the patient body in an immersive sensation control mode. The main operation device 202 includes a main console 205 and an input device 206, and the main console 205 includes a display device for displaying an image acquired by the above-described imaging system, an armrest, a control signal processing system, and a viewing device. The armrest is used to place the arm and/or hand of the operator so that the operator can more comfortably operate the input device 206, and the viewing device is used to view the image displayed by the display device. The handrail can be omitted according to actual requirements; or omitting the observation device, in which case direct observation is possible. The operator controls the slave operation device 201 to perform relevant operations through the operation input device 206, the control signal processing system of the master console 205 processes the input signal of the input device 206 and then sends a control command to the slave operation device 201, and the slave operation device 201 is used for responding to the control command sent by the master console 205 and performing corresponding operations.

The surgeon performs a relevant control operation on the master operation device 202 on the slave operation device 201, and the slave operation device 201 performs a surgical operation on the human body in accordance with an input instruction of the master operation device 202. The master operation device 202 and the slave operation device 201 may be disposed in one operating room or in different rooms, and even the master operation device 202 and the slave operation device 201 may be far apart, for example, the master operation device 202 and the slave operation device 201 are respectively located in different cities, the master operation device 202 and the slave operation device 201 may transmit data in a wired manner, or may transmit data in a wireless manner, for example, the master operation device 202 and the slave operation device 201 are located in one operating room and transmit data therebetween in a wired manner, or for example, the master operation device 202 and the slave operation device 201 are respectively located in different cities and transmit data therebetween in a long distance via 5G wireless signals.

Referring to fig. 4, 5 and 6, the present invention provides a surgical instrument 100 including a mounting assembly 1, an actuating assembly 2 and a first drive mechanism; the mounting assembly 1 is used to connect to the surgical robot of the above embodiment to mount the surgical instrument 100 for use with the surgical robot; the actuating assembly 2 includes an end effector 21 disposed at a distal end thereof, e.g., the end effector 21 includes an ultrasonic blade; the proximal end of the actuating component 2 is rotatably connected to the mounting component 1, and the rotating axis is the longitudinal axis of the actuating component 2, so that the actuating component 2 is rotatably mounted on the mounting component 1; first actuating mechanism includes first drive assembly 31 and flexible transmission spare 32, and first drive assembly 31 sets up on installation component 1, and flexible transmission spare 32 is connected with first drive assembly 31 transmission, and the near-end and the flexible transmission spare 32 transmission of executive component 2 are connected, and first drive assembly 31 can rotate for installation component 1 to drive flexible transmission spare 32 motion, and flexible transmission spare 32 drives executive component 2 and rotates around self longitudinal axis.

In the surgical instrument 100 in the above embodiment, the flexible transmission member 32 and the first driving assembly 31 are used as driving elements to drive the whole actuating assembly 2 to rotate, so that the transmission structure is simplified, the flexible transmission is simple and reliable, the structure of the mounting assembly 1 is more compact, the size of the transmission structure and the size of the mounting assembly 1 can be reduced, the weight is reduced, and the technical problems of complex structure, large size and heavier weight of the existing ultrasonic scalpel surgical instrument are effectively solved.

By adopting the surgical operation instrument 100, the movement space of the operation robot can be effectively ensured, the operation robot can move freely, the requirements of the minimally invasive surgery on the freedom degree, flexibility and accuracy of the surgical operation instrument 100 are met, and the operation quality is ensured; when a plurality of surgical instruments 100 are used, interference between the surgical instruments 100 is not easy to occur, and the application range of the surgical instruments 100 is increased.

In one embodiment of the present invention, referring to fig. 4 and 5, the mounting assembly 1 includes a bracket 11 and a sleeve 12, the sleeve 12 is disposed on the bracket 11, and the sleeve 12 can rotate around its longitudinal axis; the near end of the actuating component 2 is arranged in the sleeve 12 in a penetrating mode, the near end of the actuating component 2 is connected with the sleeve 12, the sleeve 12 and the actuating component 2 can rotate synchronously, and therefore the actuating component 2 is connected to the mounting component 1 in a rotating mode. The sleeve 12 is a hollow tubular part, plays the effect of demountable installation executive component 2, and is simple in structure, convenient to install and disassemble and high in practicability.

