A manipulator for controlling the operation of the end effector of a surgical instrument

Abstract

The present invention discloses an operator for controlling the end effector of a surgical instrument, which includes a base, a holding part and a linkage mechanism. The linkage mechanism is connected between the base and the holding part. A plurality of intermediate joints are provided on the linkage mechanism, and a first joint is provided between the base and the linkage mechanism, and a second joint is provided between the linkage mechanism and the holding part. When the holding part is moved, the first joint, the second joint and each intermediate joint adaptively decompose actions according to the movement path of the holding part and / or the corresponding joint. Sensors are provided on some or all of the joints. The sensors are used to collect the action data of the corresponding joint actions, and the action data is used to make the end effector of the surgical instrument move corresponding to the movement path of the holding part. When controlling the end effector, the operator of the present invention can make the end effector of the surgical instrument move corresponding to the movement path of the holding part by changing the position of the holding part, with a better manipulation experience and the probability of misoperation can be reduced.

Description

Technical Field

[0001] The present invention relates to medical devices, and particularly to an operator for controlling the end effector of a surgical instrument. Background Art

[0002] In existing surgical instruments, the end effectors of most surgical instruments can only be directly manipulated by doctors; in some surgical systems, an operation terminal is configured for the surgical instrument. During the surgical process, the doctor operates the operator in the operation terminal, and the surgical instrument performs surgical actions on the patient according to the instructions of the operator. However, most existing operators are conventional mice. When operating, they can only perform planar movement or point selection operations, and the manipulation feeling is not intuitive enough, and there may be situations of incorrect manipulation. Summary of the Invention

[0003] The main purpose of the present invention is to provide an operator for controlling the end effector of a surgical instrument, so as to improve the manipulation experience, achieve more intuitive manipulation, and thus reduce the probability of manipulation errors.

[0004] To achieve the above object and other related objects, the technical solution of the present invention is as follows:

[0005] An operator for controlling the end effector of a surgical instrument, comprising a base, a holding part and a linkage mechanism. The linkage mechanism is connected between the base and the holding part. A plurality of intermediate joints are provided on the linkage mechanism, and a first joint is provided between the base and the linkage mechanism, and a second joint is provided between the linkage mechanism and the holding part;

[0006] When the holding part is moved, the first joint, the second joint and each of the intermediate joints adaptively decompose actions according to the movement path of the holding part. Sensors are provided on some or all of the joints. The sensors are used to collect action data of the corresponding joint actions, and the action data is used to make the end effector of the surgical instrument move corresponding to the movement path of the corresponding joint and / or the holding part.

[0007] Optionally, the linkage mechanism includes a plurality of sequentially connected components, and each component is connected by the intermediate joint.

[0008] Optionally, the linkage mechanism is rotatably arranged on the base, so that the movement limit space of the holding part is located in a spherical space centered on the base, and the holding part moves freely within its movement limit space.

[0009] Optionally, the linkage mechanism includes a sub-planar linkage mechanism, and the sub-planar linkage mechanism includes at least two sequentially connected components;

[0010] In the sub-planar link mechanism, each component is connected in series in sequence and lies in the same plane, such that when the holding part is bent by the sub-planar link mechanism, it approaches or moves away from the base.

[0011] Optionally, each joint is a revolute joint. The link mechanism includes a first component, a second component, a third component, a fourth component, and a fifth component connected in series in sequence. The first joint is provided between the base and the first component, and the second joint is provided between the fifth component and the holding part.

[0012] Optionally, the first component is rotatably provided on the base, and the axis of rotation between the first component and the base is the first axis;

[0013] The second component is rotatably provided on the first component, and the axis of rotation between the second component and the first component is the second axis;

[0014] The third component is rotatably provided on the second component, and the axis of rotation between the third component and the second component is the third axis;

[0015] The fourth component is rotatably provided on the third component, and the axis of rotation between the fourth component and the third component is the fourth axis;

[0016] The fifth component is rotatably hinged to the fourth component, and the axis of rotation between the fifth component and the fourth component is the fifth axis.

[0017] The holding part is rotatably provided on the fifth component, and the axis of rotation between the holding part and the fifth component is the sixth axis;

[0018] Among the first axis, the second axis, the third axis, the fourth axis, the fifth axis, and the sixth axis, at least one axis has an axial direction of the first direction, at least one axis has an axial direction of the second direction, and at least one axis has an axial direction of the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0019] Optionally, the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, the fifth axis is perpendicular to both the first axis and the second axis, and the first axis and the second axis are perpendicular to each other.

[0020] Optionally, an auxiliary support structure is provided on the link mechanism. The auxiliary support structure is used to support the second component and / or the third component. The auxiliary support structure includes a first support member and a second support member, and the first support member and the second support member are hinged.

