CN215914801U

CN215914801U - Surgical instrument

Info

Publication number: CN215914801U
Application number: CN202121794444.9U
Authority: CN
Inventors: 孔维阳
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-08-03
Filing date: 2021-08-03
Publication date: 2022-03-01
Anticipated expiration: 2031-08-03

Abstract

The utility model relates to a surgical instrument. The surgical instrument comprises: an end effector; a connecting part; a joint structure, including at least one joint unit, the distal end of the joint structure is rotatably connected to the proximal end of the end effector, and the proximal end of the joint structure is rotatably connected to a distal end of the connecting portion; and a drop-proof cable assembly including at least one drop-proof cable; the drop-proof cable connects each of the joint units, and the proximal end of the drop-proof cable assembly is connected To the connecting portion, a distal end is connected to the end effector. Since the anti-drop cable is connected to each joint unit, and the proximal end of the anti-drop cable assembly is connected to the connecting portion, and the distal end is connected to the end effector, each joint unit can be held with the connecting portion and the end effector, respectively. connection, which in turn reduces the risk of the joint unit falling off during surgery.

Description

Surgical instrument

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a surgical instrument.

Background

Surgical instruments adopted in minimally invasive surgery are generally connected to an end effector through joint structures so as to realize multi-angle control of the end effector and reduce damage to other tissues in the surgery process. A general surgical instrument mainly adopts a direct joint structure and a snake-shaped joint structure, and the two joint structures respectively control a pitch angle and a yaw angle on different planes so as to realize the decoupling of the pitch freedom degree and the yaw freedom degree. The roll angle of the surgical instrument is the rotation range of a human hand, and the perceptual control can be easily realized when the surgical instrument is used on a surgical robot.

For hand-held surgical instruments, the gimbal joint structure and ball pair joint structure are more common when involving the use of rolling motion, and both joint structures are characterized by: the pitch and the yaw of each pair of joint pairs are in the same plane, so that the jumping phenomenon of the rolling of the tail end of the surgical instrument after the yaw when the pitch and the yaw are not coplanar is avoided. Surgical instruments employing either a gimbal joint configuration or a ball-and-socket joint configuration typically include a control cable for controlling the rotation of the joint configuration and a drive cable for driving an end effector to perform an action. The universal joint structure and the ball pair joint structure have to tension a plurality of joint units through control cables to form a rotary motion pair. The drive cables of the end effector are typically routed through the central bores of the plurality of joint units and then connected to the end effector.

During the operation, when the control cables are loosened, only the transmission cables of the end effector are left to restrain the plurality of joint units, and once the transmission cables of the end effector are broken, the joint units fall off, so that uncontrollable risks are caused to the operation.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a surgical instrument capable of reducing the risk of dropping the joint unit in the surgical procedure in view of the risk of dropping the joint unit in the joint structure of the surgical instrument in the surgical procedure.

An embodiment of the present application provides a surgical instrument, including:

an end effector;

a connecting portion;

the joint structure comprises at least one joint unit, the far end of the joint structure is rotationally connected with the near end of the end effector in a ball pair mode, the near end of the joint structure is rotationally connected with the far end of the connecting part in a ball pair mode, the near end of each joint unit is provided with a first connecting structure, the far end of each joint unit is provided with a second connecting structure, and any one of the first connecting structure and the second connecting structure is a ball head structure or a ball socket structure; and

the anti-drop cable assembly comprises at least one anti-drop cable; the anti-drop cable is connected with each joint unit, the near end of the anti-drop cable assembly is connected to the connecting part, and the far end of the anti-drop cable assembly is connected to the end effector.

In one embodiment, the joint structure comprises one of the joint units.

In one embodiment, the joint structure comprises at least two joint units, at least two joint units are arranged in sequence along the direction from the proximal end to the distal end of the joint structure, and adjacent joint units are rotatably connected in a ball pair manner.

In one embodiment, the surgical instrument further comprises:

a control cable passing through at least one of the joint units, a distal end of the control cable being connected to the end effector; and

and the control part is arranged on the connecting part, is connected with the near end of the control cable and is used for controlling the control cable to drive the joint structure to act.

