Wearable laparoscopic surgical instrument

Abstract

The present invention relates to a wearable laparoscopic surgical instrument, comprising a frame, a handle assembly, a driving assembly, an execution assembly, a gesture sensing module, and a control assembly. The frame is provided with a first through hole for matching with an operator's wrist or upper arm, the frame is fixedly connected to the housing of the driving assembly, and the handle assembly is communicated with the housing of the driving assembly through a flexible conduit; the driving assembly and the execution assembly are transmission-connected, and are used to control the execution assembly to bend horizontally and / or longitudinally; the end of the execution assembly is provided with an end execution instrument, and the control end of the end execution instrument is provided with a first transmission rope, and the first transmission rope is transmission-connected with the handle assembly; the gesture sensing module is communicatively connected with the control assembly, and the gesture sensing module is used to sense the gesture signal of the operator; the control assembly is connected with the driving assembly, and is used to output a control signal according to the gesture signal to control the operation of the driving assembly. The present invention has multiple degrees of freedom, and has a simple structure, a small size, high flexibility, and convenient operation.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a wearable laparoscopic surgical instrument. Background Art

[0002] The surgical machines currently used clinically for clamping, shearing and other operations on tissues during thoracoscopic and laparoscopic surgery mainly include the da Vinci surgical robot, single-degree-of-freedom surgical instruments, and multi-degree-of-freedom thoracoscopic and laparoscopic surgical instruments.

[0003] The existing da Vinci surgical robot has high precision and strong flexibility, but is very expensive and takes a long time to prepare for surgery; traditional single-degree-of-freedom surgical instruments are cheap, but have poor flexibility and comfort, and low precision; in recent years, some new multi-degree-of-freedom surgical instruments have appeared on the market, which have improved precision and flexibility to a certain extent compared to traditional single-degree-of-freedom instruments, but the operation is complicated and the comfort is still not good enough. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the present invention provides a wearable laparoscopic surgical instrument, which can flexibly adjust the curvature of the end actuator through an actuator component, is easy to operate, and has good operating comfort.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A wearable laparoscopic surgical instrument comprises a frame, a handle assembly, a driving assembly, an execution assembly, a gesture sensing module, and a control assembly, wherein the frame is provided with a first through hole for cooperating with an operator's wrist or upper arm, the driving assembly is provided with a housing, an end of the frame away from the first through hole is fixedly connected to the housing of the driving assembly, and the handle assembly is communicated with the housing of the driving assembly through a flexible conduit; the driving assembly and the execution assembly are transmission-connected to control the execution assembly to bend horizontally and / or longitudinally; the execution assembly comprises a long rod, a bending joint, and an end execution instrument that are coaxially arranged and sequentially connected, the axis of the long rod and the bending joint are provided with a communicating second through hole, and the control end of the end execution instrument is provided with a first transmission rope, the first transmission rope passes through the second through hole, the housing of the driving assembly, and the conduit in sequence, and is fixedly connected to the handle assembly; the gesture sensing module is fixedly mounted on the frame and is communication-connected to the control assembly, and the gesture sensing module is used to sense the gesture signal of the operator and transmit it to the control assembly; the control assembly is connected to the driving assembly, and is used to output a control signal according to the gesture signal to control the operation of the driving assembly.

[0007] The beneficial effects of the present invention are: under the driving action of the driving component, the bending joint can be controlled to drive the end effector to bend horizontally and / or longitudinally to achieve four-degree-of-freedom angle adjustment, the handle component controls the opening or closing of the end effector through the first transmission rope to achieve the clamping / cutting function required for surgery, the gesture sensing module senses the gesture action signal of the operator, and the control component sends a corresponding control signal according to the gesture signal of the operator to control the driving component to adjust the angle and curvature of the bending joint. The present invention has a simple structure, a small size, flexible adjustment, and simple operation. Long-term operation is not easy to cause hand fatigue, which meets the needs of laparoscopic surgery.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, the gesture sensing module includes a motion sensor and a motion analysis module, the motion sensor is used to sense the gesture signal, and the motion analysis module is used to analyze the gesture action signal and transmit it to the control component.