In one embodiment, the rack 11 comprises a top plate 111 and a base 112, wherein the top plate 111 and the base 112 are fixedly connected in parallel to form an instrument box, so that the structure is more compact; the sleeve 12 is installed at the center of the bracket 11, the two ends of the sleeve 12 are respectively connected with the top plate 111 and the base 112 in a rotating manner, and the central axis of the sleeve 12 is parallel to the central axis of the first driving assembly 31, so that the actuating assembly 2 is rotatably installed at the center of the instrument box.

In one embodiment of the present invention, referring to fig. 5, the first driving assembly 31 includes a driving wheel 311, the driving wheel 311 is rotatably disposed on the bracket 11, one end of the flexible transmission member 32 is fixed and wound on the driving wheel 311, and the other end of the flexible transmission member 32 is fixed and wound on the sleeve 12. The driving wheel 311 is driven to rotate, the driving wheel 311 winds and pulls one end of the flexible transmission member 32, and the other end of the flexible transmission member 32 synchronously pulls the sleeve 12 to rotate; the flexible transmission member 32 is fixedly connected with the driving wheel 311 and the sleeve 12, so that the slipping phenomenon is not easy to occur, the transmission is stable and reliable, the accurate control of the rotation angle of the execution assembly 2 can be realized, the operation quality is ensured, and the practicability is high.

Optionally, the first drive mechanism comprises a plurality of flexible drive members 32, for example two. The bearing capacity of the flexible transmission parts 32 is higher, and the transmission capacity is stronger, so that the requirements on the material and the size of the flexible transmission parts 32 can be reduced under the condition of the same transmission force requirement, and the cost is favorably reduced; meanwhile, the even number of flexible transmission parts 32 can respectively drive the executing component 2 to rotate forwards and reversely, a rotating reset structure is not required to be additionally arranged for the executing component 2, the transmission structure is simplified, the cost is reduced, and the practicability is high.

Optionally, the periphery of the driving wheel 311 and/or the periphery of the sleeve 12 is provided with a limiting groove 121, and the flexible transmission member 32 is wound and connected in the limiting groove 121. Through setting up spacing groove 121, can restrict the winding position of flexible drive spare 32 on action wheel 311 and/or sleeve pipe 12, avoid flexible drive spare 32 to take place to slide along the axial in action wheel 311 and/or sleeve pipe 12's periphery, action wheel 311 drive flexible drive spare 32 motion and flexible drive spare 32 drive sleeve pipe 12 pivoted distance keep unanimous, flexible drive spare 32 transmission is accurate reliable, guarantee operation quality, the practicality is strong.

In one embodiment, the flexible transmission member 32 is a steel wire or a belt, the driving wheel 311 is a steel wire wheel or a belt pulley, the driving steel wire wheel and the outer surface of the sleeve 12 are provided with steel wire grooves, one end of the first steel wire and one end of the second steel wire are fixed and wound on the steel wire grooves of the driving steel wire wheel, and the other end of the first steel wire and the other end of the second steel wire are fixed and wound on the steel wire grooves of the sleeve 12, so as to realize the transmission and speed change of the rotary power.

Optionally, the first drive assembly 31 has a zero position corresponding to the initial rotational position of the actuator assembly 2, which is defined as the zero angular position of the end effector 21 during use, which may be set by the operator; the null position is the position of the first drive assembly 31 at which the end effector 21 is at the null angular position. The first driving mechanism further comprises a return part 33, one end of the return part 33 is connected with the support 11, the other end of the return part 33 is connected with the first driving assembly 31, the return part 33 has elasticity, and the return part 33 can generate a torque which rotates towards a zero position to the first driving assembly 31. By arranging the return part 33, the rotation angle of the first driving assembly 31 can be kept at a zero position relative to the surgical instrument 100 before the surgical instrument 100 is mounted on the surgical robot, so that the step and time for adjusting the rotation angle position of the calibration executing assembly 2 are saved, the surgical instrument 100 is convenient to mount and use, time and labor are saved, and the practicability is high.