In one embodiment, at least one of the drop prevention cables is the same cable as the control cable.

In one embodiment, each of the anti-drop cables is connected to each of the joint units in turn in a proximal to distal direction of the joint structure.

In one embodiment, the drop-preventing cable assembly includes at least two drop-preventing cables, wherein at least one drop-preventing cable is connected to a partial number of the joint units, and all the drop-preventing cables are connected to all the joint units in total.

In one embodiment, the first connecting structure and the second connecting structure in the same joint unit are both a ball-head structure or a ball-socket structure.

In one embodiment, the joint structure comprises at least two joint units, at least two joint units are arranged in sequence along the direction from the proximal end to the distal end of the joint structure, and adjacent joint units are rotationally connected in a ball pair manner; in two adjacent joint units, the first connecting structure and the second connecting structure of one joint unit are both ball head structures, and the first connecting structure and the second connecting structure of the other joint unit are both ball socket structures.

In one embodiment, the first connecting structure and the second connecting structure in the same joint unit are a ball head structure, and the second connecting structure is a ball socket structure; or the second connecting structure is a ball head structure, and the first connecting structure is a ball socket structure.

In one embodiment, the joint structure comprises at least two joint units, at least two joint units are arranged in sequence along the direction from the proximal end to the distal end of the joint structure, and adjacent joint units are rotationally connected in a ball pair manner; and in two adjacent joint units, the first connecting structure of one joint unit is matched with the second connecting structure of the other joint unit.

In one embodiment, the joint unit includes: the first connecting structure is arranged at the near end of the main body piece, and the second connecting structure is arranged at the far end of the main body piece.

In an embodiment, the main body member has a protruding portion protruding from the first connecting structure and the second connecting structure, and the protruding portion is provided with a through hole for the anti-drop cable to pass through.

In an embodiment, a connection structure is arranged on the joint unit, and a through hole for the anti-drop cable to pass through is arranged on the connection structure.

According to the surgical instrument, the anti-drop cable is connected with each joint unit, the near end of the anti-drop cable assembly is connected to the connecting portion, and the far end of the anti-drop cable assembly is connected to the end effector, so that each joint unit can be respectively connected with the connecting portion and the end effector, and the risk that the joint units drop in the surgical process is reduced.

Drawings

FIG. 1 is a schematic structural view of a surgical instrument according to a first embodiment;

FIG. 2 is a partial exploded view of the surgical instrument of FIG. 1;

FIG. 3 is a schematic view of the end effector of FIG. 1 with an included angle between the joint structure and the joint;

fig. 4 is an exploded view of two adjacent joint units of fig. 1.

The reference numbers illustrate:

a surgical instrument 100;

an end effector 110; a first mating structure 111;

a connecting portion 120; a second mating structure 121;

a joint unit 131; a first connection structure 1311; a second connecting structure 1312; a body member 1313; a projection 1313 a; a through hole 101;

a control cable 142; cable 141 is prevented from falling.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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 intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, a surgical instrument 100 is provided according to a first embodiment of the present application. The surgical instrument 100 includes: end effector 110, link 120, articulation structure, and drop-resistant cable assembly.

End effector 110 may be of various types, such as needle holders, graspers, separation forceps, scissors, hooks, spatulas, and the like.

The proximal end of the link 120 (the end remote from the end effector 110) is used to connect to an operating handle or the end of a robotic arm of a surgical robot. Of course, the connecting portion 120 may be directly used as a handle, and the handle does not need to be additionally disposed. The connecting portion 120 may be a tube or a rod.

The distal end of the joint structure is rotatably connected to the proximal end of the end effector 110, and the proximal end of the joint structure is rotatably connected to the distal end of the link 120, so as to adjust the rotation angle, such as pitch angle, yaw angle, etc., of the end effector 110 relative to the link 120. Here, the distal end refers to an end close to a surgical object (i.e., a patient) of the surgical instrument, and the proximal end refers to an end close to a surgical operator (i.e., a medical staff or a surgical robot). For convenience of description, reference to the ends of the components will be made in terms of distal and proximal ends.

