WO2022170795A1

WO2022170795A1 - Surgical instrument and control method therefor, surgical robot and electronic device

Info

Publication number: WO2022170795A1
Application number: PCT/CN2021/129198
Authority: WO
Inventors: 侯海山; 张秀坤; 柳建飞; 潘鲁锋
Original assignee: 诺创智能医疗科技(杭州)有限公司
Priority date: 2021-02-10
Filing date: 2021-11-08
Publication date: 2022-08-18

Abstract

A surgical instrument and a control method therefor, a surgical robot and an electronic device. The surgical instrument comprises an end instrument clamp (10), a pitch end (20), and a control end (30); the end instrument clamp (10) is rotatably connected to the pitch end (20), the control end (30) is rotatably connected to the pitch end (20), and when the control end (30) drives the pitch end (20) to rotate, the end instrument clamp (10) swings with respect to the pitch end (20), and the control end (30) is composed of a rigid material. The surgical instrument can prolong the service life and increase the activity space of the end instrument clamp (10), and the surgical robot can control the operation of the surgical instrument with the swing and pitching full dimensions, the calculation precision is high, and the control precision of the surgical instrument is improved.

Description

Surgical instrument and control method thereof, surgical robot and electronic device

technical field

The embodiments of the present application relate to the field of machinery, and in particular, a surgical instrument and a control method thereof, a surgical robot and an electronic device are designed.

Background technique

The surgical instrument is the end instrument clip of the surgical robot, which is installed on the surgical robot to complete the surgical operation inside the human body instead of the human hand. The surgical instrument includes a driven mechanism connected with the instrument driving unit, and an end effector connected with the driven mechanism. The instrument driving unit drives the driven mechanism, thereby driving the end effector to perform surgical operations in the human body instead of human hands.

The driven mechanism of the existing surgical instrument often includes a wire rope. When the end effector is driven by the wire rope, the service life of the surgical instrument is very limited due to the large creep of the wire rope and low transmission efficiency.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a surgical instrument and a control method thereof, a surgical robot and an electronic device, which can effectively avoid the problems of large creep and low transmission efficiency caused by the use of flexible materials such as wire ropes for transmission, and improve the service life of the surgical instrument.

One aspect of the embodiments of the present application also provides a surgical instrument, including:

End instrument clip, pitch end and control end;

The end device clip is rotatably connected with the pitch end, and the control end is rotatably connected with the pitch end;

When the control end drives the pitch end to rotate, the end device clip swings relative to the pitch end, and the control end is made of a rigid material.

An aspect of the embodiments of the present application further provides a surgical robot, including the surgical instrument as described above.

On the one hand, the embodiments of the present application also provide a method for controlling a surgical instrument, including:

Obtain the input quantity of the surgical instrument corresponding to the main operator manipulated by the user, the surgical instrument includes a rotatably connected end instrument clip, a pitch end and a control end, and the input amount of the surgical instrument includes the swing angle of the end instrument clip and/or the pitch angle of the pitch end;

According to the preset calculation formula and the input amount, calculate the displacement amount of the control end corresponding to the swing angle of the end device clip and/or the pitch angle of the pitch end;

The control driving device drives the control end to execute the displacement amount, so as to control the end instrument clip to swing the swing angle and/or the pitch end to pitch the pitch angle.

In one aspect, an embodiment of the present application further provides an electronic device, including: a memory and a processor; the memory stores executable program codes; the processor coupled with the memory invokes all the data stored in the memory. The executable program code is used to execute the surgical instrument control method provided by the above embodiments.

It can be seen from the above embodiments of the present application that the control end is made of rigid material, which effectively avoids the disadvantages of large creep and low transmission efficiency caused by the use of flexible materials such as wire ropes in the prior art, and improves the service life of surgical instruments. And when the terminal instrument clamp adopts the clamp structure, a mathematical model can also be established between the control end and the clamping force of the end device instrument clamp, so as to detect and control the clamping force of the end instrument clamp in the application of the surgical robot. . In addition, under the control of the control end, the end device clip of the present application can follow the pitch end to perform pitch motion, and at the same time, it can swing relative to the pitch end, thereby increasing the total freedom of the end device clip and effectively improving the end device clip. Movement flexibility.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic diagram of an application scenario of a surgical instrument control method provided by an embodiment of the present application;

FIG. 2A is a schematic diagram of the appearance structure of the surgical instrument provided by the embodiment of the application

FIG. 2B is a partial enlarged schematic view of FIG. 2A;

3A is a partially enlarged schematic diagram of an exploded view of a connecting rod structure and a push rod structure of a surgical instrument provided in an embodiment of the present application

3B is a partial enlarged schematic diagram of an exploded view of the surgical instrument provided by the embodiment of the application;

FIG. 3C is a partial enlarged schematic diagram of an exploded view of the surgical instrument provided by the embodiment of the application

FIG. 3D is a schematic structural diagram of the second connecting rod of the surgical instrument provided by the embodiment of the application;

FIG. 4 is a cross-sectional view of the surgical instrument provided by the embodiment of the application;

5 is a partial enlarged view of a second end of a control end of a surgical instrument provided in an embodiment of the present application;

FIG. 6 is another cross-sectional view of the surgical instrument provided by the embodiment of the present application;

FIG. 7A is a front view of a surgical instrument provided by an embodiment of the application;

FIG. 7B is a cross-sectional view of the surgical instrument provided by the embodiment of the application;

7C is a perspective view of the surgical instrument provided by the embodiment of the application;

8A is a schematic diagram of a pitching motion of a pitching end of a surgical instrument provided by an embodiment of the present application;

FIG. 8B is a schematic diagram of the first instrument clip of the surgical instrument provided by the embodiment of the application rotating outward;

FIG. 8C is a schematic diagram of the second instrument clip of the surgical instrument provided by the embodiment of the application rotating outward;

FIG. 8D is a schematic diagram of the tilting end of the surgical instrument and the simultaneous tilting and rotation of the two instrument clips according to the embodiment of the present application;

FIG. 9 is a schematic structural diagram of a surgical robot provided by an embodiment of the application;

FIG. 10 is a flowchart of the implementation of the surgical instrument control method provided by an embodiment of the application;

FIG. 11 is a flowchart for realizing a surgical instrument control method provided by another embodiment of the present application;

12 is a schematic diagram of a partial structure in which a first coordinate system and a second coordinate system are established for the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application;

FIG. 13 is another partial structural schematic diagram of the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application having a first coordinate system established;

FIG. 14 is another partial schematic diagram of a second coordinate system established for the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application;

15 is a schematic diagram of the principle of the first offset crank-slider mechanism of the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application;

16 is a schematic diagram of the principle of the second offset crank-slider mechanism of the second transmission chain of the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application;

17 is a schematic diagram of the principle of the third offset crank slider mechanism of the second transmission chain of the surgical instrument controlled by the surgical instrument control method provided by the embodiment of the application;

FIG. 18 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of an application scenario of a surgical instrument control method provided by an embodiment of the present application. As shown in FIG. 1 , the surgical instrument control method can be used to control the surgical instrument through the terminal. Specifically, the terminal 100 is connected to the main operator 200 and the driving device 300 , and the driving device 300 is also connected to the surgical instrument 400 . The driving device 300 is A linear motor with a linear drive function corresponds to the control end of the push-pull surgical instrument 400, the control end includes a plurality of connecting rods and a plurality of push rods, and controls the swing and/or the end device clip of the surgical instrument 400 through the push-pull of the driving device 300 The pitching of the pitching end, the end instrument clip includes two independently movable instrument clips, which can complete the swing of a single instrument clip and the relative swing of the two instrument clips, that is, the user controls the surgical instrument 400 by manipulating the main operator 200, the main operation The movement of the hand 200 is mapped to the surgical instrument 400, and the movement in three degrees of freedom of pitching at the pitch end and swinging of the end instrument clip is realized. The terminal 100 may be an electronic device such as a PC, a notebook computer, or the like.

2A, 2B, 3A, 3B, 3C, 3D, 4, 5, 6, 7A, 8B and 8C, wherein FIG. 2A and FIG. 2B are schematic diagrams of the appearance structure of the surgical instrument provided by the embodiment of the application, and FIGS. 3A and 3B 3C is a schematic structural diagram of the surgical instrument, FIG. 3D is a schematic structural diagram of the second connecting rod of the surgical instrument, FIG. 4 is a cross-sectional view of the surgical instrument, FIG. 5 is a partial enlarged view of the control end of the surgical instrument, and FIG. 6 For another cross-sectional view of the surgical instrument, Figures 7A, 7B and 7C are views of the surgical instrument from three different angles.

Specifically, the surgical instrument includes an end instrument clip 10 , a pitch end 20 and a control end 30 , all of which are rotationally connected. When the control end 30 drives the pitch end 20 to rotate, the end instrument clip 10 swings relative to the pitch end 20 . The control end 30 is made of a rigid material, has rigidity, and generates rigid conduction force to the pitch end 20 when driven by the driving device 300 .

In the embodiment of the present application, the control end is made of rigid material, which effectively avoids the disadvantages of large creep and low transmission efficiency caused by the use of flexible materials such as wire ropes in the prior art, and improves the service life of the surgical instrument. And when the terminal instrument clamp adopts the clamp structure, a mathematical model can also be established between the control end and the clamping force of the end device instrument clamp, so as to detect and control the clamping force of the end instrument clamp in the application of the surgical robot. . In addition, under the control of the control end, the end device clip of the present application can follow the pitch end to perform pitch motion, and at the same time, it can swing relative to the pitch end, thereby increasing the total freedom of the end device clip and effectively improving the end device clip. Movement flexibility.