[0010] Furthermore, the driving assembly includes two groups of driving units arranged perpendicularly to each other, and the two groups of driving units are arranged along the axial direction of the long rod; the driving unit includes a motor, and the output shaft of the motor is arranged perpendicularly to the long rod; a transmission wheel is vertically arranged on the output shaft of the motor, and the wheel surface of the transmission wheel is arranged as a groove, and a second transmission rope is arranged on the groove, and the second transmission rope passes through the long rod and is fixedly connected to the end of the bending joint away from the long rod.

[0011] Furthermore, the head end of the bending joint is fixedly connected to the end of the long rod, and the tail end of the bending joint is fixedly connected to the end actuator; the bending joint includes a plurality of universal joints hinged end to end, and the second through hole is arranged along the axis of the universal joint; the outer peripheral surface of the universal joint is provided with an annular ridge, and the annular ridge is arranged perpendicular to the axis of the universal joint, and four evenly distributed third through holes are arranged on the annular ridge, and the third through holes are arranged parallel to the second through holes; each of the second transmission ropes passes through a pair of symmetrically arranged third through holes and cooperates with the groove of the transmission wheel.

[0012] Furthermore, an end point of the second transmission rope is fixedly mounted on the third through hole at the end of the bending joint.

[0013] Furthermore, a fourth through hole is provided at the end of the bending joint, the fourth through hole is coaxially arranged with the second through hole, and one end of the end effector is slidably fitted in the fourth through hole.

[0014] Furthermore, the end effector includes a pair of arms arranged in an X-shape, the arms are arranged along the axial direction of the bending joint, and the intersection of the arms is hinged to the end of the bending joint through a first pin shaft; an oblong hole is provided on the end of the arm close to the bending joint, and the oblong hole is arranged along the long diameter of the arm; the end effector also includes a push rod, which is gap-fitted with the fourth through hole, one end of the push rod is arranged in a U-shape, and a second pin shaft is fixedly provided at the U-shaped end of the push rod, and the second pin shaft passes through the oblong hole on the arm, and the other end of the push rod is fixedly connected to the end of the bending joint through a spring, and the other end of the push rod is also fixedly connected to the first transmission rope.

[0015] Furthermore, the handle assembly includes a handle shell and a crank slider mechanism arranged in the handle shell, the crank slider mechanism includes a slider, a connecting rod, and a crank connected in sequence, the first transmission rope passes through the handle shell and is fixedly connected to the slider, the end of the slider facing away from the first transmission rope is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the crank, and the crank is hinged to the handle shell through a rotating shaft; the crank passes through the handle shell and can rotate along the rotating shaft; a slideway is also arranged in the handle shell, and the slider is clearance-matched with the slideway.

[0016] Furthermore, the opposite sides of the pair of arms of the end effector may be any one of a flat surface, a curved surface, a serrated surface, and a blade shape, and the shape of the end effector may be set to scissors or pliers as required.

[0017] Furthermore, the gesture sensing module also includes a glove, the motion sensor is installed at the finger position of the glove, and the motion analysis module is installed at the back of the glove; a wristband is provided at the wrist position of the glove, and the wristband is set in the first through hole; a pin is provided on the wristband, and a card slot is provided in the first through hole, and the pin is engaged with the card slot to fix the wristband and the glove on the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the structure of the drive assembly of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of the end effector of the present invention;

[0021] Figure 5 Figure 6 It is a schematic diagram of the cross-sectional structure of the end effector of the present invention;

[0022] Figure 7 It is a schematic diagram of the top view of the structure of the end effector of the present invention;

[0023] Figure 8 This is a schematic diagram of the structure of the handle assembly of the present invention;

[0024] Fig. 9 It is a schematic diagram of the universal joint of the present invention;

[0025] Fig.10 This is a three-dimensional structural diagram of the gesture sensing module of the present invention;

[0026] Fig.11 This is a right view of the gesture sensing module of the present invention;

[0027] Fig.12 The gesture sensing module of the present invention is Fig.11 AA direction cross-sectional view.