The joint structure includes at least two joint units 131. At least two joint units 131 are arranged in sequence along the direction from the proximal end to the distal end of the joint structure, and the adjacent joint units 131 are rotatably connected, so that the rotation angle of the end effector 110 relative to the connecting part 120 can be adjusted when the adjacent joint units 131 rotate relatively, and the flexibility of adjusting the angle of the end effector 110 is improved. As shown in fig. 1 to 3, in the present embodiment, the number of the joint units 131 is four, and the four joint units 131 are sequentially arranged in the proximal to distal direction of the joint structure. Of course, the number of joint units 131 may also be two, three, five or more, etc.

As shown in FIG. 1, the proximal end of the end effector 110 has a first mating structure 111, and the first mating structure 111 is rotatably connected to a joint unit 131 at the distal end of the joint structure. The distal end of the connecting portion 120 has a second mating structure 121, and the second mating structure 121 is rotatably connected to a joint unit 131 at the proximal end of the joint structure. The adjacent joint units 131 are rotatably connected. In this embodiment, the joint structure is a ball pair joint structure, and the adjacent joint units 131 are connected in a ball pair manner, the first matching structure 111 is connected in a ball pair manner with the joint unit 131 at the distal end of the joint structure, and the second matching structure 121 is connected in a ball pair manner with the joint unit 131 at the proximal end of the joint structure.

Specifically, referring to fig. 2 and 4, each joint unit 131 has a first coupling structure 1311 at a proximal end and a second coupling structure 1312 at a distal end. In two adjacent joint units 131, the first connection structure 1311 and the second connection structure 1312 of one joint unit 131 are both ball head structures, and the first connection structure 1311 and the second connection structure 1312 of the other joint unit 131 are both ball socket structures. Therefore, in two adjacent joint units 131, the ball structure of one joint unit 131 and the ball-and-socket structure of the other joint unit 131 form a pair of ball pairs, so that the two adjacent joint units 131 can rotate relatively.

The drop-preventing cable assembly includes at least one drop-preventing cable 141, that is, the number of the drop-preventing cables 141 may be one or more than two. As shown in fig. 2, in the present embodiment, the number of the drop-preventing cables 141 is four, but two, three, five, or the like may be used as the drop-preventing cables 141. When the number of the anti-drop cables 141 is more than two, the arrangement direction of each anti-drop cable 141 is along a first direction, wherein the first direction may be any direction forming an included angle with the direction from the proximal end to the distal end of the joint structure. As shown in fig. 1 to 2, in the present embodiment, the drop-preventing cables 141 are circumferentially arranged in a direction perpendicular to the proximal-to-distal direction.

A drop-preventing cable 141 connects each joint unit 131. As shown in fig. 1 to 2, in the present embodiment, each drop-preventing wire 141 is connected to each joint unit 131 in turn along the proximal to distal direction of the joint structure, that is, each drop-preventing wire 141 is connected to four joint units 131 in turn in the four drop-preventing wires 141. Also, the drop-prevention cable assembly has a proximal end connected to the connection 120 and a distal end connected to the end effector 110, and each drop-prevention cable 141 has a proximal end connected to the connection 120 and a distal end connected to the end effector 110.

In the surgical instrument 100, the joint structure includes at least one joint unit 131. The distal end of the articulation structure is pivotally connected to the proximal end of the end effector 110 and the proximal end of the articulation structure is pivotally connected to the distal end of the linkage 120 to adjust the angle of rotation of the end effector 110 relative to the linkage 120. During operation, since the drop-proof cable 141 is connected with each joint unit 131, the proximal end of the drop-proof cable assembly is connected with the connecting part 120, and the distal end of the drop-proof cable assembly is connected with the end effector 110, each joint unit 131 can be kept connected with the connecting part 120 and the end effector 110, and the risk that the joint unit 131 falls off during operation is reduced.

In other embodiments, the first connection structure and the second connection structure in the same joint unit may be different, that is, one of the first connection structure and the second connection structure is a ball-head structure, and the other is a ball-socket structure, so that when two adjacent joint units are connected, the first connection structure of one joint unit is matched with the second connection structure of the other joint unit.