The control end 30 includes: a control end outer sheath 31, a first control mechanism and a second control mechanism accommodated in the control end outer sheath 31, the first control mechanism is rotatably connected with the end device clip 10 for driving the end device clip 10 swings relative to the pitching end 20 , and the second control mechanism is rotatably connected to the pitching end 20 for driving the pitching end 20 to produce pitching motion relative to the outer sheath 31 of the control end.

The first control mechanism and/or the second control mechanism include a link structure 40 and a push rod structure 50 that are rotatably connected, that is, at least one of the first control mechanism and the second control mechanism includes a link structure 40 and a push rod structure Structure 50.

The link structure 40 is also connected to the pitch end 20 , the push rod structure 50 is also connected to the drive device 300 , and the end instrument clip 10 and the pitch end 20 are connected to the push rod structure 50 through the link structure 40 . The end of the push rod structure 50 is exposed outside the outer sheath 31 of the control end, and is connected to the driving device 300 .

The pitch end 20 is rotatably connected to the control end outer sheath 31 through the rotation shaft 24 of the pitch end. The end instrument clip 10 can swing relative to the pitch end 20 , which can be pitched relative to the control end 30 . Swing and pitch are relatively independent movements that can be done separately or simultaneously.

Driven by the driving device 300, the push rod structure 50 reciprocates linearly in the control end outer sheath 31 along the length direction of the control end outer sheath 31 to drive the link structure 40 to move, and the movement of the link structure 40 further drives the pitch end 20 performs a pitching motion relative to the control end sheath 31 .

Specifically, the terminal instrument clip 10 includes a first instrument clip 11 and a second instrument clip 12 , and the first instrument clip 11 and the second instrument clip 12 are rotatably connected by a mechanical clip rotating shaft 13 . When the first instrument clip 11 and the second instrument clip 12 are rotated along the mechanical clip rotation axis 13, movement in opposite directions occurs.

Further, the link structure and the push rod structure of the first control mechanism respectively include a first link structure and a first push rod structure that are rotatably connected, and a second link structure and a second push rod structure that are rotatably connected. The link structure and the push rod structure of the second control mechanism include a rotatably connected third link structure and a third push rod structure.

The first link structure is rotatably connected with the first instrument clip 11 , the second link structure is rotatably connected with the second instrument clip 12 , and the third link structure is rotatably connected with the pitching end 20 .

Specifically, the first instrument clip 11 includes a first clamping portion 111 and a first pivot portion 112, and the second instrument clip 12 includes a second clamping portion 121 and a second pivot portion 122. Preferably, the first clamping portion The part 111 and the second clamping part 121 are both long plate-shaped, and the first pivoting part 112 and the second pivoting part 122 are respectively protruding and extending from the proximal ends of the first clamping part 111 and the second clamping part 121 Disc-shaped. The planes where the first clamping portion 111 and the second clamping portion 121 are located are respectively perpendicular to the planes where the first pivoting portion 112 and the second pivoting portion 122 are located. The first clamping portion 111 and the second clamping portion 121 are facing each other. The first pivot portion 112 and the second pivot portion 122 face each other.

The tilting end 20 includes two first connecting ears 21, a first gap 22 is formed between the two first connecting ears 21, and the two first connecting ears 21 are connected to the end device clip 10 by rotating the mechanical clip rotating shaft 13, and the first gap 22 is used for accommodating the terminal instrument clip 10 to prevent the tilting end 20 from interfering with the swinging of the terminal instrument clip 10 .

Further, the first link structure in the link structure 40 includes a first link 41, a second link 42, and a third link 43; the second link structure in the link structure 40 includes a fourth link The rod 44, the fifth link 45, the sixth link 46; the third link structure in the link structure 40 includes the seventh link 47; the first push rod structure in the push rod structure 50 includes the first push rod structure The rod 51 , the second push rod structure includes a second push rod 52 ; the third link structure includes a third push rod 53 .

Wherein, the first instrument clip 11 is connected to the first link 41, the second link 42, the third link 43 and the first push rod 51 in sequence through the rotating shaft end to end to form a first transmission chain, wherein the first instrument clip 11 is rotatably connected with the first connecting rod 41 through the first connecting shaft 611 , specifically, the first connecting rod 41 is rotatably connected with the first pivot part 112 of the first instrument clip 11 ; the first connecting rod 41 is connected through the second connecting shaft 612 The second connecting rod 42 is rotatably connected with the second connecting rod 42, the second connecting rod 42 is rotatably connected with the third connecting rod 43 through the third connecting shaft 613, the second connecting rod 42 is slidably connected with the pitching end 20, and the third connecting rod 43 is connected through the fourth connection The shaft 614 is rotatably connected with the first push rod 51 . The first link 41 is rotatably connected to the eccentric part of the first pivot portion 112, and the connection method is preferably peripheral hinge. The connection mode of the first link 41 and the second link 42 is preferably hinged.

The second instrument clip 12 is connected to the fourth link 44 , the fifth link 45 , the sixth link 46 and the second push rod 52 through the rotation shaft end-to-end in sequence as a second transmission chain, wherein the second instrument clip 12 passes through The fifth connecting shaft 621 is rotatably connected with the fourth connecting rod 44 , specifically, the fourth connecting rod 44 is rotatably connected with the second pivot portion 122 of the second instrument clip 12 , and the fourth connecting rod 44 is connected with the first connecting rod 44 through the sixth connecting shaft 622 . The fifth link 45 is rotatably connected, the fifth link 45 is rotatably connected with the sixth link 46 through the seventh connecting shaft 623 , the fifth link 45 is slidably connected with the pitch end 20 , and the sixth link 46 is connected through the eighth connecting shaft 624 It is rotatably connected with the second push rod 52 . The fourth link 44 is rotatably connected to the eccentric part of the second pivot portion 122, and the connection method is preferably peripheral hinge. The connection between the fourth link 44 and the fifth link 45 is preferably hinged. The first transmission chain and the second transmission chain have the same structure and function.

The pitch end 20 is connected with the seventh link 47 and the third push rod 53 to form a third transmission chain through the rotating shaft end-to-end in sequence, wherein the pitch end 20 is rotatably connected with one end of the seventh link 47 through the connecting rod rotating shaft 48, The third push rod 53 is rotatably connected to the other end of the seventh connecting rod 47 through the ninth connecting shaft 631 . In the above structure, the instrument clip, the pitch end, the connecting rod, and the pusher are all made of rigid materials, which avoids possible creep caused by the flexible structure.

Further, referring to FIG. 3D , the structure of the second link 42 is shown in FIG. 3D , and the structure of the fifth link 45 is the same as that of the second link 42 . The second link 42 has a first avoidance groove 421, and the fifth link 45 has a second avoidance groove 451. The first avoidance groove 421 and the second avoidance groove 451 are used to avoid the pitching end 20 when the pitching end 20 performs the pitching action. The rotating shaft 24 makes the second link 42 and the fifth link 45 not interfere with the rotating shaft 24 of the pitch end, whether the surgical instrument is tilted at the pitch end 20 or the end instrument clip 10 swings.

The second escape groove 421 extends from the first end of the second connecting rod 42 toward the second end of the second connecting rod 42 along the length direction of the second connecting rod 42 , and transversely penetrates itself. The rotation axis 24 of the pitch end transversely passes through the second escape groove 421 .

Further, referring to FIG. 4 , the pitching end 20 has a first accommodating cavity 23 for accommodating the second connecting rod 42 and the fifth connecting rod 45 . The pitch end 20 includes a first guide portion 25 connected to the inner wall. Preferably, the outer contour of the first guide portion 25 is in the shape of a circular plate, and is formed with two first guide holes 26 penetrating through itself in the axial direction, and the second link 42 and the fifth link 45 are slidably received in the inside the first guide hole 26 . The first guide hole 26 restricts the movement of the second link 42 and the fifth link 45 and reciprocates in a straight line in the first guide hole 26 . When the second link 42 and the fifth link 45 reciprocate in a straight line in the two first guide holes 26 respectively, the first instrument clip 11 and the second instrument clip 12 are relative to the pitching ends with the mechanical clip rotating shaft 13 as the center of the circle 20 to make a turn.

Further, the lengths of the first escape groove 421 and the fifth escape groove 421 allow the second link 42 and the fifth link 45 to freely reciprocate linearly within the two first guide holes 26 of the pitch end 20 respectively. Preferably, the step 424 of the second end of the second link 42 facing the second escape groove 421 is rounded to avoid stress concentration and also to increase the overall strength of the second link 42 .

Further, the second connecting rod 42 also has a lug 422 , and the lug 422 has a connecting shaft hole 423 , and the connecting shaft 613 passes through the connecting shaft hole 423 to connect the second connecting rod 42 and the third connecting rod 43 . The lugs 422 extend in a direction transverse to the length direction of the second link 42 within the movement plane of the third link 43 . The third link 43 and the lug 422 form a hinged structure. The overall length of the second connecting rod 42 can be shortened, so that the protruding length of the second connecting rod 42 is smaller in the more extreme positions of the surgical instrument relative to the second connecting rod 42 .

Further, in order to better prevent the pitch end and the control end of the surgical instrument from interfering with each other during movement, a plurality of avoidance grooves are also set at other positions where interference occurs.

Specifically, the first link 41 is provided with a third avoidance groove 411, which is used to avoid the rotation shaft 13 of the instrument clip, so as to prevent the first link 41 from interfering with the rotation shaft 13 of the instrument clip during movement and affecting the movement; the fourth link 44 has a fourth avoidance groove 441 with the same shape and function as the third avoidance groove 411, which is used to avoid the rotation shaft 13 of the instrument clip, so as to prevent the fourth link 44 from interfering with the rotation shaft 13 of the instrument clip during movement and affecting the movement.

The third avoidance groove 411 and the fourth avoidance groove 441 are the grooves on the side of the first link 41 and the fourth link 44 facing the rotating shaft 13 of the instrument clip, respectively. The walls of the third escape groove 411 and the fourth escape groove 441 are rounded, and preferably their cross-sections are substantially semicircular to avoid stress concentration.