[0021] Optionally, when the auxiliary support structure is used to support the second member, the first support member is hinged to the first member, and the second support member is hinged at the joint between the second member and the third member, so that the first member, the second member, the first support member and the second support member jointly form a parallelogram mechanism.

[0022] When the auxiliary support structure is used to support the third member, the first support member is hinged to the fourth member, and the second support member is hinged at the joint between the second member and the third member, so that the third member, the fourth member, the first support member and the second support member jointly form a parallelogram mechanism.

[0023] Optionally, the auxiliary support structure further includes a buffer elastic member;

[0024] When the auxiliary support structure is used to support the second member, the buffer elastic member is disposed between the first support member and the second member;

[0025] When the auxiliary support structure is used to support the third member, the buffer elastic member is disposed between the first support member and the third member.

[0026] Optionally, the sensor is arranged at:

[0027] At the first joint;

[0028] At the joint between the first member and the second member;

[0029] At the joint between the second member and the third member;

[0030] At the joint between the fourth member and the fifth member; and

[0031] At the second joint.

[0032] Optionally, the operator for controlling the end effector of the surgical instrument further includes a limiting structure for defining the degrees of freedom of the holding portion in a non-surgical state.

[0033] Optionally, the limiting structure includes:

[0034] A limiting hole, which is arranged on the base;

[0035] A limiting portion, which is arranged on the link mechanism or the holding portion;

[0036] Wherein, the limiting portion restricts the degrees of freedom of the holding portion by inserting into the limiting hole.

[0037] Optionally, the sensor is an encoder.

[0038] Optionally, an interaction area for controlling the surgical instrument to perform surgical actions is provided on the holding part.

[0039] Optionally, the end effector includes a focused ultrasound device, and a button or interface for triggering the focused ultrasound device to emit ultrasonic waves is provided on the interaction area.

[0040] Optionally, the end effector includes a focused ultrasound device.

[0041] When the manipulator of the present invention controls the end effector of the surgical instrument, the position of the holding part or the corresponding joint can be changed by directly holding the holding part, so that the end effector of the surgical instrument moves correspondingly according to the movement path of the holding part or the corresponding joint. The operation is more intuitive, the operation experience is better, and the probability of misoperation can be reduced. Description of the Drawings

[0042] Figure 1 Shown is an exemplary three-dimensional structure diagram of the manipulator of the present invention;

[0043] Figure 2 Shown as Figure 1 Internal cross-sectional view of

[0044] Figure 3 Shown as Figure 1 Internal cross-sectional view of (the positions of each joint have been marked).

[0045] Description of the reference numerals in the embodiments includes:

[0046] Base 1, Holding part 2, First member 31, Second member 32, Third member 33, Fourth member 34, Fifth member 35, Intermediate joint 36, First joint 131, Second joint 235, Auxiliary support structure 4, First support member 41, Second support member 42, Buffer elastic member 43, Sensor 5, First encoder 51, Second encoder 52, Third encoder 53, Fourth encoder 54, Fifth encoder 55, Interaction area 6, Button 61, Limiting structure 7, Limiting part 71, Limiting hole 72. Detailed Embodiments

[0047] In the following description, numerous specific details are given to provide a more thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without one or more of these details. In other instances, well-known technical features have not been described to avoid obscuring the present invention.

[0048] It should be understood that the present invention can be implemented in different forms and should not be construed as limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, the same reference numerals throughout denote the same components.

[0049] Referring jointly to Figure 1 、 Figure 2 、 Figure 3 , in some embodiments, an actuator includes a base 1, a grip portion 2 and a linkage mechanism. The linkage mechanism is connected between the base 1 and the grip portion 2. The actuator is used to control the end effector of a surgical instrument (not shown in the figure). A plurality of intermediate joints 36 are provided on the linkage mechanism. The base 1 and the linkage mechanism are connected by a first joint 131, and the linkage mechanism and the grip portion 2 are connected by a second joint 235. When the grip portion 2 is moved, the first joint 131, the second joint 235 and each intermediate joint 36 adaptively decompose the movement according to the movement path of the grip portion 2. Sensors 5 are provided on some or all of the joints. The sensors 5 are used to collect the movement data of the corresponding joint movements. The movement data is used to cause the end effector of the surgical instrument to move correspondingly according to the movement path of the grip portion 2. In other embodiments, the movement data is used to cause the end effector of the surgical instrument to move correspondingly according to the movement path of the corresponding joint. In still other embodiments, the movement data is used to cause the end effector of the surgical instrument to move according to the movement path of the corresponding joint and the movement path of the grip portion. When using this actuator to control the end effector of the surgical instrument, only need to hold the grip portion 2 of the actuator and move the grip portion 2 within its movement limit space. Since sensors 5 are provided on some or all of the joints, the actuator of the surgical instrument can be controlled in association through the movement data collected by each sensor 5, so that the end effector moves to the target position corresponding to the movement path of the grip portion 2 or the corresponding joint. The "movement path corresponding to the grip portion 2 or the corresponding joint" here does not limit to the case where the path of the end effector is scaled proportionally to the path of the grip portion 2 or the corresponding joint, but also refers to the case where when the movement paths of the end effector and the grip portion 2 or the corresponding joint are different, the straight-line distance and the rotation angle from the starting position angle to the target position angle correspond. In addition, the movement here does not limit to simple position movement, and also intends to include or not include the case of rotation.