Referring to fig. 1 to fig. 3, further, the surgical instrument 100 further includes: a control cable 142 and a control (not shown). It should be noted that, in the present embodiment, the control cable 142 and the drop-prevention cable 141 are common cables, that is, each cable 141 is both the control cable 142 and the drop-prevention cable 141.

The manipulation unit is disposed on the connection unit 120. The distal end of the control cable 142 is connected to the end effector 110, and the proximal end of the control cable 142 is connected to the manipulating part, so that the control cable 142 can be controlled to be tightened or loosened by the manipulation of the manipulating part, so that the control cable 142 drives the joint structure to move.

The specific structure of the control part can adopt the prior art. The control principle that the control cable 142 drives the joint structure to move by controlling the tension and the release of the control cable 142 through the movement of the control part can also adopt the prior art, and therefore, the description is omitted here.

Since each control cable 142 and each anti-drop cable 141 are common cables, each control cable 142 sequentially passes through each joint unit 131 along the proximal-to-distal direction of the joint structure, and the risk that all joint units 131 of the joint structure drop can be effectively reduced.

Further, because the control cable 142 and the anti-drop cable 141 are shared cables, when the control cable 142 is configured during the assembly of the surgical instrument 100, the control cable 142 sequentially passes through each joint unit 131, and the control cable 142 can be used as the anti-drop cable 141 at the same time, so that the anti-drop cable does not need to be additionally configured, and the risk of dropping the joint units is effectively reduced while the surgical instrument 100 is simple in structure.

Referring to fig. 2 and 4, in one embodiment, the joint unit 131 further includes a main body 1313. The first connection structure 1311 is provided at a proximal end of the main body piece 1313, and the second connection structure 1312 is provided at a distal end of the main body piece 1313. That is, the main body 1313 is spaced between the first connecting structure 1311 and the second connecting structure 1312, the total length from the proximal end to the distal end of a single joint unit 131 is extended (compared to the prior art), so that the joint structure can realize a larger angle variation range with a smaller number of joint units 131, and further, the angle of the end effector 110 can have a larger adjustment range with a simple structure of the surgical instrument 100.

Specifically, the main body 1313 may be a plate (a plate having any shape such as a circle or a square), a column (e.g., a cylinder or a prism), a truncated cone (e.g., a truncated cone or a truncated pyramid), or another irregular shape, which is not limited herein.

Referring to fig. 4 in combination with fig. 1 to 3, in an embodiment, the main body 1313 has a protrusion 1313a protruding from the first connection structure 1311 and the second connection structure 1312 along the second direction. In this embodiment, the protruding direction (i.e., the second direction) of the protruding portion 1313a is perpendicular to the proximal-to-distal direction of the main body 1313, but may be at other angles. The protrusion 1313a is provided with a through hole 101 through which the drop-preventing cord 141 passes, so that the drop-preventing cord 141 is conveniently connected to the joint unit 131. Moreover, since the drop-preventing cord 141 passes through the through hole 101, the drop-preventing cord 141 can move relative to the joint unit 131 along the through hole 101, and interference of the drop-preventing cord 141 with the movement of the joint unit 131 can be prevented or reduced.

In other embodiments, another connection structure may be provided on the joint unit, and a through hole through which the drop-prevention cable passes is provided on the connection structure, so that the drop-prevention cable can be connected to the joint unit and can move relative to the joint unit as well. The connecting structure is for example a connecting ring.

In another embodiment, the manner of connecting the drop-preventing cable with the corresponding joint unit may be other manners. For example, the corresponding connection point on the drop-proof cable is fixedly connected with the corresponding joint unit, such as being bonded, clamped, etc., and is not limited in particular herein. In this case, a sufficient active length of the section of the drop-preventing cable between the two connection points of the drop-preventing cable corresponding to the adjacent joint units can be reserved to prevent or reduce interference of the drop-preventing cable with the movement of the joint units.

A second embodiment of the present application provides a surgical instrument (not shown). The surgical instrument of the second embodiment has substantially the same basic structure as the surgical instrument 100 of the first embodiment, and the description of the same parts is omitted. The following focuses on the differences between the surgical instrument of the second embodiment and the surgical instrument 100 of the first embodiment.