A fifth avoidance groove 201 , a sixth avoidance groove 202 and a seventh avoidance groove 203 are provided on the pitching end 20 , which are respectively used to avoid the third link 43 , the sixth link 46 and the third link 43 when the pitching end 20 performs pitching motion Seven connecting rods 47, so that the above connecting rods can move in a larger space;

Wherein, the fifth avoidance groove 201 is used to avoid the interference of the relative movement of the third link 43 and the pitch end 20;

The sixth avoidance groove 202 is used to prevent the sixth link 46 from interfering with the relative movement of the pitch end 20;

The seventh avoidance groove 203 is used to prevent the seventh link 47 from interfering with the relative movement of the pitch end 20 .

Further, the first end of the outer sheath 31 of the control end has an eighth avoidance groove 311 and a ninth avoidance groove 312, which are used to avoid the third link 43 and the sixth link 46 respectively. The second end of the end sheath 31 is closer to one end of the pitch end;

Wherein, the eighth avoidance groove 311 is used to avoid the interference of the relative movement of the third connecting rod 43 and the outer sheath 31 of the control end;

The ninth avoidance groove 312 is used to prevent the sixth link 46 from interfering with the relative movement of the control end outer sheath 31 .

Further, as shown in FIG. 5 , the second end of the outer sheath 31 of the control end has a second guide hole 32 , and the first push rod 51 , the second push rod 52 and the third push rod 53 pass through the second guide hole 32 . After passing through, the reciprocating linear motion is carried out in the outer sheath 31 of the control end under the driving of the driving device (not shown in FIG. 5 ). The number of the second guide holes 32 is 1 to 3, preferably 3, respectively accommodating the tail ends of the first push rod 51, the second push rod 52 and the third push rod 53, and the head ends of the three push rods are One ends of the third link 43 , the sixth link 46 and the seventh link 47 are respectively connected. If the number of the second guide holes 32 is two, preferably the first push rod 51 and the second push rod 52 pass through one of the second guide holes 32 , and the third push rod 53 passes through the other second guide hole 32 . pass through.

The outer sheath 31 of the control end is a hollow cylindrical body, and two radially opposite second connecting ears 33 are formed protruding from the end face of the first end. The outer sheath 31 of the control end has a second accommodating cavity 34 for accommodating the third connecting rod 43 , the first push rod 51 , the sixth connecting rod 46 and the second push rod 52 . Two diametrically opposite and circumferentially extending second notches 35 are formed between the two second connecting ears 33 . The plane where the circumferential middle portion of one of the second notches 35 is connected with the circumferential middle portion of the other second notches 35 is preferably located in the plane YZ of the rotation of the distal instrument clip 10 relative to the pitching end 20 . Preferably, the center line connecting the two second notches 35 is perpendicular to the center line connecting the two first notches 22 without any rotation of the surgical instrument. The connecting end connecting the pitching end 20 and the control end 30 is accommodated between the two second connecting ears 35 . Preferably, the peripheral wall of the connecting end of the pitching end 20 is recessed to form two concave portions 27 , and each second connecting lug 33 is engaged with a corresponding concave portion 27 , so that the peripheral wall of the second connecting lug 33 is connected to the pitching end 20 . The outer peripheral wall of the device is flush (as shown in FIG. 4 ), which makes the outer diameter of the pitch end 20 and the outer sheath 31 of the control end uniform after the assembly of the pitch end 20 and the control end 30 is completed, which is also conducive to reducing the overall size of the surgical instrument. Preferably, the bottom wall of the concave portion 27 is flat, and correspondingly, the inner wall of the second connecting lug 33 is also flat. It can be understood that, in other embodiments, other structural cooperation can also be used to make the outer diameter of the pitch end 20 and the control end 30 consistent after the assembly is completed, instead of being limited to the two second connection ears 33 and the two recesses shown in this embodiment. Part 27 fit. The rotation axis 24 of the pitch end connects the pitch end 20 and the outer sheath 31 of the control end, so that the pitch end 20 can rotate relative to the outer sheath 31 of the control end. Both ends of the rotating shaft 24 at the pitching end penetrate through the two concave portions 27 and are connected to the connecting holes on the two second connecting ears 33 .

The second end of the control end outer sheath 31 is provided with a second guide portion 36, the second guide portion 36 is fitted with the second end or has an integral structure, and the shape of the cross section is the same as that of the control end outer sheath 31. Similarly, the second guide portion 36 is provided with a through hole along the long axis direction of the outer sheath 31 of the control end, and the through hole is the second guide hole 32 . In FIG. 5 , three second guide holes 32 are provided as an example. The first push rod 51 , the second push rod 52 and the third push rod 53 are slidably received in the three second guide holes 32 . The three second guide holes 32 restrict the movement of the above three push rods, so that the three push rods reciprocate in a straight line in the second guide holes 32. The control end sheath 31, the first push rod 51, the second push rod 52, the third push rod 53, the first connecting rod 41, the second connecting rod, the third connecting rod, the fourth connecting rod, and the fifth connecting rod, And the sixth link 72 together constitute a translation reversing mechanism. Taking the first push rod 51 driven by the driving device 300 as an example, when the first push rod 51 reciprocates in a straight line in the second guide hole 32, the second link 42 reciprocates in a straight line in the first guide hole 26, Then, the first instrument clip 11 is driven to rotate relative to the pitching end 20 with the mechanical clip rotating shaft 13 as the rotating shaft.

The driving device 300 pushes and pulls each push rod to control the movement of the pitching end 20 and the end device clip 10 , see FIGS. 8A to 8D for details.

8A is a schematic structural diagram of the pitching end 20 being lowered. Pulling the third push rod 53 can make the pitching end 20 move in the direction of the arrow in FIG. 8A , and pushing the third push rod 53 can make the pitching end 20 move in the direction of the arrow in FIG. 8A . movement in the opposite direction;

8B is a schematic structural diagram of the first instrument clip 11 swinging outward. Pulling the first push rod 51 can make the first instrument clip 11 swing away from the second instrument clip 12 in the direction of the arrow in FIG. 8B , and pushing the first push rod 51 can make the first instrument clip 11 swing away from the second instrument clip 12 The first instrument clip 11 swings toward the second instrument clip 12 in the opposite direction of the arrow direction;

FIG. 8C is a schematic view of the structure of the second instrument clip 12 swinging outward. The principle of swinging the first instrument clip 11 is the same. Pulling the second push rod 52 can make the second instrument clip 12 move away from the first instrument in the direction of the arrow in FIG. 8C . The clamp 11 swings, and pushing the second push rod 52 can make the second instrument clamp 12 swing toward the first instrument clamp 11 in the opposite direction of the arrow direction;

FIG. 8D is a schematic structural diagram of the simultaneous movement of the first instrument clip 11 and the second instrument clip 12 and the pitching end 20 , and the directions of the arrows are their moving directions respectively. Specifically, the second link 42 and the fifth link 45 are slidably accommodated in the pitch end 20. Therefore, when the third push rod 53 drives the pitch end 20 to rotate relative to the control end sheath 60 through the seventh link 47 , the second link 42 and the fifth link 45 also rotate relative to the outer sheath 60 of the control end along with the pitch end 20 . As shown in FIG. 7B , when the seventh link 47 drives the pitch end 20 to rotate relative to the control end sheath 60 around the Y ₀ axis in the X ₀ Z ₀ plane through the third push rod 53, the second link 42 The fifth link 45 also rotates in the same direction in the X ₀ Z ₀ plane relative to the outer sheath 60 of the control end along with the pitching end 20 . Since the first push rod 51 and the second push rod 52 do not move, the lugs of the second link 42 and the fifth link 45 (the positions of the lugs 422 of the second link are shown in FIG. 3D , the fifth link The lug of 45 is not shown in the figure, and the position and structure of the lug 422 are the same), and the connection with the third link 43 and the sixth link 46 respectively protrudes outward, that is, to the negative half of the X axis. The axial direction protrudes, and the second link 42 and the fifth link 45 slide along the vertical axis of the pitch end 20 in the guide structure provided inside the pitch end 20, and then pass through the first link 41 and the fourth link respectively. 44 drives the first instrument clamp 11 and the second instrument clamp 12 to swing away from each other, ie the swing angle increases. When driving the pitching end 20 to rotate vertically, on the contrary, when the seventh link 47 drives the pitching end ₂₀ through the third push rod 53 to rotate relative to the control end sheath ₆₀ around the Y0 axis in the _X0Z0 plane , the first instrument clip 11 and the second instrument clip 12 swing relative to each other, that is, the swing angle decreases.

Referring to FIG. 9 , an embodiment of the present invention further provides a surgical robot, including a console 90 and an operating arm 91 supported by the console 90 . The distal end of the operating arm 91 is connected with the driving device 300 and the surgical instrument 920 of the aforementioned embodiment connected with the driving device 300 . In actual surgery, the operator will first determine the desired configuration and/or the position achieved by the end instrument clip 10, and then use the preset surgical instrument control method based on the desired configuration and/or the position achieved by the end instrument clip 10. The control drive 300 brakes the surgical instrument 920, thereby bringing the end instrument clip 10 to the desired configuration and/or position.

Referring to FIG. 10 , an implementation flowchart of a surgical instrument control method provided by an embodiment of the present application. The method can be applied to the terminal 100 shown in FIG. 1 . As shown in FIG. 10 , the method specifically includes:

Step S101, obtaining the input quantity of the surgical instrument corresponding to the main operator controlled by the user;

Specifically, the structure of the surgical instrument is shown in FIGS. 2A to 8D. The surgical instrument includes a rotatably connected end device clip, a pitch end and a control end, and the input of the surgical instrument includes the swing angle of the end device clip and/or The pitch angle of the pitch end. That is, it may be the swing of the end device clip or the pitch of the pitch end, or the swing of the end device clip and the pitch of the pitch end at the same time, and the directions of the swing and the pitch intersect, wherein the swing of the end device clip includes the swing of one device clip or the simultaneous swing of two device clips .