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1. Frame, 101, first through hole, 102, wrist strap, 1021, pin, 1022, slot, 2. Drive assembly, 201, housing, 202, motor, 203, transmission wheel, 204, second transmission rope, 3. Actuator, 301, long rod, 302, bending joint, 3021, universal joint, 3022, annular ridge, 3023, second through hole, 3024, third through hole, 3025, fourth through hole, 303, end End actuator, 3031, arm, 3032, first pin shaft, 3033, oblong hole, 3034, push rod, 3035, second pin shaft, 3036, spring, 4. Handle assembly, 401, first transmission rope, 402, handle housing, 403, slider, 404, connecting rod, 405, crank, 406, catheter, 407, rotating shaft, 5. Control assembly, 6. Gesture sensing module, 601, motion sensor, 602, motion analysis module. DETAILED DESCRIPTION

[0030] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0031] like Figure 1-2As shown, a wearable laparoscopic surgical instrument is mainly used for clamping, shearing, separating and other operations on diseased tissues in thoracoscopic and laparoscopic surgery, and includes a frame 1, a handle assembly 4, a drive assembly 2, an actuator assembly 3, a gesture sensing module 6, and a control assembly 5. The frame 1 can be supported by one or more edges, and the frame 1 is provided with a first through hole 101 for cooperating with the operator's wrist or upper arm. The drive assembly 2 is provided with a shell 201, and one end of the frame 1 away from the first through hole 101 is fixedly connected to the shell 201 of the drive assembly 2, and the handle assembly 4 is connected to the shell 201 of the drive assembly 2 through a flexible catheter 406; the drive assembly 2 and the actuator assembly 3 are transmission-connected for controlling the actuator assembly 3 to bend horizontally and / or longitudinally; the actuator assembly 3 includes a coaxial The long rod 301, the bending joint 302, and the end effector 303 are provided and connected in sequence. The long rod 301 is a through tube. The axis of the long rod 301 and the bending joint 302 is provided with a second through hole 3023 in communication. The control end of the end effector 303 is provided with a first transmission rope 401. The first transmission rope 401 passes through the second through hole 3023, the housing 201 of the drive assembly 2, and the conduit 406 in sequence, and is fixedly connected to the handle assembly 4. The gesture sensing module 6 is fixedly installed on the frame 1 and is connected to the control assembly 5 in communication. The gesture sensing module 6 is used to sense the gesture signal of the operator and transmit it to the control assembly 5. The control assembly 5 is connected to the drive assembly 2, and the control assembly 5 is provided in the housing 201 of the drive assembly 2. The control assembly 5 is used to output a control signal according to the gesture signal to control the operation of the drive assembly 2. The control assembly 5 is also provided with an external device interface for communicating with an external device such as a host computer.

[0032] When using this device, if Figures 10-12As shown, the operator's wrist or upper arm passes through the first through hole 101, and the palm of the hand holds the handle assembly 4. The gesture sensing module 6 can be set in the form of a glove, and a wristband 102 is fixedly set at the glove's cuff (i.e., the wrist position). The two ends of the wristband 102 are fixed by Velcro or a pin type. A pin 1021 is provided on the wristband 102, and a slot 1022 is provided in the first through hole 101. The pin 1021 on the wristband 102 is snap-connected with the slot 1022 in the first through hole 101 to fix the wristband 102 and the glove on the frame 1. The operator's palm is wearing a glove provided with a gesture sensing module 6, and the gesture sensing module 6 is fitted or worn on the palm and fingers. When the angle of the bending joint 302 needs to be adjusted, the palm is bent or tilted in the corresponding direction, and the gesture sensing module 6 senses the signal of the gesture change and transmits the signal of the gesture change to the control component 5. After a simple judgment, the control component 5 outputs the control signal of the drive component 2, thereby controlling the bending joint 302 to bend horizontally or vertically, thereby adjusting its angle; when the angle is adjusted to the right position, the handle component 4 controls the stretching and release of the first transmission rope 401, thereby controlling the closing or opening of the end effector 303, thereby achieving the function of clamping or shearing.

[0033] The beneficial effects of the present invention are: under the driving action of the driving component 2, the bending joint 302 can be controlled to drive the end effector 303 to bend horizontally and / or vertically to achieve four-degree-of-freedom angle adjustment, the handle component 4 controls the opening or closing of the end effector 303 through the first transmission rope 401 to achieve the clamping / cutting function required for surgery, the gesture sensing module 6 senses the gesture action signal of the operator, and the control component 5 sends a corresponding control signal according to the gesture signal of the operator to control the driving component 2 to adjust the angle and curvature of the bending joint 302. The present invention has a simple structure, a small size, flexible adjustment, simple operation, and is not easy to cause hand fatigue after long-term operation, which meets the needs of laparoscopic surgery.