In this embodiment, the control cable and the drop-preventing cable are two types of cables configured separately. Wherein, the configuration of preventing falling the cable specifically does: each of the drop-prevention cables connects each of the joint units in turn in the proximal-to-distal direction of the joint structure, but, unlike the first embodiment, in this embodiment, the proximal end of the drop-prevention cable may be directly connected to the connection portion without being connected to the manipulation portion (may not be connected to the manipulation portion since the drop-prevention cable does not need to be manipulated).

The configuration of the control cable in the present embodiment is different from that in the first embodiment in that: the control cables in this embodiment are passed through some of the joint units at intervals in the proximal-to-distal direction of the joint structure, and not all of the joint units, that is, the control cables in this embodiment are configured in the manner of the control cables in the prior art.

In the surgical instrument in the embodiment, although the control cable and the drop-proof cable are respectively and independently configured to be used as two types of cables, in the surgical process, because the drop-proof cable is connected with each joint unit, the proximal end of the drop-proof cable assembly is connected to the connecting part, and the distal end of the drop-proof cable assembly is connected to the end effector, each joint unit can be respectively connected with the connecting part and the end effector, and the risk that the joint units fall off in the surgical process is reduced.

In other embodiments, the control cable may not be configured, and other control structures in the prior art may be used to control the motion of the joint structure. Since the drop-proof cable is connected to each joint unit, and the proximal end of the drop-proof cable assembly is connected to the connecting portion and the distal end is connected to the end effector, the risk of dropping the joint unit during the operation can also be reduced.

A third embodiment of the present application provides a surgical instrument (not shown). The surgical instrument of the third embodiment has substantially the same basic structure as the surgical instruments of the first and second embodiments, and the description of the same parts is omitted. The following description focuses on the differences between the surgical instrument of the third embodiment and the surgical instruments of the first and second embodiments.

The anti-falling cable assembly comprises at least two anti-falling cables, wherein the at least one anti-falling cable is connected with the joint units in the number equal to the connecting parts, and all anti-falling cables are connected with all the joint units in total.

For example, the number of the drop-preventing cables is two, and the drop-preventing cables are respectively a first drop-preventing cable and a second drop-preventing cable. The number of the joint units of the joint structure is four, and the joint structure is provided with a first joint unit, a second joint unit, a third joint unit and a fourth joint unit which are sequentially connected. Wherein the first drop-proof cable is connected to the first joint unit and the second joint unit in sequence (the third joint unit and the fourth joint unit are not connected), and the second drop-proof cable is connected to the third joint unit and the fourth joint unit in sequence (the first joint unit and the second joint unit are not connected). As can be seen, in the present embodiment, each drop prevention cable connects only a partial number of joint units, but all the drop prevention cables of the drop prevention cable assembly are combined to connect all the joint units in total.

Because the anti-drop cable is connected with each joint unit, the near end of the anti-drop cable assembly is connected with the connecting part, and the far end of the anti-drop cable assembly is connected with the end effector, each joint unit can be respectively connected with the connecting part and the end effector, and the risk that the joint units drop in the operation process is reduced.

In yet another embodiment, the number of drop resistant cables is six, with two being separate drop resistant cables configured separately (i.e., not shared with the control cables) and four being shared with the control cables. The number of the joint units of the joint structure is four, and the joint structure is provided with a first joint unit, a second joint unit, a third joint unit and a fourth joint unit which are sequentially connected. Wherein, each independent anti-drop cable is connected with the first joint unit and the third joint unit in turn (the second joint unit and the fourth joint unit are not connected), and the shared anti-drop cable is connected with the first joint unit and the third joint unit in turn (the second joint unit and the fourth joint unit are not connected). As can be seen, in the present embodiment, each drop prevention cable connects only a partial number of joint units, but all the drop prevention cables of the drop prevention cable assembly are combined to connect all the joint units in total.

In other embodiments, separate drop cables or a common drop cable may also connect each joint unit in turn.