The movement of the main operator has a mapping relationship with the movement of the surgical instrument. When the user controls the main operator, the terminal can obtain the target action of the surgical instrument by acquiring the action of the main operator. The swing angle and/or the pitch angle of the pitch end means, specifically, the swing angle of the first instrument clip is θ ₁ , the swing angle of the second instrument clip is θ ₂ , and the pitch angle of the pitch end is θ ₃ .

Step S102, according to the preset calculation formula and the input amount of the surgical instrument, calculate the displacement amount of the control end corresponding to the swing angle of the end device clip and/or the pitch angle of the pitch end;

Specifically, according to the preset calculation formula, the terminal calculates the displacement of the control end by taking the swing angle of the first instrument clip as θ ₁ , the swing angle of the second instrument clip as θ ₂ , and the pitch angle of the pitch end as θ ₃ as known quantities , that is, the swing angle of the first instrument clip is θ ₁ , the swing angle _of the second instrument clip is θ ₂ , and the pitch angle of the pitching end is θ ₃ . The displacement amount S ₂ and the displacement amount S ₃ of the third push rod.

In step S103, the driving device is controlled to drive the control end to execute the displacement amount, so as to control the swing angle of the end device clip and/or the pitch angle of the pitch end.

Specifically, the terminal control driving device controls the corresponding push rod to execute the displacement amount to control the swing angle of the terminal instrument clip and/or the pitch angle of the pitch end, that is, to control the surgical instrument to achieve a posture corresponding to the main operator.

In the embodiment of the present application, the surgical instrument to be controlled includes a rotatably connected end instrument clip, a pitch end and a control end, the surgical instrument completes the surgical operation through the swing of the end instrument clip and/or the pitch of the pitch end, and requires linear motion of the control end Drive the swing of the end instrument clip and the pitch of the pitch end, obtain the motion of the main operator that has a motion mapping relationship with the surgical instrument, obtain the swing angle of the end instrument clip and/or the pitch angle of the pitch end, and calculate the corresponding linear displacement of the control end , control the drive device to drive the control end to perform the linear displacement, thereby controlling the surgical instrument to realize the movement of the main operator. The operation of the surgical instrument has many dimensions, which can realize more complex operations, greatly reduce creep, and improve service life. The above-mentioned control method for the surgical machine can control the movement of the surgical instrument by obtaining the linear displacement of the control end through the known joint angles such as the end device clamp and the pitch end. control accuracy.

Referring to FIG. 11 , a flowchart of the implementation of a surgical instrument control method provided by another embodiment of the present invention. The method can be applied to the terminal 100 shown in FIG. 1 . As shown in FIG. 11 , the method specifically includes:

Step S201, respectively establishing a coordinate system describing the pitching motion of the pitching end of the surgical instrument and the swing of the terminal instrument clip, respectively establishing a motion model describing the pitching motion of the pitching end and the swinging of the terminal instrument clip, and setting the workspace scope of the surgical instrument;

Taking the midpoint of the rotation axis 24 of the pitch end as the origin N of the first coordinate system, and taking the direction along the rotation axis 24 of the pitch end passing through the origin N of the first coordinate system as the Y ₀ axis direction of the first coordinate system, the first coordinate The origin N of the system is the direction of the Z ₀ axis of the first coordinate system along the direction parallel to the control terminal 30, and the direction of the right-hand coordinate system with the Y ₀ axis and the Z ₀ axis is the X ₀ axis direction of the first coordinate system. the first coordinate system;

Taking the midpoint of the rotation axis 13 of the terminal device clip as the origin M of the second coordinate system, and taking the direction along the rotation axis 13 of the terminal device clip through the origin M of the second coordinate system as the X-axis direction of the second coordinate system, with The direction of the line connecting the origin N of the first coordinate system and the origin M of the second coordinate system is the direction of the Z-axis of the second coordinate system, and the direction of the right-handed coordinate system with the X-axis and the Z-axis is the Y-axis of the second coordinate system direction to establish a second coordinate system.

Specifically, referring to FIGS. 12-14 , there are three different views of partial structures of the end mechanical clamp, the pitch end, the connecting rod and the push rod. A first coordinate system NX ₀ Y ₀ Z ₀ that describes the pitching motion of the pitching end is established, and in combination with the structures shown in the aforementioned figures such as FIGS. 2A-8D , the first push rod 51 passes through the first link 41 in the link structure 40 , the second link 42 and the third link 43 are connected to the first instrument clamp 11 , the swing of the first instrument clamp 11 can be controlled by pushing and pulling the first push rod 51 , and the second push rod 52 is connected through the fourth connection in the connecting rod structure 40 . The rod 44 , the fifth link 45 and the sixth link 46 are connected to the second instrument clamp 12 , and the second instrument clamp 12 can be controlled to swing by pushing and pulling the second push rod 52 , and the third push rod 53 passes through the third push rod 53 in the link structure 40 . The seven-link 47 is connected to the pitching end 20 , and the pitching end 20 can be controlled by pushing and pulling the third push rod 53 , and at the same time, the first instrument clip 11 and the second instrument clip 12 can be swung.

The first coordinate system is established by using the plane formed by the motion trajectory of the pitching end 20 relative to the control end 30 when the pitching motion is performed as the reference coordinate plane of the first coordinate system.

Further, the midpoint of the rotation axis of the pitch end is the origin N of the first coordinate system, and the direction along the rotation axis of the pitch end passing through the origin N of the first coordinate system is the _Y axis of the first coordinate system. The direction of the origin N of the first coordinate system along the direction parallel to the control end is the direction of the Z ₀ axis of the first coordinate system, and the direction that conforms to the Y ₀ axis and the Z ₀ axis of the right-hand coordinate system is the direction of the first coordinate system. The first coordinate system is established in the direction of the X ₀ axis of a coordinate system.

Specifically, the midpoint of the rotation axis 24 of the pitch end is determined as the origin N of the first coordinate system; the origin N of the first coordinate system is pointed to the direction of the second push rod 52 along the rotation axis 24 of the pitch end, and determined as the first coordinate The positive direction of the Y ₀ axis of the system; it will be parallel to the control end 30 and the direction from the control end 30 to the pitching end ₂₀ is determined as the positive direction of the Z ₀ axis of the first coordinate system _; The positive direction of the axis conforms to the direction of the right-hand coordinate system, and is determined as the direction of the X ₀ axis of the first coordinate system; the pitch angle θ ₃ formed when the pitch end 20 rotates counterclockwise around the Y ₀ axis is a positive value, and the pitch end 20 is around the Y ₀ axis. When turning clockwise, the pitch angle θ ₃ is a negative value, and the pitch angle θ ₃ is shown in FIG. 13 .

Further, a second coordinate system M-XYZ is established to describe the swing of the end device clip, see FIGS. 12 and 14 , and FIG. 14 is a schematic diagram of the connection structure of the end device clip and the pitch end.

The second coordinate system is established by using the plane formed by the motion trajectory of the end device clips 10 during relative swinging as the reference coordinate plane of the second coordinate system.

Further, taking the midpoint of the rotation axis of the terminal instrument clip as the origin M of the second coordinate system, and taking the direction along the rotation axis of the terminal instrument clip through the origin M of the second coordinate system as the second coordinate system The direction of the X axis of the second coordinate system is the direction of the line connecting the origin N of the first coordinate system and the origin M of the second coordinate system. The direction of the system is the Y-axis direction of the second coordinate system, and the second coordinate system is established.

Specifically, as shown in FIG. 12 , the midpoint of the rotating shaft 13 of the end device clip is determined as the origin M of the second coordinate system, and the direction from the origin M of the second coordinate system to the third push rod 53 is determined as the first The positive direction of the X axis of the two coordinate system is determined as the positive direction of the Z axis of the second coordinate system from the origin N of the first coordinate system to the origin M of the second coordinate system. The direction in which the direction conforms to the right-hand coordinate system is determined as the positive direction of the Y-axis of the second coordinate system, and the swing angle _θ1 and/or θ2 formed when the end device holder 10 swings counterclockwise around the X _- axis is a positive value, clockwise around the X-axis The swing angles θ ₁ and/or θ ₂ formed during the swing are negative values, and the swing angles θ ₁ and/or θ ₂ are shown in FIG. 14 .

Both the first coordinate system and the second coordinate system are space rectangular coordinate systems.

When θ ₁ =θ ₂ =θ ₃ =0 is set, it is the displacement zero point of the surgical instrument, that is, S ₁ =S ₂ =S ₃ =0 at this time.

Further, establish a first motion model describing the pitching motion of the pitching end and a second motion model for swinging the end device clip: according to the motion forms of the end device clip 10, the pitching end 20 and the control end 30, the pitching end 20, the connecting rod The pitching motion form in which the structure 40 and the push rod structure 50 work together is equivalent to the first offset crank-slider mechanism, and the swinging of the end instrument clamp 10 in which the end instrument clamp 10, the connecting rod structure 40 and the push rod structure 50 work together The motion form is equivalent to the second offset crank-slider mechanism and the third offset crank-slider mechanism.