[0034] Based on the above technical solution, the present invention can also be improved as follows.

[0035] Furthermore, the gesture sensing module 6 includes a motion sensor 601 and a motion analysis module 602. The motion sensor 601 is used to sense the gesture signal. The motion analysis module 602 is connected to the control component 5 for communication and is used to analyze the gesture action signal and transmit it to the control component 5. The motion sensor 601 preferably uses a three-axis acceleration sensor. This embodiment uses an MPU6050 sensor, which eliminates the problem of the difference between the combined gyroscope and the accelerator time axis and reduces a large amount of packaging space. The gesture sensing module 6 is made into a glove, with multiple motion sensors 601 distributed on the palm and fingers, and the motion analysis module 602 installed on the back of the glove, which can sense the gesture posture more accurately.

[0036] like Figures 10-12 As shown, the gesture sensing module 6 also includes a glove, the motion sensor 601 is installed at the finger position of the glove, and the motion analysis module 602 is installed at the back of the glove; a wristband 102 is provided at the wrist position of the glove, and the wristband is arranged in the first through hole 101; a pin 1021 is provided on the wristband 102, and a card slot 1022 is provided in the first through hole 101, and the pin 1021 is engaged with the card slot 1022 to fix the wristband 102 and the glove on the frame 1.

[0037] like Figure 3 As shown, the driving assembly 2 includes two groups of driving units arranged perpendicularly to each other, and both groups of driving units are arranged along the axial direction of the long rod 301; the driving unit includes a motor 202, and the motor 202 is a micro motor 202, and the output shaft of the motor 202 is arranged perpendicular to the long rod 301, that is, the output shafts of the two motors 202 are perpendicular to the long rod 301, and more specifically, one driving unit controls the movement in the horizontal direction, and the other driving unit controls the movement in the vertical direction; a transmission wheel 203 is arranged perpendicularly on the output shaft of the motor 202, and the transmission wheel 203 is fixedly connected to the output shaft of the motor 202. The wheel surface of the transmission wheel 203 is arranged as a groove, and the groove is provided with a second transmission rope 204, and the second transmission rope 204 passes through the long rod 301 and is fixedly connected to the end of the bending joint 302 away from the long rod 301.

[0038] like Figure 4 to Figure 7As shown, the head end of the bending joint 302 is fixedly connected to the end of the long rod 301, and the tail end of the bending joint 302 is fixedly connected to the end actuator 303; the bending joint 302 includes a plurality of universal joints 3021 hinged in sequence head to tail, and the bending joint 302 can perform horizontal, longitudinal, and rotational sweeping within a certain angle range. When all the universal joints 3021 are placed in a coaxial position, the second through hole 3023 is arranged along the axis of the universal joint 3021, and the second through hole 3023 passes through all the universal joints 3021 and the axis of the long rod 301; Fig. 9 As shown, the outer peripheral surface of the universal joint 3021 is provided with an annular convex ridge 3022, and the annular convex ridge 3022 is arranged perpendicular to the axis of the universal joint 3021. The annular convex ridge 3022 is provided with four evenly distributed third through holes 3024, and the third through holes 3024 are arranged parallel to the second through holes 3023; every two non-adjacent third through holes 3024 are symmetrically arranged, and each second transmission rope 204 passes through a pair of symmetrically arranged third through holes 3024, and matches with the groove of the transmission wheel 203. Further, the end point of the second transmission rope 204 is fixedly mounted on the third through hole 3024 at the end of the bending joint 302. When the transmission wheel 203 starts to rotate under the driving action of the motor 202, the second transmission rope 204 pulls the bending joint 302 to bend accordingly.

