The invention relates to the technical field of
medical instruments, and discloses a laparoscopic
surgical instrument with an intelligent regulation and
control function and an intelligent regulation and control method thereof.The laparoscopic
surgical instrument with the intelligent regulation and
control function comprises a mechanical operation part, a snake bone bending part, a
tail end execution part, a
mechanical transmission part and an intelligent regulation and control part; the mechanical operation part comprises a bent hand wheel; the snake bone bending part is connected with the mechanical operation part; the
tail end execution part is connected with the snake bone bending part and is used for executing tissue separation,
cutting and
electrocoagulation operations; and the
mechanical transmission part is connected between the bending hand wheel and the snake bone bending part. The intelligent regulation and control part is arranged, hand wheel operation is collected in real time through the
pose sensing part, a pre-calibrated snake bone
kinematics model is combined, the expected angle of the
tail end execution part is accurately calculated, auxiliary torque or damping is applied to the bent hand wheel through the auxiliary regulation and control part, and transmission gaps, snake bone elastic deformation and
hand shaking of a doctor are effectively compensated; and the positioning precision of the tail end can be improved.