Specifically, referring to FIGS. 13 and 15 , FIG. 15 is a schematic diagram of the first offset crank-slider mechanism equivalent to the third transmission chain in the surgical instrument, and the 0 position in the figure is the zero position of the surgical instrument before performing the action. , the pitch end 20 is connected with the seventh link 47 and the third push rod 53 to form a third transmission chain through the rotating shaft end to end in sequence, the movement of the third transmission chain is the pitch movement of the pitch end 20, the third transmission chain The chain is equivalent to the first offset crank-slider mechanism, and the motion mode of the first offset crank-slider mechanism is used as the first motion model, wherein the crank rotation center of the first offset crank-slider mechanism is the first coordinate The origin N of the system, the length r ₃ of the crank NB ₃ is the distance between the rotation axis 24 of the pitch end and the connecting rod rotation axis 48 , which connects the pitch end 20 and the seventh link 47 .

Further, the constants of the first offset crank-slider mechanism include: crank length r ₃ , that is, the distance between NB ₃ in FIG. 15 ; connecting rod length l ₃ , that is, the length of the seventh connecting rod 47 , that is, FIG. The distance between B ₃ A ₃ in 15; the slider offset e ₃ , e ₃ is the ninth connecting shaft 631 for connecting the third push rod 53 and the seventh connecting rod 47, and the crank rotation center N The distance on the X ₀ axis on the first coordinate system; at the zero point position, the ninth connecting shaft 631 connecting the third push rod 53 and the seventh connecting rod 47 to the crank rotation center N is in the first coordinate system Z ₀ axis The distance a ₃ from above; the shape angle α ₃ of the crank NB ₃ and the vertical center axis of the pitch end 20 ; the variables of the first offset crank-slider mechanism in motion are: the pitch angle θ ₃ of the pitch end 20, the crank NB The angle between ₃ and the negative semi-axis of the first coordinate system Z ₀ is

Varies with _θ3 .

Further, a second motion model to describe the swing of the end device clip 10 is established, based on the same structure of the first transmission chain and the second transmission chain of the end device clip 10 . The first transmission chain and the second transmission chain of the surgical instrument can be equivalent to the two offsets of the second offset crank-slider mechanism and the third offset crank-slider mechanism from the end mechanical clamp 10 to the control end 30 Crank-slider mechanism.

13 , 16 and 17 , FIG. 16 is a schematic diagram of the principle of the second offset crank-slider mechanism, and FIG. 17 is a schematic diagram of the principle of the third offset crank-slider mechanism, specifically, the second offset crank The crank rotation center of the slider mechanism is the origin M of the second coordinate system; the length of the crank is the distance between the origin M and the first connecting shaft 611 of the first instrument clip 11 and the first connecting rod 41 , namely ME in FIG. 16 ₂ ; and, the distance between the origin M and the second instrument clip 12 and the fifth connecting shaft 621 of the fourth link 44, for the convenience of description, this embodiment selects the second transmission chain to establish the second movement The description of the model, the principle of establishing the second motion model of the first transmission chain is the same. The first link 41 and the second link 42 are rotatably connected through the second connecting shaft 612 , and the fourth link 44 and the fifth link 45 are connected through the sixth connecting shaft 622 .

The constants of the second offset crank-slider mechanism include: crank length r _2-1 , that is, the distance between ME ₂ in FIG. 16 ; connecting rod length l _2-1 , that is, the length of the fourth connecting rod 44 , that is, The distance between E ₂ D ₂ in FIG. 16 ; the slider offsets e _2-1 , e _2-1 is the distance between the sixth connecting shaft 622 and the crank rotation center M on the Y-axis of the second coordinate system distance; the distance a _2-1 between M and N; the shape angle α _2-1 of the clamping surface of the crank ME ₂ and the second instrument clamp 12; the variables of the second offset crank slider mechanism in motion are: the first The swing angle θ ₂ of the two instrument clamps 12 is the included angle between the crank ME ₂ and the negative half-axis of the second coordinate system Z

varies with theta ₂ ;

Further, the rotation center of the crank of the third offset crank-slider mechanism is the origin N of the first coordinate system, and the length of the crank is from the origin N to the third connecting shaft of the second connecting rod 42 and the third connecting rod 43 respectively. 613 , and the distance from the origin N to the seventh connecting shaft 623 of the fifth link 45 and the sixth link 46 .

For the convenience of description, the description of the third offset crank-slider mechanism is performed based on the second transmission chain below, and the principle of the first transmission chain is the same. See Figures 13 and 17. The crank rotation center of the third offset crank-slider mechanism on the second transmission chain is point N, and the constants of the third offset crank-slider mechanism include: the connecting rod length l _{2_2} , that is, the sixth connecting rod 46 The length of , that is, the distance between B ₂ A ₂ in FIG. 17 ; the slider offset e _{2_2} , that is, the eighth connecting shaft 624 of the sixth connecting rod 46 and the second push rod 52 and the crank rotation center N are in this The distance on the Y ₀ axis on the first coordinate system; at the zero point position, the distance a _2-2 from the eighth connecting axis 624 of the sixth connecting rod 46 and the second push rod 52 to the crank rotation center N on the Z ₀ axis; The distance x between the seventh connecting shaft 623 and the vertical center axis of the pitching end 20, the vertical center axis is the center axis along the sliding direction when the fifth link 45 slides in the second escape groove 451, the seventh connecting shaft 623 is the first connecting hinge; the eighth connecting shaft 624 is the connecting hinge between the second push rod 52 and the sixth connecting rod 46; the variables of the third offset crank slider mechanism in motion are: crank NB ₂ and the first Z ₀ negative semi-axis angle of the coordinate system

The lengths r _{2_2} and r _{2_2} of the crank NB ₂ vary with the change of the swing angle θ ₂ of the _second instrument clip 12 .

Further, set the workspace scope of the surgical instrument:

The working space range is an area in the range of motion of surgical instruments. On the premise that the range is as large as possible, the setting of the working space range needs to avoid the dead point position. The dead point position will affect the use of surgical instruments. When it reaches the dead center position, there will be a problem of stuck, so when setting the working space, it is necessary to avoid the dead center position. The cranks in the first offset crank-slider mechanism, the second offset crank-slider mechanism and the third offset crank-slider mechanism and the collinear positions of the connecting rods connected to the cranks are determined to be damned point location.

According to the spatial geometric relationship of the first offset crank-slider mechanism, the second offset crank-slider mechanism and the third offset crank-slider mechanism, according to the rule that the working space avoids each dead point position, set The scope of the workspace.

Specifically, in the third transmission chain, the first offset crank-slider mechanism has two dead center positions. Specifically, when the third push rod 53 is pushed or pulled to control the pitching motion of the pitching end 20, two dead center positions will occur. The position where the secondary crank and the connecting rod are collinear, that is, when the three points N, B ₃ and A ₃ in Figure 15 are collinear, are the two dead-point positions of the first offset crank-slider structure, correspondingly, the pitch The pitch angle θ ₃ of the end 20 must avoid these two dead center positions. That is, the first workspace extent of theta ₃ is:

θ _{3_min1} <θ ₃ <θ _{3_max1} ;

in,

Further, in the second transmission chain, the second offset crank-slider mechanism has two dead center positions. Specifically, when the second push rod 52 is pushed or pulled to control the swing of the second instrument clip 12, two positions will occur. The position where the secondary crank and the connecting rod are collinear, that is, when the three points M, E ₂ and D ₂ in Fig. 16 are collinear, are the two dead center positions of the second offset crank-slider structure. Correspondingly, the first The swing angle θ ₂ of the two instrument clips 12 must avoid the two dead center positions. That is, the workspace range of θ ₂ is:

θ _{2_min} <θ ₂ <θ _{2_max} ;

in,

In the first transmission chain, the dead center position of the second offset crank-slider mechanism is the same as the dead center position in the second transmission chain. Therefore, the swing angle θ ₁ of the first instrument clamp 11 is the same as the working space range. The same for θ ₂ , that is, the workspace range for θ ₁ is:

θ _{1_min} <θ ₁ <θ _{1_max} ;

in,

Further, in the second transmission chain, the third offset crank-slider mechanism has two dead center positions. Specifically, in the two movements of the pitching end 20 in pitch and pitch, the sixth connecting rod 46 and the first Two positions where the central axis of the escape groove 451 is vertical, that is, the positions where A ₂ B ₂ and C ₂ D ₂ are vertical in FIG. 17 . Correspondingly, the pitch angle θ ₃ of the pitch end 20 must also avoid the two dead center positions. That is, the second workspace extent of theta ₃ is:

θ _{3_min2} <θ ₃ <θ _{3_max2} ;

When the swing angle θ ₁ of the first instrument clip 11 takes the maximum value θ _{1_max} or the swing angle θ ₂ of the second instrument clip 12 takes the minimum value θ _{2_min} , the following formula is obtained:

Further, according to the geometric relationship of the third offset crank-slider mechanism, it is obtained:

NC _i =C _i D _i -ND _i

NC _i sin(θ _{3_max2} )=(l _{i_2} -x)cos(θ _{3_max2} )+e _{i_2}

-NC _i sin(θ _{3_min2} )=(l _{i_2} +x)cos(θ _{3_min2} )-e _{i_2}

Wherein, point N is the crank rotation center of the third offset crank-slider mechanism;

When i=1, C ₁ is the axis of the connection shaft 613 between the second link 42 and the third link 43 , and C ₂ is the connection shaft 623 between the fifth link 45 and the sixth link 46 's axis. NC _i represents the component distance of the distance from the crank rotation center N of the third offset crank slider mechanism to the axis of the connecting shaft 613 in the direction of the vertical center axis of the pitch end, or represents the third offset crank slider The component distance of the distance between the crank center N of the mechanism and the axis of the connecting shaft 623 in the direction of the vertical center axis of the pitch end. x is the vertical distance from the connection shaft 613 or the connection shaft 623 to the vertical central axis of the pitch end 20 .

which results in:

Above, i=1, 2, the value of i is 1 to indicate the first instrument clip 11, and the value of i is 2 to indicate the second instrument clip 12;