In a specific embodiment, the first driving assembly 31 further includes a driving shaft 312, a first bearing 313, a second bearing 314, a first driving winch 315 and a clamping ring 316, wherein both ends of the driving shaft 312 are respectively rotatably supported on the top plate 111 and the base 112 of the support 11 through the first bearing 313 and the second bearing 314, and the first driving assembly 31 is constrained from moving along the axial direction of the driving shaft 312; the driving shaft 312 is parallel to the central axis of the casing 12, thereby disposing the first driving assembly 31 in parallel to one side of the actuating assembly 2. A first driving winch 315 is disposed outside the base 112 and fixedly connected to the driving shaft 312, the first driving winch 315 being connected to the input port of the robot arm 203 of the surgical robot for inputting rotational movement; the driving wheel 311 is coaxially sleeved on the driving shaft 312 and fixed on the driving shaft 312 through a clamping ring 316, and the clamping ring 316 is fixedly connected with the driving shaft 312; the return element 33 is a return spring, which is sleeved on the driving shaft 312, and one end of the return spring is fixed in a hole on the clamping ring 316, and the other end is fixed on the top plate 111. The driving shaft 312 is driven by the external power input by the first driving capstan 315 to drive the driving wheel 311 to rotate, so as to pull the first steel wire and the second steel wire on the driving wheel 311 to move, and finally the traction sleeve 12 rotates.

In one embodiment of the present invention, referring to fig. 6 and 7, the actuating assembly 2 further comprises a mandrel 22 and an outer tube 23, the mandrel 22 extending along the longitudinal axis of the actuating assembly 2, the mandrel 22 being an elongated solid shaft, the end effector 21 being connected to the distal end of the mandrel 22, the proximal end of the mandrel 22 being for connection to the ultrasonic transducer 300; the outer tube 23 is sleeved outside the mandrel 22, and the outer tube 23 extends from the proximal end of the mandrel 22 to the distal end of the mandrel 22, and the outer tube 23 can protect the mandrel 22. A sleeve positioning hole 122 is formed in the periphery of the proximal end of the sleeve 12, an outer tube positioning hole 231 is formed in the periphery of the proximal end of the outer tube 23, and a mandrel positioning hole 221 is formed in the periphery of the proximal end of the mandrel 22; the mounting assembly 1 further comprises a positioning member 13, wherein the proximal end of the mandrel 22 and the proximal end of the outer tube 23 are both inserted into the sleeve 12, the positioning member 13 is simultaneously inserted into the sleeve positioning hole 122, the outer tube positioning hole 231 and the mandrel positioning hole 221 to connect the sleeve 12, the mandrel 22 and the outer tube 23, and the circumferential relative position and the axial relative position among the sleeve 12, the mandrel 22 and the outer tube 23 are defined.

Referring to fig. 8, when the surgical instrument 100 is used as a novel surgical energy instrument, the surgical instrument 100 must be connected to the ultrasonic transducer 300 to perform a cutting operation, and the electric energy input from the outside through the cable 301 at the tail of the ultrasonic transducer 300 is converted into high-frequency vibration through structures such as piezoelectric ceramics inside the ultrasonic transducer 300; the high frequency vibrations output from the ultrasonic transducer 300 are transmitted through the entire mandrel 22 to the distal end effector 21, thereby effecting cutting and coagulation energizing of the surgical instrument 100.

The sleeve 12, the mandrel 22 and the outer tube 23 are connected together by arranging the sleeve positioning hole 122, the outer tube positioning hole 231, the mandrel positioning hole 221 and the positioning piece 13, and the relative axial movement of the sleeve 12, the mandrel 22 and the outer tube 23 is restrained; when the sleeve 12 is driven to rotate by the first driving mechanism, the rotating power is transmitted to the positioning part 13 to drive the mandrel 22 and the outer pipe 23 connected to the positioning part 13 to synchronously rotate; the matching structure of the positioning piece 13, the sleeve positioning hole 122, the outer tube positioning hole 231 and the mandrel positioning hole 221 is simple, the transmission is reliable, the disassembly and the assembly are convenient, the use is simple and convenient, and the practicability is strong.