[0039] like Figure 5-6 As shown, the end of the bending joint 302 is further provided with a fourth through hole 3025, which is coaxially arranged with the second through hole 3023, and one end of the end effector 303 is slidably matched in the fourth through hole 3025. When the end of the end effector 303 slides into the fourth through hole 3025, the end effector 303 tends to close to clamp the clamped object; when the end of the end effector 303 slides out of the fourth through hole 3025, the end effector 303 gradually opens to release the clamped object.

[0040] Furthermore, the end effector 303 includes a pair of arms 3031 arranged in an X-shape, the arms 3031 are arranged along the axial direction of the bending joint 302, and the intersection of the arms 3031 is hinged to the end of the bending joint 302 through a first pin 3032; an oblong hole 3033 is provided on one end of the arm 3031 close to the bending joint, and the oblong hole 3033 is arranged along the long diameter of the arm 3031; the end effector 303 also includes a push rod 30 34, the push rod 3034 is loosely matched with the fourth through hole 3025, one end of the push rod 3034 is U-shaped, the U-shaped end of the push rod 3034 is fixedly provided with a second pin 3035, the second pin 3035 passes through the oblong hole 3033 on the arm 3031, the other end of the push rod 3034 is fixedly connected to the end of the bending joint through a spring 3036, and the other end of the push rod 3034 is also fixedly connected to the first transmission rope 401. In order to make the end of the arm 3031 slide into / out of the fourth through hole 3025 more smoothly, the end of the arm 3031 close to the bending joint is set to be arc-shaped, and a rounded corner treatment method can be adopted in the process. In the idle state, the first transmission rope 401 is in a relaxed state. Under the elastic force of the spring 3036, the spring 3036 pushes the push rod 3034, and the push rod 3034 pushes the pair of arms 3031 out of the fourth through hole 3025. The second pin shaft 3035 slides in the oblong hole 3033 to a side close to the hinge point of the pair of arms 3031. The pair of arms 3031 is in an open state at this time; when the first transmission rope 401 is tightened, the first transmission rope 401 pulls the push rod 3034 to slide in the fourth through hole 3025 toward the bending joint 302, the spring 3036 is compressed and stores elastic potential energy, and the second pin shaft 30 35 slides in the oblong hole 3033 to the side away from the hinge point of the pair of arms 3031. At this time, the oblong holes 3033 on the two arms 3031 completely overlap. According to the lever principle, the two arms 3031 cooperate with each other and are in a closed state. When the end effector 303 needs to be reopened, the first transmission rope 401 is released, the first transmission rope 401 becomes loose again, and the compressed spring 3036 pops open to release elastic potential energy. The spring 3036 pushes the push rod 3034, and the second pin shaft 3035 slides in the oblong hole 3033 to the side close to the hinge point of the pair of arms 3031. According to the lever principle, the pair of arms 3031 is opened.

[0041] like Figure 8As shown, the handle assembly 4 includes a handle housing 402 and a crank slider mechanism arranged in the handle housing 402, the crank slider mechanism includes a slider 403, a connecting rod 404, and a crank 405 connected in sequence, the first transmission rope 401 passes through the handle housing 402 and is fixedly connected to the slider 403, the end of the slider 403 facing away from the first transmission rope 401 is hinged to one end of the connecting rod 404, the other end of the connecting rod 404 is hinged to the crank 405, and the crank 405 is hinged to the handle housing 402 through a rotating shaft 407; the crank 405 passes through the handle housing 402, and the opening on the handle housing 402 allows the crank 405 to rotate within a certain angle along the rotating shaft 407; a slideway is also provided in the handle housing 402, the slider 403 is clearance-matched with the slideway, and when the slider 403 slides in the slideway, the slider 403 drives the first transmission rope 401 to move. When the operator holds the handle assembly 4 and presses the crank 405 to cause the crank 405 to rotate along the rotating shaft 407, the connecting rod 404 is displaced synchronously, pulling the slider 403 to slide, thereby tightening the first transmission rope 401. The first transmission rope 401 transmits the tension to the end effector 303, and the movement of the end effector 303 is controlled by controlling the tension or relaxation state of the first transmission rope 401.