α _{1_1} is the shape angle of the crank in the second offset crank slider mechanism of the first transmission chain and the clamping surface of the first instrument clamp 11; e _1-1 is the first connecting rod 41 and the second connecting rod The connecting shaft 612 of 42, the distance component on the Y-axis of the distance from the crank rotation center of the second offset crank-slider mechanism; l _1-1 is the length of the connecting rod in the second offset crank-slider mechanism; r _1-1 is the length of the crank in the second offset crank slider mechanism of the first transmission chain;

α _{2_1} is the shape angle of the crank in the second offset crank slider mechanism of the second transmission chain and the clamping surface of the second instrument clamp 12; e _2-1 is the fourth connecting rod 44 and the fifth connecting rod The connecting shaft 622 of 45, the distance component on the Y-axis of the distance from the crank rotation center of the second offset crank-slider mechanism; l _2-1 is the connecting rod length of the second offset crank-slider mechanism; r _2-1 is the length of the crank in the second offset crank slider mechanism of the first transmission chain;

a3 is the shape angle of the crank in the first offset crank-slider mechanism of the _third transmission chain and the vertical center axis of the pitch end 20; _e3 is the connection axis of the seventh connecting rod 47 and the third push rod 53 , the distance component of the distance from the crank rotation center of the first offset crank-slider mechanism on the X ₀ axis; l3 is the connecting rod length _of the first offset crank _- slider mechanism; r3 is the first offset The length of the crank in the crank-slider mechanism;

e _{i_2} is the slider offset amount of the third offset crank-slider mechanism; l _{i_2} is the connecting rod length of the third offset crank-slider mechanism; NC _i is the crank rotation of the third offset crank-slider mechanism The distance between the center and the connecting axis of the connecting rod structure outside the pitching end on the third offset crank-slider mechanism, the distance is the component distance in the direction of the vertical central axis of the pitching end, and x is the connection of the connecting rod structure The vertical distance from the axis to the vertical center axis of the pitch end; i=1, 2.

To sum up, since there are four dead point positions that affect the setting of the working range of θ ₃ , a smaller interval is selected as the final working range interval, namely:

max(θ _{3_min1} ,θ _{3_min2} )<θ ₃ <min(θ _{3_max1} ,θ _{3_max2} ).

Step S202, obtaining the input amount of the surgical instrument corresponding to the main operator controlled by the user;

Specifically, the terminal acquires the swing angle of the first instrument clip as θ ₁ , the swing angle of the second instrument clip as θ ₂ , and the pitch angle of the pitch end as θ ₃ .

Step S203, judging whether the input volume of the surgical instrument conforms to the scope of the working space of the surgical instrument;

It is judged whether θ ₁ , θ ₂ and θ ₃ conform to the workspace range in step S301, and if so, go to step S304; The extent of the workspace for this surgical instrument.

Step S204, according to the preset calculation formula and the input amount, calculate the displacement amount of the control end corresponding to the swing angle of the end device clip and/or the pitch angle of the pitch end;

1. According to the preset first set of formulas and the pitch angle θ ₃ of the pitch end 20 in the input, the algorithm for calculating the displacement s ₃ of the third push rod 53 is as follows:

According to the geometric relationship of the parameters of the first offset crank-slider mechanism shown in FIG. 15 and the parameters of the pitch end 20 in the third transmission chain, the displacement s ₃ of the third push rod 53 and the pitch can be obtained The functional relationship between the angles θ ₃ s ₃ =f(θ ₃ ) can be determined as the following calculation formula:

Among them, θ ₃ is a known quantity as the input quantity, and a ₃ , r ₃ and l ₃ are all known quantities and constants; these known quantities are substituted into the above three calculation formulas, and S ₃ is calculated.

The above calculation formula is preset in the system of the terminal.

2. The algorithm for calculating the displacement s ₂ of the second push rod 52 according to the preset second set of formulas, the swing angle θ ₂ of the second instrument clip 12 and the pitch angle θ ₃ of the pitch end 20 in the input quantity as follows:

At the zero position of the initial state when the control end of the surgical instrument does not perform any action, the included angle between the crank of the second offset crank-slider mechanism and the negative half-axis of the second coordinate system Z

marked as

According to the geometric relationship of the parameters of the third offset crank-slider mechanism shown in FIG. 16 and FIG. 17 , it can be determined that it can be calculated according to the following formula:

Wherein, a _2-2 is the distance from the zero point of the slider displacement to the crank rotation center N on the Z ₀ axis in the third offset crank-slider mechanism of the second transmission chain; a _2-1 is the rotation of the two cranks The distance between the centers MN is a known constant;

According to the geometric relationship of the third offset crank-slider mechanism, the length calculation formula for calculating ND ₂ can also be obtained as follows:

NC ₂ =C ₂ D ₂ -ND ₂

C ₂ D ₂ is the second connecting hinge D ₂ (D ₂ is the sixth connecting shaft 622 between the fourth link 44 and the fifth link 45) and the first connecting hinge B ₂ (B ₂ is the fifth link The distance from the seventh connecting shaft 623) between the connecting rod 45 and the sixth connecting rod 46 in the direction of the vertical center axis of the pitching end 20 is a known constant;

NC ₂ is the distance between the crank rotation center N of the third offset crank-slider mechanism and the seventh connecting shaft 623 of the fifth connecting rod 45 and the sixth connecting rod 46 in the direction of the vertical center axis of the pitch end 20;

Then the crank length r _{2_2} of the third offset crank-slider mechanism is:

According to the geometric relationship of the third offset crank-slider mechanism, the function between the displacement amount s ₂ of the second push rod 52 and the pitch angle θ ₃ of the pitch end 20 and the swing angle θ ₂ of the second instrument clip 12 can be obtained The relationship s ₂ =f(θ ₃ ,θ ₂ ), the following calculation formula is obtained:

s ₂ is calculated.

The above calculation formula is preset in the system of the terminal.

3. Calculate the displacement amount s ₁ of the first push rod 51 according to the preset calculation formula, the swing angle θ ₁ of the first instrument clip 11 and the pitch angle of the pitch end 20 in the input amount, and the calculation method is the same as the above calculation method. The algorithm for the displacement amount s ₂ of the second push rod 52 is exactly the same. It is only necessary to modify the subscript of the parameter correspondingly when setting the parameters to distinguish the subscript of the calculation s ₂ . Specifically, the calculation of the displacement amount s ₁ The formula is to modify the subscript "2-2" in the above parameters for calculating the displacement s ₂ to "2-1", for example, a _2-2 is modified to a _2-1 , and the subscript "2-1" is modified is "2-2", e.g.

change into

The rest of the parameters are analogous, and the meaning of the parameters and the formula derivation process will not be repeated. Calculated as follows:

NC ₁ =CD-ND ₁ ;

To sum up the above formula, the displacement amount s ₁ of the first push rod 51 can be obtained.

S205, the control driving device drives the control end to execute the displacement, so as to control the end device clip to swing by the swing angle and/or the pitch end to pitch the pitch angle.

In the embodiment of the present application, the surgical instrument to be controlled includes a rotatably connected end instrument clip, a pitch end and a control end, the surgical instrument completes the surgical operation through the swing of the end instrument clip and/or the pitch of the pitch end, and requires linear motion of the control end Drive the swing of the end instrument clip and the pitch of the pitch end, obtain the motion of the main operator that has a motion mapping relationship with the surgical instrument, obtain the swing angle of the end instrument clip and/or the pitch angle of the pitch end, and calculate the corresponding linear displacement of the control end , control the drive device to drive the control end to perform the linear displacement, thereby controlling the surgical instrument to realize the movement of the main operator. The operation of the surgical instrument has many dimensions, which can realize more complex operations, greatly reduce creep, and improve service life. The above-mentioned control method for the surgical machine can control the movement of the surgical instrument by obtaining the linear displacement of the control end through the known joint angles such as the end device clamp and the pitch end. The control accuracy of the surgical instrument is preset, and the achievable working space range is preset according to the dead center position of the surgical instrument, so as to avoid the mechanical failure caused by the surgical instrument moving to the dead center position and get stuck, improve the success rate of the operation and prolong the operation. service life of the device.

This embodiment also provides an electronic device. As shown in FIG. 18 , the electronic device may include a memory 101 and a processor 102 . Memory 101 such as hard drive memory, non-volatile memory (such as flash memory or other electronically programmable limit erasure memory used to form solid state drives, etc.), volatile memory (such as static or dynamic random access memory, etc.), etc., The embodiments of the present application are not limited. Processor 102 may be one or more microprocessors or microcontrollers. The electronic device may be the terminal 100 in the above embodiment.

Further, the memory stores executable program codes, and the processor 102 coupled with the memory 101 invokes the executable program codes stored in the memory to perform the operations described in the embodiments shown in FIG. 10 and FIG. 11 above. Device control method.

Further, an embodiment of the present invention further provides a computer-readable storage medium, and the computer-readable storage medium may be provided in the electronic device in each of the foregoing embodiments, and the computer-readable storage medium may be the one shown in FIG. 18 above. memory 101 in the illustrated embodiment. The computer-readable storage medium stores a computer program, and when the program is executed by the processor, implements the surgical instrument control method described in the embodiments shown in FIG. 10 and FIG. 11 . Further, the computer-storable medium may also be a USB flash drive, a removable hard disk, a read-only memory (ROM, Read-Only Memory), a RAM, a magnetic disk, or an optical disk and other media that can store program codes.

It should be noted that, for the convenience of description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. As in accordance with the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all necessary to the present invention.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

The above is a description of the surgical instrument, the surgical instrument control method, the surgical robot and the electronic device provided by the present invention. For those skilled in the art, according to the idea of the embodiment of the present invention, there will be a specific implementation and application range. Changes, in conclusion, the content of this specification should not be construed as a limitation to the present invention.