In one embodiment, the outer tube 23 is a thin-walled, elongated tubular member; the sleeve positioning hole 122, the outer tube positioning hole 231 and the mandrel positioning hole 221 are all round holes, and the round holes radially penetrate through the mandrel 22, the outer tube 23 and the sleeve 12; the positioning member 13 is a cylindrical pin.

Optionally, referring to fig. 6, the actuating assembly 2 further includes a jaw member 24 and an opening and closing driving member 25, the jaw member 24 is disposed at a distal end of the actuating assembly 2, the jaw member 24 is adjacent to the end effector 21, the opening and closing driving member 25 extends along a longitudinal direction of the actuating assembly 2, a distal end of the opening and closing driving member 25 is connected to the jaw member 24, and the mandrel 22, the outer tube 23 and the opening and closing driving member 25 constitute a knife bar of the ultrasonic knife; opening and closing drive 25 is configured to translate reciprocally relative to mandrel 22 and outer tube 23 along the longitudinal direction of implement assembly 2 to drive opening and closing movement of jaw member 24 relative to end effector 21. Jaw member 24 cooperates with end effector 21 to enable the clamping of biological tissue and enhance the utility of surgical instrument 100, providing a strong degree of practicality.

In one embodiment of the present invention, referring to fig. 5, the surgical instrument 100 further comprises a second driving mechanism, the second driving mechanism comprises a second driving component 41 and an actuating component 42, the second driving component 41 is disposed on the bracket 11, the second driving component 41 is in transmission connection with the actuating component 42, and the actuating component 42 is connected with the proximal end of the opening and closing driving component 25; the second driving assembly 41 can rotate relative to the bracket 11, the actuating member 42 is driven to perform the longitudinal translational reciprocating motion of the actuating assembly 2, and the actuating member 42 drives the opening and closing driving member 25 to perform the longitudinal translational reciprocating motion of the actuating assembly 2 synchronously. The second driving assembly 41 converts the rotation motion into the linear motion of the actuating piece 42, and drives the opening and closing driving piece 25 to move relative to the mandrel 22 and the outer tube 23, so as to drive the jaw member 24 at the distal end of the actuating assembly 2 to open and close, and the transmission structure is compact, thereby being beneficial to reducing the volume of the mounting assembly 1, reducing the weight and having strong practicability.

In a specific embodiment, the second driving assembly 41 includes a shaft coupler 411, a third bearing 412, a fourth bearing 413, a bearing fixing nut 414, a driving screw 415, a second driving winch 416 and a driving nut 417, wherein the shaft coupler 411 is rotatably disposed on the base 112 of the support 11 through the third bearing 412, the fourth bearing 413 is fixedly disposed on the top plate 111 through the bearing fixing nut 414, one end of the driving screw 415 is fixedly connected with the shaft coupler 411, the other end of the driving screw is rotatably supported on the top plate 111 of the support 11 through the fourth bearing 413, and the third bearing 412 and the fourth bearing 413 cooperate to restrict the axial movement of the second driving assembly 41 along the driving screw 415; the drive screw 415 is parallel to the central axis of the sleeve 12, thereby positioning the second drive assembly 41 parallel to one side of the actuator assembly 2. The second driving winch 416 is disposed outside the base 112 and fixedly connected to the coupling 411, the second driving winch 416 is connected to the input port of the robot arm 203 of the surgical robot for inputting rotational movement, and the coupling 411 transmits the rotational movement input by the second driving winch 416 to the driving screw 415. The outer surface of drive screw 415 is provided with external threads or helical features, drive nut 417 is coupled to the outside of drive screw 415, the inner surface of drive nut 417 is provided with internal threads or helical features, drive screw 415 and drive nut 417 together form a thread or helical gearing pair that converts the rotational motion of drive screw 415 into a linear motion of drive nut 417 along the axial direction of drive screw 415. Actuator 42 is fixedly attached to drive nut 417 such that when drive nut 417 is moved axially along drive screw 415, actuator 42 follows the axial movement of drive nut 417 along drive screw 415. The second drive assembly 41 uses a screw or helical pair transmission to convert the rotational motion of the external motor into linear motion of the actuator 42.

In a specific embodiment not shown, the second drive assembly 41 may also use a linkage, cam and cam slot mechanism to convert the rotational motion of the external motor into linear motion of the actuator 42.