[0042] Furthermore, the opposite side (i.e., the side that cooperates with each other) of the pair of arms 3031 of the end effector 303 can be any one of a plane, a curved surface, a serrated surface, and a blade shape, that is, the shape of the end effector 303 can be set to scissors or pliers according to needs. For example, when the side that cooperates with each other on the pair of arms 3031 is a serrated surface, a plane, or a curved surface, the end effector 303 is a pliers; when the side that cooperates with each other on the pair of arms 3031 is a blade shape, the end effector 303 is a scissors.

[0043] In order to increase the comfort of the operator when using the device, a wristband can also be set in the first through hole 101 on the frame 1. The wristband is flexible to reduce the friction damage of the device to the operator's wrist or upper arm. The wristband provides flexible support between the first through hole 101 of the frame 1 and the operator's arm. The wristband is made of flexible material, which can make the device adaptable to different people.

[0044] The control component 5 and the driving mechanism are fixedly installed in a box body, and the control component 5 includes a processor and a power module. The input of the processor is connected to the gesture sensing module 6 for communication, and the output of the processor is connected to the motor 202 of the driving mechanism for control. The processor adopts an ARM9 single chip microcomputer, and the power module adopts a micro battery.

[0045] Working principle:

[0046] When using the device, the operator's wrist or upper arm passes through the first through hole 101, wears a glove equipped with a gesture sensing module 6, and is fixed by a wristband 102, and holds the handle assembly 4 with the palm of the hand, and the gesture sensing module 6 fits or is worn on the palm and fingers; when the angle of the bending joint 302 needs to be adjusted, the palm is bent or tilted in the corresponding direction, and the three-axis acceleration sensor of the gesture sensing module 6 senses the signal of the gesture change and transmits the gesture change signal to the control component 5. After a simple judgment and processing, the control component 5 outputs a control signal of the drive component 2 to control the micro motors 202 in two directions to perform forward or reverse transmission respectively, and according to the transmission principle of the transmission rope, the bending joint 302 is pulled to perform lateral and / or longitudinal bending, thereby adjusting the angle of the bending joint 302; when the angle is adjusted to the right position, the first transmission rope 401 is stretched and released by pressing or releasing the crank 405 on the handle assembly 4, thereby controlling the closing or opening of the end effector 303 to achieve the function of clamping or shearing.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wearable laparoscopic surgical instrument, characterized in that: The invention comprises a frame (1), a handle assembly (4), a driving assembly (2), an execution assembly (3), a gesture sensing module (6), and a control assembly (5); the frame (1) is provided with a first through hole (101) for cooperating with an operator's wrist or upper arm; the driving assembly (2) is provided with a housing (201); an end of the frame (1) away from the first through hole (101) is fixedly connected to the housing (201) of the driving assembly (2); the handle assembly (4) is connected to the housing (201) of the driving assembly (2) via a flexible conduit (406); the driving assembly (2) and the execution assembly (3) are transmission-connected to control the execution assembly (3) to bend horizontally and / or longitudinally; the execution assembly (3) comprises a long rod (301) coaxially arranged and sequentially connected, a bending joint (302), an end execution assembly (303), and a plurality of end execution assembly (304). The apparatus (303) comprises a second through hole (3023) which is connected to the axis of the long rod (301) and the bending joint (302); a first transmission rope (401) is provided at the control end of the end effector (303); the first transmission rope (401) passes through the second through hole (3023), the housing (201) of the drive assembly (2) and the guide tube (406) in sequence, and is connected to the handle assembly (4); the gesture sensing module (6) is fixedly mounted on the frame (1) and is connected to the control assembly (5) in communication; the gesture sensing module (6) is used to sense the gesture signal of the operator and transmit it to the control assembly (5); the control assembly (5) is connected to the drive assembly (2) and is used to output a control signal according to the gesture signal to control the operation of the drive assembly (2).

2. A wearable laparoscopic surgical instrument according to claim 1, characterized in that: The gesture sensing module (6) comprises a motion sensor (601) and a motion analysis module (602), wherein the motion sensor (601) is used to sense the gesture signal, and the motion analysis module (602) is used to analyze the gesture signal and transmit it to the control component (5).