Claims

A surgical instrument, comprising:

End instrument clip, pitch end and control end;

The end device clip is rotatably connected with the pitch end, and the control end is rotatably connected with the pitch end;

When the control end drives the pitch end to rotate, the end device clip swings relative to the pitch end, and the control end is made of a rigid material.
The surgical instrument according to claim 1, wherein the control end comprises: a control end outer sheath, and a first control mechanism and a second control mechanism accommodated in the control end outer sheath;

the first control mechanism is rotatably connected with the end device clip, and is used for driving the end device clip to swing relative to the pitch end;

The second control mechanism is rotatably connected to the pitching end, and is used for driving the pitching end to generate pitching motion relative to the outer sheath of the control end.
The surgical instrument according to claim 2, wherein the end instrument clip comprises a first instrument clip and a second instrument clip rotatably connected by a rotating shaft of the mechanical clip;

When the first instrument clip and the second instrument clip are rotated along the rotation axis of the mechanical clip, relative motion is generated.
The surgical instrument according to claim 3, wherein the first control mechanism and/or the second control mechanism comprise a rotatably connected link structure and a push rod structure;

The connecting rod structure is also connected to the pitching end, and the push rod structure is also connected to a driving device;

Under the driving of the driving device, the push rod structure performs a reciprocating linear motion in the outer sheath of the control end, driving the connecting rod structure to move, and the connecting rod structure drives the pitching end to move relative to the Pitch motion of the control end sheath.
The surgical instrument according to claim 4, wherein the link structure and the push rod structure of the first control mechanism include a first link structure and a first push rod structure that are rotatably connected, and a second link structure that is rotatably connected and the second push rod structure;

The link structure and the push rod structure of the second control mechanism include the third link structure and the third push rod structure that are rotationally connected;

The first link structure is rotatably connected with the first instrument clip, the second link structure is rotatably connected with the second instrument clip, and the third link structure is rotatably connected with the pitching end.
The surgical instrument according to claim 5, wherein the first link structure comprises a first link, a second link and a third link that are rotationally connected, and the second link structure comprises a rotational connection The fourth connecting rod, the fifth connecting rod and the sixth connecting rod, the third connecting rod structure includes a seventh connecting rod;

The first push rod structure includes a first push rod, the second push rod structure includes a second push rod, and the third push rod structure includes a third push rod;

The first link is rotatably connected with the pivot portion of the first instrument clip, the first link is rotatably connected with the second link, and the second link and the third link are rotated connection, the second connecting rod is slidably connected with the pitching end, and the third connecting rod is rotatably connected with the first push rod;

The fourth link is rotatably connected with the pivot portion of the second instrument clip, the fourth link is rotatably connected with the fifth link, and the fifth link and the sixth link are rotated connection, the fifth link is slidably connected with the pitch end, and the sixth link is rotatably connected with the second push rod;

The pitch end is rotatably connected with one end of the seventh link, and the third push rod is rotatably connected with the other end of the seventh link.
The surgical instrument according to claim 7, wherein the second link is provided with a first avoidance groove, the fifth link is provided with a second avoidance groove, the first avoidance groove and the The second avoidance groove is used to avoid the rotation axis of the pitch end.
The surgical instrument according to claim 8, wherein the first link is provided with a third avoidance groove, the fourth link is provided with a fourth avoidance groove, the third avoidance groove and the The fourth avoidance groove is used to avoid the rotation shaft of the instrument clip.
The surgical instrument according to claim 9, wherein the pitch end is provided with a fifth avoidance groove, a sixth avoidance groove and a seventh avoidance groove, which are respectively used to avoid places when the pitch end performs a pitch motion The third link, the sixth link and the seventh link.
The surgical instrument according to claim 10, wherein the first end of the outer sheath of the control end is provided with an eighth escape groove and a ninth escape groove, which are respectively used for the third link and the first When the sixth link moves relative to the outer sheath of the control end, the third link and the sixth link are avoided.
The surgical instrument according to claim 11, wherein two first guide holes are provided inside the pitching end, and the second connecting rod and the fifth connecting rod are respectively slidably accommodated in the two first guide holes. in the first guide hole.
The surgical instrument according to claim 12, wherein the second end of the outer sheath of the control end is provided with a second guide hole;

The first push rod, the second push rod and the third push rod pass through the second guide hole, and are driven by the driving device to perform a reciprocating straight line in the outer sheath of the control end sports.
A surgical robot, characterized by comprising the surgical instrument according to any one of claims 1 to 13.
A surgical instrument control method, applied to a terminal, for controlling the surgical instrument according to any one of claims 1-13, characterized in that, comprising:

Obtain the input quantity of the surgical instrument corresponding to the main operator manipulated by the user, the surgical instrument includes a rotatably connected end instrument clip, a pitch end and a control end, and the input amount of the surgical instrument includes the swing angle of the end instrument clip and/or the pitch angle of the pitch end;

According to the preset calculation formula and the input amount, calculate the displacement amount of the control end corresponding to the swing angle of the end device clip and/or the pitch angle of the pitch end;

The control driving device drives the control end to execute the displacement amount, so as to control the end instrument clip to swing the swing angle and/or the pitch end to pitch the pitch angle.
The method according to claim 15, wherein before acquiring the input quantity of the surgical instrument corresponding to the main operator controlled by the user at the pitch end and the control end, the method comprises:

establishing a first coordinate system describing the pitching motion of the pitching end and a second coordinate system describing the swing of the end instrument clip;

establishing a first motion model describing the pitching motion of the pitching end and a second motion model describing the swing of the end device clip;

According to the position of the structural dead center of the surgical instrument, the working space range of the surgical instrument is set.
The method of claim 16, wherein the establishing a first coordinate system describing the pitch motion of the pitch end and a second coordinate system describing the swing of the end instrument clip comprises:

The first coordinate system is established by using the plane formed by the motion trajectory of the pitching end relative to the control end when the pitching motion is performed as the reference coordinate plane of the first coordinate system;

The second coordinate system is established by using the plane formed by the motion trajectory of the end device clips during relative swinging as the reference coordinate plane of the second coordinate system.
The method according to claim 17, wherein the plane formed by the motion trajectory of the pitching end relative to the control end is used as the reference coordinate plane of the first coordinate system to establish the first coordinate system. A coordinate system includes:

Taking the midpoint of the rotation axis of the pitch end as the origin N of the first coordinate system, and taking the direction passing through the origin N of the first coordinate system along the rotation axis of the pitch end as the Y of the first coordinate system The 0 -axis direction, taking the origin N of the first coordinate system along the direction parallel to the control end is the Z 0 -axis direction of the first coordinate system, so as to conform to the right-hand Y 0 axis and the Z 0 axis. The direction of the coordinate system is the direction of the X 0 axis of the first coordinate system, and the first coordinate system is established.
The method according to claim 18, wherein the plane formed by the motion trajectory of the end device clips during relative swinging is used as the reference coordinate plane of the second coordinate system, and establishing the second coordinate system comprises:

Taking the midpoint of the rotation axis of the end device clip as the origin M of the second coordinate system, and taking the direction passing through the origin M of the second coordinate system along the rotation axis of the end device clip as the second coordinate system The X-axis direction of the coordinate system takes the direction of the line connecting the origin N of the first coordinate system and the origin M of the second coordinate system as the Z-axis direction of the second coordinate system, so as to be in line with the X-axis and the origin M of the second coordinate system. The direction of the Z-axis conforming to the right-handed coordinate system is the Y-axis direction of the second coordinate system, and the second coordinate system is established.
The method according to claim 19, wherein the control end comprises a link structure and a push rod structure, the push rod structure is connected to the pitch end through the link structure, and the establishment describes the pitch The first motion model of the end pitching motion and the second motion model of the end device clip swinging include:

According to the motion forms of the end device clip, the pitching end and the control end, the pitching motion form that the pitching end, the connecting rod structure and the push rod structure work together is equivalent to a first offset crank The slider mechanism, and the swing motion form of the end device clip in which the end device clip, the connecting rod structure and the push rod structure work together are equivalent to a second offset crank-slider mechanism and a third offset device. Install the crank-slider mechanism.
21. The method of claim 20, wherein the terminal instrument clip includes a first instrument clip and a second instrument clip, the push rod structure includes a first push rod, a second push rod, and a third push rod, The first push rod and the second push rod respectively control the swing of the first instrument clip and the second instrument clip, and the third push rod controls the pitch of the pitch end, the first instrument clip and the The second instrument clip swings, and the center point of the rotation axis of the pitch end is the origin N of the first coordinate system, so as to pass through the origin N of the first coordinate system along the rotation axis of the pitch end. The direction is the direction of the Y 0 axis of the first coordinate system, and the direction of the origin N of the first coordinate system along the direction parallel to the control end is the direction of the Z 0 axis of the first coordinate system, so as to be consistent with the Y The direction in which the 0 axis and the Z 0 axis conform to the right-hand coordinate system is the X 0 axis direction of the first coordinate system, and establishing the first coordinate system includes:

Determine the midpoint of the rotation axis of the pitch end as the origin N of the first coordinate system, point the origin N of the first coordinate system to the direction of the second push rod along the rotation axis of the pitch end, and determine is the positive direction of the Y 0 axis of the first coordinate system, which will be parallel to the control end, and the direction from the control end to the pitching end is determined as the positive direction of the Z 0 axis of the first coordinate system, The direction of the right-handed coordinate system with the positive direction of the Y 0 axis and the positive direction of the Z 0 axis is determined as the X 0 axis direction of the first coordinate system, and the pitch end is reversed around the Y 0 axis. The pitch angle formed when the clock hand rotates is determined to be a positive value.
The method according to claim 21, wherein the center point of the rotation axis of the end instrument clip is the origin M of the second coordinate system, so that the axis passing through the origin M of the second coordinate system The direction of the rotation axis of the end device clip is the X-axis direction of the second coordinate system, and the direction of the line connecting the origin N of the first coordinate system and the origin M of the second coordinate system is the first coordinate. The direction of the Z-axis of the two coordinate system is the direction of the Y-axis of the second coordinate system, and the direction of the X-axis and the Z-axis conforming to the right-hand coordinate system is the Y-axis direction of the second coordinate system, and establishing the second coordinate system includes:

The midpoint of the rotation axis of the end device clip is determined as the origin M of the second coordinate system, and the direction from the origin M of the second coordinate system to the third push rod is determined as the second The positive direction of the X-axis of the coordinate system, the direction from the origin N of the first coordinate system to the origin M of the second coordinate system is determined as the positive direction of the Z-axis of the second coordinate system, which will be the same as the X-axis. The direction in which the positive axis direction and the positive direction of the Z axis conform to the right-hand coordinate system is determined as the positive direction of the Y axis of the second coordinate system, and the swing formed when the end device clamp is swung counterclockwise around the X axis The angle is determined to be a positive value.
The method according to claim 22, wherein the end instrument clip comprises a first instrument clip and a second instrument clip, the first instrument clip and the first link and the second link in the link structure The connecting rod, the third connecting rod and the first push rod are connected in sequence to form a first transmission chain. The six connecting rods and the second push rod are connected in a sequence of end-to-end rotation to form a second transmission chain, and the pitch end is connected with the seventh connecting rod and the third push-rod in the sequence of end-to-end rotation as follows: The third transmission chain, the establishment of the first motion model describing the pitching motion of the pitching end and the second motion model of the swing of the end device clip includes:

The third transmission chain is equivalent to a first offset crank-slider mechanism, and the motion mode of the first offset crank-slider mechanism is used as the first motion model;

Wherein, the crank rotation center of the first offset crank-slider mechanism is the origin N of the first coordinate system, the length of the crank is the distance between the rotation axis of the pitch end and the connecting rod rotation axis, and the connection a rod rotation axis connects the pitch end and the seventh link;

The first transmission chain and the second transmission chain are respectively equivalent to a second offset crank-slider mechanism and a third offset crank-slider mechanism, and the second offset crank-slider mechanism or The motion mode of the third offset crank-slider mechanism is used as the second motion model;

Wherein, the crank rotation center of the second offset crank slider mechanism is the origin M of the second coordinate system, and the length of the crank is the relationship between the crank rotation center and the first instrument clip and the first connecting rod The distance between the connecting shafts, and the distance between the rotation center of the crank and the connecting shafts of the second instrument clip and the fourth connecting rod;

The crank rotation center of the third offset crank-slider mechanism is the origin N of the first coordinate system, and the length of the crank is the connection between the origin N and the second connecting rod and the third connecting rod. The distance of the axis, and the distance from the origin N to the connecting axis of the fifth link and the sixth link.
The method according to claim 23, wherein after the acquiring the input quantity of the surgical instrument corresponding to the main operator controlled by the user comprises:

judging whether the input volume of the surgical instrument conforms to the working space range of the surgical instrument;

If it matches, then calculate the displacement amount of the control end corresponding to the swing angle of the end device clip and/or the pitch angle corresponding to the pitch angle of the pitch end according to the preset calculation formula and the input amount. step;

If not, an error message will be displayed.
The method according to claim 24, wherein the setting of the working space range of the surgical instrument according to the structural dead center position of the surgical instrument comprises:

Each position where the cranks of the first offset crank-slider mechanism, the second offset crank-slider mechanism and the third offset crank-slider mechanism and the connecting rods connected to the cranks are collinear , determined as the dead center position;

According to the spatial geometric relationship of the first offset crank-slider mechanism, the second offset crank-slider mechanism and the third offset crank-slider mechanism, each of the dead points is avoided according to the working space The rules for the location, setting the scope of the workspace.
The method according to claim 25, wherein the setting of the working space range of the surgical instrument according to the structural dead center position of the surgical instrument comprises:

The scope of the working space for setting the swing angle θ 1 of the first instrument clip of the end instrument clip is:

θ 1_min <θ 1 <θ 1_max ;

in,

α 1_1 is the shape angle of the crank in the second offset crank slider mechanism of the first transmission chain and the clamping surface of the first instrument clip; e 1-1 is the first connecting rod and The distance between the connecting shaft of the second connecting rod and the crank rotation center of the second offset crank-slider mechanism on the Y-axis; l 1-1 is the connecting rod in the second offset crank-slider mechanism length; r 1-1 is the length of the crank in the second offset crank-slider mechanism of the first transmission chain;

The scope of the working space for setting the swing angle θ 2 of the second instrument clip of the end instrument clip is:

θ 2_min <θ 2 <θ 2_max ;

in,

α 2-1 is the shape angle of the crank in the second offset crank-slider mechanism of the second transmission chain and the clamping surface of the second instrument clip; e 2-1 is the fourth connecting rod and The distance between the connecting shaft of the fifth connecting rod and the crank rotation center of the second offset crank-slider mechanism on the Y-axis; l 2-1 is the connecting rod of the second offset crank-slider mechanism length; r 2-1 is the length of the crank in the second offset crank-slider mechanism of the first transmission chain;

The scope of the working space for setting the pitch angle θ 3 of the pitch end is:

max(θ 3_min1 ,θ 3_min2 )<θ 3 <min(θ 3_max1 ,θ 3_max2 );

in,

Wherein, a3 is the shape angle between the crank in the first offset crank-slider mechanism of the third transmission chain and the vertical center axis of the pitching end; e3 is the seventh connecting rod and the first The distance between the connecting shaft of the three push rods and the crank rotation center of the first offset crank-slider mechanism on the X 0 axis; l3 is the length of the connecting rod of the first offset crank - slider mechanism; r3 is the length of the crank in the first offset crank-slider mechanism;

e i_2 is the slider offset amount of the third offset crank-slider mechanism; l i_2 is the connecting rod length of the third offset crank-slider mechanism; NC i is the third offset crank-slider mechanism , the component distance of the distance between the center of rotation of the crank and the connecting axis of the connecting rod structure outside the pitch end on the third offset crank-slider mechanism in the direction of the vertical center axis of the pitch end, x is the The vertical distance from the connecting axis of the connecting rod structure to the vertical central axis of the pitching end; i=1, 2.
The method according to any one of claims 15-26, characterized in that, according to a preset calculation formula and the input quantity, the calculation causes the end device clip to swing the swing angle and/or the pitch The displacement of the control end corresponding to the pitch angle of the end pitch includes:

Calculate the displacement amount S 3 of the third push rod according to the preset first set of formulas and the pitch angle;

The first set of formulas are as follows:

Wherein, a3 is the shape angle between the crank in the first offset crank-slider mechanism of the third transmission chain and the vertical center axis of the pitching end; e3 is the seventh connecting rod and the first The distance between the connecting shaft of the three push rods and the crank rotation center of the first offset crank-slider mechanism on the X 0 axis; l3 is the length of the connecting rod of the first offset crank - slider mechanism; r3 is the length of the crank in the first offset crank-slider mechanism;
is the included angle between the crank in the first offset crank-slider mechanism and the negative half-axis of Z 0 .
The method according to claim 27, characterized in that, according to the preset calculation formula and the input quantity, the calculation causes the end device clip to swing the swing angle and/or the pitch end to pitch the pitch The displacement of the control end corresponding to the angle includes:

According to the preset second set of formulas, the swing angle of the second device clip in the end device clip, and the pitch angle of the pitch end, the displacement amount S 2 with the second push rod is obtained by calculating;

NC 2 =C 2 D 2 -ND 2 ;

in,
At the zero point position, the included angle between the crank of the second offset crank-slider mechanism of the second transmission chain and the negative half-axis of the second coordinate system Z;
is the included angle between the crank of the second offset crank-slider mechanism and the Z negative half-shaft;
is the angle between the crank of the third offset crank-slider mechanism and the negative semi-axis of the first coordinate system Z 0 ; θ 2 is the swing angle of the second instrument clip; θ 3 is the pitch of the pitch end angle; a 2-1 is the distance on the Z axis from the crank rotation center N of the third offset crank-slider mechanism to the crank rotation center M of the second offset crank-slide mechanism; a 2-2 is At the zero point position, the distance from the connecting shaft of the sixth connecting rod and the second push rod to the crank rotation center N on the Z 0 axis; l 2_1 is the connecting rod length of the second offset crank-slider mechanism ; l 2_2 is the connecting rod length of the third offset crank-slider mechanism; r 2_1 is the length of the crank in the second offset crank-slider mechanism; r 2_2 is the second offset crank-slider mechanism The length of the crank in the mechanism; α 2-1 is the shape angle of the crank in the second offset crank slider mechanism and the clamping surface of the second instrument clip; e 2-1 is the fourth connecting rod and The distance between the connecting shaft of the fifth connecting rod and the crank rotation center M of the second offset crank-slider mechanism on the Y axis; e 2_2 is the distance between the sixth connecting rod and the second push rod The distance between the connecting shaft and the crank rotation center N on the Y 0 axis; C 2 D 2 is the distance between the two connecting shafts along the vertical center axis of the pitching end, and the two connecting shafts are the The connecting shaft between the fourth connecting rod and the fifth connecting rod, and the connecting shaft of the fifth connecting rod and the sixth connecting rod; NC 2 is the third offset crank-slider mechanism Crank rotation center, the distance from the connection axis of the fifth connecting rod and the sixth connecting rod in the direction of the vertical center axis of the pitching end; x is the distance between the fifth connecting rod and the sixth connecting rod The vertical distance from the connecting axis to the vertical center axis of the pitching end.
An electronic device, characterized in that the electronic device comprises:

memory and processor;

The memory stores executable program codes;

The processor coupled with the memory invokes the executable program code stored in the memory to execute the surgical instrument control method according to any one of claims 15-28.