Optionally, referring to fig. 5, fig. 6 and fig. 7, the opening and closing driving member 25 is tubular, the opening and closing driving member 25 of the thin-walled long tubular part has higher rigidity, and the driving jaw member 24 moves more stably and reliably; the opening and closing driving member 25 is sleeved between the mandrel 22 and the outer tube 23, a strip hole 251 is formed in the periphery of the near end of the opening and closing driving member 25, and the strip hole 251 extends along the axial direction of the opening and closing driving member 25; the positioning member 13 is simultaneously inserted into the elongated hole 251, the sleeve positioning hole 122, the outer tube positioning hole 231, and the mandrel positioning hole 221, and the positioning member 13 can move in translation along the elongated hole 251 relative to the opening and closing driving member 25. Since the axial movement of the sleeve 12 relative to the bracket 11 is already constrained, the axial movement of the mandrel 22, the outer tube 23 and the positioning member 13 is also constrained, and the positioning member 13 can move in a translational manner along the elongated hole 251 relative to the opening and closing driving member 25, that is, the opening and closing driving member 25 can move in an axial manner along the elongated hole 251 relative to the mandrel 22 and the outer tube 23, so as to avoid the interference of the positioning member 13 on the translational movement of the opening and closing driving member 25; meanwhile, the circumferential movement of the opening and closing driving piece 25 is restricted by the positioning piece 13, and the positioning piece 13 can drive the opening and closing driving piece 25 to synchronously rotate with the mandrel 22 and the outer pipe 23, namely the positioning piece 13 limits the integral rotation of the executing assembly 2; the rotation movement of the ultrasonic knife and the opening and closing movement of the jaw of the surgical operation instrument 100 can be mutually independent, the use function is enhanced, the requirements of the minimally invasive surgical operation on the degree of freedom, flexibility and accuracy of the surgical operation instrument 100 are met, the operation quality is ensured, and the practicability is high.

In one embodiment, the elongated hole 251 extends radially through the tubular opening/closing actuator 25.

Optionally, referring to fig. 6 and 9, a connecting structure 26 is fixedly disposed at the proximal end of the opening and closing driving member 25, and the connecting structure 26 includes a ring groove 261; the actuator 42 is provided with a mounting ring 421, an inner ring of the mounting ring 421 is provided with a ring rib 422 protruding inwards, the mounting ring 421 is sleeved outside the proximal end of the actuator assembly 2, and the ring rib 422 is connected with the ring groove 261 in a matching manner, so as to connect the proximal end of the opening/closing driving member 25 with the actuator 42. When the actuating member 42 is driven to perform a reciprocating translational motion along the longitudinal direction of the actuating assembly 2, the ring rib 422 pushes the ring groove 261 to perform a synchronous motion, and the ring groove 261 drives the connected opening and closing driving member 25 to perform a reciprocating translational motion along the self-axial direction. Since the axial movement of the mandrel 22 and the outer tube 23 is restricted, the opening-closing driving member 25 will generate an axial relative movement with the mandrel 22 and the outer tube 23, and further drive the jaw member 24 at the distal end of the actuating assembly 2 to make an opening-closing movement. When the actuating assembly 2 is driven by the first driving mechanism to rotate, the annular groove 261 rotates around the mandrel 22 relative to the annular rib 422, the rotation movement of the actuating assembly 2 and the opening and closing movement of the jaw member 24 are independent from each other, the stable and reliable use of the surgical instrument 100 is ensured, the surgical quality is ensured, and the practicability is high.

Optionally, referring to fig. 7 and fig. 9, the actuating element 42 is further provided with a limiting tube 423, the limiting tube 423 is coaxial with the mounting ring 421, the limiting tube 423 is connected to one axial end of the mounting ring 421, the limiting tube 423 is sleeved outside the proximal end of the sleeve 12, and the limiting tube 423 at least partially covers the sleeve positioning hole 122. The inner wall of the limiting tube 423 restrains the positioning part 13, so that the positioning part 13 is prevented from slipping out of the sleeve positioning hole 122 to cause the failure of the connection function of the positioning part 13, the stable and reliable use of the surgical instrument 100 is ensured, and the practicability is high.