3. A wearable laparoscopic surgical instrument according to claim 1, characterized in that: The driving assembly (2) comprises two groups of driving units arranged perpendicularly to each other, and the two groups of driving units are arranged along the axial direction of the long rod (301); the driving unit comprises a motor (202), and the output shaft of the motor (202) is arranged perpendicularly to the long rod (301); a transmission wheel (203) is arranged perpendicularly on the output shaft of the motor (202), the wheel surface of the transmission wheel (203) is arranged as a groove, and a second transmission rope (204) is arranged on the groove, and the second transmission rope (204) passes through the long rod (301) and is fixedly connected to the end of the bending joint (302) away from the long rod (301).

4. A wearable laparoscopic surgical instrument according to claim 3, characterized in that: The head end of the bending joint (302) is fixedly connected to the end of the long rod (301), and the tail end of the bending joint (302) is fixedly connected to the end actuator (303); the bending joint (302) comprises a plurality of universal joints (3021) hinged in sequence head to tail, and the second through hole (3023) is arranged along the axis of the universal joint (3021); the outer peripheral surface of the universal joint (3021) is provided with an annular convex ridge (3022), the annular convex ridge (3022) is arranged perpendicular to the axis of the universal joint (3021), and the annular convex ridge (3022) is provided with four evenly distributed third through holes (3024), and the third through holes (3024) are arranged parallel to the second through holes (3023); each of the second transmission ropes (204) passes through a pair of symmetrically arranged third through holes (3024) and matches with the groove of the transmission wheel (203).

5. A wearable laparoscopic surgical instrument according to claim 4, characterized in that: The end point of the second transmission rope (204) is fixedly mounted on the third through hole (3024) at the end of the bending joint (302).

6. A wearable laparoscopic surgical instrument according to claim 4, characterized in that: A fourth through hole (3025) is also provided at the end of the bending joint (302), and the fourth through hole (3025) is coaxially arranged with the second through hole (3023), and the end of the end effector (303) is slidably fitted in the fourth through hole (3025).

7. A wearable laparoscopic surgical instrument according to claim 6, characterized in that: The end effector (303) comprises a pair of arms (3031) arranged in an X-shape, the arms (3031) being arranged along the axial direction of the bending joint (302), and the intersection of the arms (3031) and the end of the bending joint (302) being hinged via a first pin (3032); an oblong hole (3033) is provided at one end of the arm (3031) close to the bending joint (302), and the oblong hole (3033) is arranged along the long diameter of the arm (3031); the end effector (303) further comprises a push rod (3034 ), the push rod (3034) is loosely matched with the fourth through hole (3025), one end of the push rod (3034) is U-shaped, a second pin (3035) is fixedly provided on the U-shaped end of the push rod (3034), the second pin (3035) passes through the oblong hole (3033) on the arm (3031), the other end of the push rod (3034) is fixedly connected to the end of the bending joint (302) through a spring (3036), and the other end of the push rod (3034) is also fixedly connected to the first transmission rope (401).

8. A wearable laparoscopic surgical instrument according to claim 1, characterized in that: The handle assembly (4) comprises a handle housing (402) and a crank slider mechanism arranged in the handle housing (402), the crank slider mechanism comprising a slider (403), a connecting rod (404), and a crank (405); the first transmission rope (401) passes through the handle housing (402) and is fixedly connected to the slider (403); one end of the slider (403) away from the first transmission rope (401) is hinged to one end of the connecting rod (404); the other end of the connecting rod (404) is hinged to the crank (405); the crank (405) is hinged to the handle housing (402) via a rotating shaft (407); the crank (405) passes through the handle housing (402) and can rotate along the rotating shaft (407); a slideway is also arranged in the handle housing (402), and the slider (403) is clearance-matched with the slideway.

9. A wearable laparoscopic surgical instrument according to claim 1, characterized in that: The opposite sides of the pair of arms (3031) of the end effector (303) may be any one of a flat surface, a curved surface, a serrated surface, and a blade shape.

10. A wearable laparoscopic surgical instrument according to claim 2, characterized in that: The gesture sensing module (6) also includes a glove, the motion sensor (601) is installed at the finger position of the glove, and the motion analysis module (602) is installed at the back of the glove; a wristband (102) is provided at the wrist position of the glove, and the wristband is arranged in the first through hole (101); a pin (1021) is provided on the wristband (102), and a slot (1022) is provided in the first through hole (101), and the pin (1021) is engaged with the slot (1022).

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