A fourth embodiment of the present application provides a surgical instrument (not shown). The surgical instrument in this embodiment has substantially the same basic structure as the surgical instruments in the first, second, and third embodiments, and the description of the same parts is omitted. The following description focuses on the differences between the surgical instrument of the fourth embodiment and the surgical instruments of the first, second and third embodiments.

In this embodiment, the joint structure includes only one joint unit, and the distal end of the one joint unit may be rotatably connected to the proximal end of the end effector by the first engagement structure, and the proximal end of the one joint unit may be rotatably connected to the distal end of the connecting portion by the second engagement structure, so that the rotation angle of the end effector relative to the connecting portion can also be adjusted. Since the joint structure includes only one joint unit, each drop-preventing cable is connected to the one joint unit.

In this embodiment, the joint structure is a ball joint structure. The proximal end of the one joint unit has a first connecting structure and the distal end has a second connecting structure. The first connecting structure and the second connecting structure may be the same or different. And either one of the first connecting structure and the second connecting structure is a ball head structure or a ball-and-socket structure, the first connecting structure and the second matching structure of the joint unit can be matched in a ball pair manner, so that the joint unit is rotatably connected to the far end of the connecting part. Similarly, the second connecting structure and the first matching structure of the joint unit can be matched in a ball pair manner, so that the joint unit can be rotatably connected to the proximal end of the end effector.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical instrument (100), characterized in that, comprising:

end effector (110);

connecting part (120);

A joint structure, comprising at least one joint unit (131), the distal end of the joint structure is rotatably connected to the proximal end of the end effector (110) in the manner of a ball pair, and the proximal end of the joint structure is a ball pair It is rotatably connected to the distal end of the connecting part (120), wherein the proximal end of each joint unit (131) has a first connecting structure (1311), and the distal end has a second connecting structure (1312), so any one of the first connection structure (1311) and the second connection structure (1312) is a ball head structure or a ball socket structure; and

An anti-drop cable assembly, comprising at least one anti-drop cable (141); the anti-drop cable (141) is connected to each of the joint units (131), and the proximal end of the anti-drop cable assembly is connected To the connecting portion (120), the distal end is connected to the end effector (110).

2. The surgical instrument (100) according to claim 1, wherein the joint structure comprises one of the joint units (131).

3. The surgical instrument (100) according to claim 1, wherein the joint structure comprises at least two joint units (131), and along the direction from the proximal end to the distal end of the joint structure, at least two The joint units (131) are arranged in sequence, and the adjacent joint units (131) are connected in rotation in the form of ball pairs.

4. The surgical instrument (100) according to any one of claims 1 to 3, characterized in that, further comprising:

a control cable passing through at least one of the joint units (131), the distal end of the control cable being connected to the end effector (110); and

The control part is arranged on the connection part (120), and the control part is connected with the proximal end of the control cable.

5. The surgical instrument (100) according to claim 4, wherein at least one of the anti-drop cables (141) and the control cable are the same cable.

6. The surgical instrument (100) according to claim 3, characterized in that, along the direction from the proximal end to the distal end of the joint structure, each of the anti-drop cables (141) is sequentially connected to each of the joints unit (131).

7. The surgical instrument (100) according to claim 1, wherein the first connection structure (1311) and the second connection structure (1312) in the same joint unit (131) are both ball head structures or ball and socket structure.

8. The surgical instrument (100) according to claim 1, wherein the first connection structure and the second connection structure in the same joint unit, the first connection structure is a ball head structure, and the second connection structure is a ball-and-socket structure; or the second connecting structure is a ball-head structure, and the first connecting structure is a ball-and-socket structure.

9. The surgical instrument (100) according to claim 1, wherein the joint unit (131) comprises: a main body (1313), and the first connection structure (1311) is provided on the main body (1311). 1313), the second connecting structure (1312) is provided at the distal end of the main body (1313).

10. The surgical instrument (100) according to claim 9, wherein the main body member (1313) has a protrusion protruding from the first connecting structure (1311) and the second connecting structure (1312) A protruding part (1313a), the protruding part (1313a) is provided with a through hole (101) through which the anti-drop cable (141) passes.