In one embodiment, referring to fig. 9, the connecting structure 26 includes a claw disk 262, a disk hoop 263 and a ring frame 264, the claw disk 262, the disk hoop 263 and the ring frame 264 are all fixedly connected to the proximal end of the opening and closing driving member 25 in a fully restrained state, and the ring features on the ring frame 264 and the disk hoop 263 form a ring groove 261. The actuating piece 42 comprises a driving fork 424 and a clamping sleeve 425, one end of the driving fork 424 is connected with the clamping sleeve 425 to form an installation ring 421, when the driving fork 424 and the clamping sleeve 425 are connected with the opening and closing driving pipe, a ring groove 261 contains a ring rib 422 of the installation ring 421, the far end of the driving fork 424 connected with the clamping sleeve 425 forms a limiting pipe 423, and the limiting pipe 423 is a circular pipe. The inner diameter of the limiting tube 423 is matched with the outer diameter of the sleeve 12.

Optionally, the second driving mechanism further comprises a guide assembly (not shown), which comprises a guide member and a sliding member, the guide member is fixedly arranged on the bracket 11, and the guide member is parallel to the longitudinal axis of the actuating assembly 2; the sliding member is slidably disposed on the guide member, and the actuating member 42 is fixedly connected to the sliding member. The sliding piece slides along the guide piece, can play a limiting and guiding role in the reciprocating translational motion of the actuating piece 42, assists in keeping the stability of the linear motion of the actuating piece 42, and the actuating piece 42 drives the opening and closing driving piece 25 to stably move linearly, so that the jaw member 24 is driven to stably move in an opening and closing manner, and the operation quality is ensured.

In one embodiment, the guide is a slide or rail and the slide is a slide, the slide being secured to the base 112 and the slide being secured to the drive fork 424.

Optionally, referring to fig. 5, 6 and 8, the distal end of the sleeve 12 extends out of the bracket 11, the outer circumference of the distal end of the sleeve 12 is further provided with an operating portion 123, the operating portion 123 has a shape suitable for being connected with a mounting and dismounting tool, and is used for being connected with the mounting and dismounting tool, and the sleeve 12 can be driven to rotate around its own axis by operating the operating portion 123 with the mounting and dismounting tool. When the surgical instrument 100 is used, an internal ultrasonic knife bar (i.e., the mandrel 22) needs to be connected with the energy output interface 302 of the ultrasonic transducer 300, and the common ultrasonic transducer 300 and the ultrasonic knife bar are connected by threads, so that in order to ensure stable connection, a disassembling tool, such as a fixed-force wrench 400 shown in fig. 10, needs to be used each time of installation to assist in ensuring that the locking force of the threaded connection is kept consistent; through setting up operation portion 123, cooperation assembly and disassembly tools can operate that sleeve pipe 12 is rotatory, and sleeve pipe 12 drives execution assembly 2 in step and rotates for ultrasonic transducer 300 to with execution assembly 2 convenient firm with ultrasonic transducer 300's energy output interface 302 fixed connection, improve dismouting efficiency, convenient to use is laborsaving, the practicality is strong.

In one embodiment, the mounting assembly 1 further comprises a housing 14, a proximal end of the housing 14 is provided with an open round port 141, a proximal end of the mandrel 22 is provided with a threaded hole 222, the threaded hole 222 is used for screwing with an energy output interface 302 of the ultrasonic transducer 300, and a distal end of the mandrel 22 is fixedly connected with the ultrasonic blade. The handle 123 is a square feature that mates with a square hole feature 401 at the end of the fixed force wrench 400. The coupling of the surgical instrument 100 to the ultrasonic transducer 300 includes the steps of:

the ultrasonic transducer 300 is passed through the open circular port 141 in the housing 14 and the ultrasonic transducer 300 is rotated to initially connect the threaded feature of the energy output interface 302 with the threaded feature of the proximal end of the mandrel 22. Nesting a fixed-force wrench 400 from the distal end of the mandrel 22, so that the square hole feature 401 at the end of the fixed-force wrench 400 is connected with the square feature of the operating part 123 on the sleeve 12; fixing the ultrasonic transducer 300, rotating the fixed wrench 400 along the circumferential direction of the sleeve 12, transmitting a torque force from the fixed wrench 400 to the mandrel 22 through the sleeve 12 and the positioning member 13, rotating the mandrel 22 relative to the ultrasonic transducer 300, and further screwing the threaded connection between the mandrel 22 and the energy output interface 302 until the torque force set by the fixed wrench 400 is reached, at which time, the connection between the surgical instrument 100 and the energy output interface 302 of the ultrasonic transducer 300 is completed. The fixed wrench 400, in cooperation with the square feature of the operation portion 123, can fix the mandrel 22 to the energy output interface 302 of the ultrasonic transducer 300 conveniently and stably.

Optionally, the mounting assembly 1 further includes a locking member 15 and a sleeve bearing 16, an outer ring of the sleeve bearing 16 is fixedly connected with the bracket 11, the sleeve 12 is supported on an inner ring of the sleeve bearing 16, the locking member 15 is fixedly connected with the sleeve 12, and the locking member 15 abuts against the inner ring of the sleeve bearing 16 to fixedly connect the sleeve 12 with the inner ring of the sleeve bearing 16, so that the axial displacement between the sleeve 12 and the bracket 11 can be restrained, and the sleeve 12 can only rotate around its central axis; and the external diameter of retaining member 15 is less than or equal to the inner circle external diameter of sleeve bearing 16, can effectively avoid retaining member 15 to interfere sleeve pipe 12 and rotate, and then guarantee the reliable and stable rotation of executive component 2, guarantee the operation quality, the practicality is strong.

In one embodiment, the locking member 15 is an axial nut, the outer surface of the distal end of the sleeve 12 is provided with external threads, and forms a thread pair with the internal threads of the inner surface of the axial nut, a pair of sleeve bearings 16 are arranged outside the sleeve 12, and the sleeve bearings 16 are arranged in the annular groove 261 of the base 112; when the shaft end locking nut is screwed from the distal end of the sleeve 12 to the bottom position of the base 112, the sleeve 12, the sleeve bearing 16 and the base 112 can be restrained from axial displacement relative to each other.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (16)

1. A surgical instrument, comprising:

a mounting assembly for connection to a surgical robot;

an actuator assembly including an end effector disposed at a distal end thereof, a proximal end of the actuator assembly being rotatably coupled to the mounting assembly; and

first actuating mechanism, including first drive assembly and flexible drive spare, first drive assembly set up in on the installation component, flexible drive spare with first drive assembly transmission is connected, flexible drive spare with execution component's near-end transmission is connected, first drive assembly can rotate and drive flexible drive spare motion, flexible drive spare drives execution component rotates around self longitudinal axis.

2. The surgical instrument of claim 1,

the mounting assembly comprises a bracket and a sleeve, the sleeve is arranged on the bracket, and the sleeve can rotate around the longitudinal axis of the sleeve; the near end of the execution assembly penetrates through the sleeve, and the near end of the execution assembly is connected with the sleeve.

3. The surgical instrument of claim 2,

the first driving assembly comprises a driving wheel, the driving wheel can be rotatably arranged on the support, one end of the flexible transmission part is fixedly connected to the driving wheel, and the other end of the flexible transmission part is fixedly connected to the sleeve.

4. The surgical instrument of claim 3,

the first driving mechanism comprises a plurality of flexible transmission pieces.

5. The surgical instrument of claim 3,

the periphery of action wheel and/or the sheathed tube periphery is seted up the spacing groove, flexible transmission spare connect in the spacing inslot.

6. The surgical instrument of claim 2,

the first driving assembly is provided with a zero position corresponding to the initial rotating position of the executing assembly;

the first driving mechanism further comprises a return part, one end of the return part is connected with the support, the other end of the return part is connected with the first driving assembly, the return part is elastic, and the return part can generate a moment towards the zero-position rotation to the first driving assembly.

7. The surgical instrument of claim 2,

the actuating assembly further comprises a mandrel and an outer tube, the mandrel extends along the longitudinal axis of the actuating assembly, the end effector is connected to the distal end of the mandrel, the proximal end of the mandrel is used for connecting the ultrasonic transducer, and the outer tube is sleeved outside the mandrel;

a sleeve positioning hole is formed in the periphery of the near end of the sleeve, an outer tube positioning hole is formed in the periphery of the near end of the outer tube, and a mandrel positioning hole is formed in the periphery of the near end of the mandrel;

the installation component further comprises a positioning piece, the near end of the mandrel and the near end of the outer tube are arranged in the sleeve in a penetrating mode, and the positioning piece is arranged in the sleeve positioning hole, the outer tube positioning hole and the mandrel positioning hole in a penetrating mode simultaneously so as to connect the sleeve, the mandrel and the outer tube.

8. The surgical instrument of claim 7,

the actuating assembly further comprises a jaw member and an opening-closing driving piece, the jaw member is arranged at the distal end of the actuating assembly and is adjacent to the end effector, the opening-closing driving piece extends along the longitudinal direction of the actuating assembly, and the distal end of the opening-closing driving piece is connected with the jaw member;

the opening and closing drive is capable of translational reciprocating motion relative to the mandrel along the longitudinal direction of the execution assembly to drive the opening and closing motion of the jaw members relative to the end effector.

9. The surgical instrument of claim 8,

the surgical instrument further comprises a second driving mechanism, the second driving mechanism comprises a second driving component and an actuating component, the second driving component is arranged on the bracket and is in transmission connection with the actuating component, and the actuating component is connected with the proximal end of the opening and closing driving component;

the second driving component can rotate and drive the actuating piece to do reciprocating motion along the longitudinal translation of the executing component, and the actuating piece drives the opening and closing driving piece to move.

10. The surgical instrument of claim 9,

the opening and closing driving piece is tubular, the opening and closing driving piece is sleeved between the mandrel and the outer pipe, and the periphery of the near end of the opening and closing driving piece is provided with a strip hole which extends along the axial direction of the opening and closing driving piece; the locating element wears to locate simultaneously rectangular hole, sleeve pipe locating hole, outer tube locating hole and in the dabber locating hole, just the locating element can for the driving piece that opens and shuts follows rectangular hole translation motion.

11. The surgical instrument of claim 9,

the near end of the opening and closing driving piece is fixedly provided with a connecting structure, and the connecting structure comprises a ring groove; the actuating piece is provided with an installation ring, an inner ring of the installation ring is provided with a ring rib in an inward protruding mode, the installation ring is sleeved outside the near end of the actuating component, and the ring rib is connected with the ring groove in a matched mode so as to connect the near end of the opening and closing driving piece with the actuating piece.

12. The surgical instrument of claim 11,

the actuating piece is further provided with a limiting pipe, the limiting pipe is coaxial with the mounting ring and connected to one axial end of the mounting ring, the limiting pipe is sleeved outside the near end of the sleeve, and at least part of the limiting pipe covers the sleeve positioning hole.

13. The surgical instrument of claim 9,

the second driving mechanism further comprises a guide assembly, the guide assembly comprises a guide piece and a sliding piece, the guide piece is fixedly arranged on the support, and the guide piece is parallel to the longitudinal axis of the executing assembly; the sliding piece is arranged on the guide piece in a sliding mode, and the actuating piece is fixedly connected with the sliding piece.

14. The surgical instrument of claim 2,

the distal end of sleeve pipe stretches out the support, the distal end periphery of sleeve pipe still is provided with the operating portion, the operating portion has the shape with assembly and disassembly tools looks adaptation, operates the operating portion can drive the sleeve pipe rotates around self axis.

15. The surgical instrument of claim 2,

the mounting assembly further comprises a sleeve bearing and a locking piece, an outer ring of the sleeve bearing is fixedly connected with the support, the sleeve is supported on an inner ring of the sleeve bearing, the locking piece is fixedly connected with the sleeve, and the locking piece is abutted against the inner ring of the sleeve bearing so as to fixedly connect the sleeve with the inner ring of the sleeve bearing; and the outer diameter of the locking piece is smaller than or equal to the outer diameter of the inner ring of the sleeve bearing.

16. A surgical robot, characterized in that it comprises a slave operation device, a master operation device and a surgical instrument according to any one of claims 1 to 15;

the slave manipulation apparatus comprises at least one robotic arm to which the surgical instrument is detachably mounted; 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.

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