[0050] In addition, when controlling the end effector according to the motion data collected by the sensor 5, if the control mechanism for controlling the position and angle of the end effector in the surgical instrument has the same structure as the actuator, the motions of the joints on the control mechanism can be directly executed according to the motion data of the corresponding joints. If the control mechanism for controlling the position and angle of the end effector in the surgical instrument has a different structure from the actuator, the distance (total displacement) from the starting position to the ending position of the holding part or the corresponding joint and the rotation angle in each direction (total rotation angle) can be calculated first according to the motion data collected by each sensor, and then the total displacement and total rotation angle can be decomposed according to the specific structure of the control mechanism to make the end effector perform corresponding motions.

[0051] In some embodiments, referring to Figure 3 , the linkage mechanism includes a plurality of sequentially connected components, and the components are connected by intermediate joints 36.

[0052] In some embodiments, in combination with Figure 1 、 Figure 2 、 Figure 3 , the linkage mechanism is rotatably arranged on the base 1, so that the motion limit space of the holding part 2 is located within a spherical space centered on the base 1, and the holding part 2 can move freely within its motion limit space. In this setting method, the operator can regard the base 1 as the lesion to be treated, which more intuitively simulates the motion process when holding the end effector, and the over-control experience is better.

[0053] In some embodiments, the linkage mechanism includes a sub-planar linkage mechanism, and the sub-planar linkage mechanism includes at least 2 sequentially connected components. In the sub-planar linkage mechanism, the components are sequentially connected in the same plane, so that the holding part 2 approaches or moves away from the base when the sub-planar linkage mechanism is bent. At this time, the end effector can be based on Figure 1 、 Figure 2 、 Figure 3 . For example, the sub-planar linkage mechanism can be Figure 1 、 Figure 2 、 Figure 3 the second component 32, the third component 33 and the fourth component 34 in. On the basis that the linkage mechanism can rotate along the base 1, the holding part can reach any position within its motion limit space by bending the joints of the sub-planar linkage mechanism. In the actual implementation process, the number of components of the sub-planar linkage mechanism can be other numbers.

[0054] In some embodiments, referring to in combination Figure 1 、 Figure 2 、 Figure 3, each joint is a revolute joint. The linkage mechanism includes a first member 31, a second member 32, a third member 33, a fourth member 34, and a fifth member 35 connected in series in sequence. The first joint 131 is disposed between the base 1 and the first member 31, and the second joint 235 is disposed between the fifth member 35 and the holding part 2. In actual implementation, some joints can be revolute joints and some can be prismatic joints, but the way of using all revolute joints is beneficial to the smoother movement of each joint. Additionally, in actual implementation, the end effector can move corresponding to the path of the holding part or the intermediate joint between the third member 33 and the fourth member 34.

[0055] In some embodiments, to enable the holding part to move freely within its extreme motion space, referring to Figure 1 , Figure 2 , Figure 3 , the first member 31 is rotatably disposed on the base 1, and the axis of rotation between the first member 31 and the base 1 is defined as the first axis; the second member 32 is rotatably disposed on the first member 31, and the axis of rotation between the second member 32 and the first member 31 is defined as the second axis; the third member 33 is rotatably disposed on the second member 32, and the axis of rotation between the third member 33 and the second member 32 is defined as the third axis; the fourth member 34 is rotatably disposed on the third member 33, and the axis of rotation between the fourth member 34 and the third member is defined as the fourth axis; the fifth member 35 is rotatably hinged to the fourth member 34, and the axis of rotation between the fifth member 35 and the fourth member 34 is defined as the fifth axis, and the holding part 2 is rotatably disposed on the fifth member 35, and the axis of rotation between the holding part 2 and the fifth member 35 is defined as the sixth axis. Among the first axis, the second axis, the third axis, the fourth axis, the fifth axis, and the sixth axis, at least one axis has an axial direction of the first direction, at least one axis has an axial direction of the second direction, and at least one axis has an axial direction of the third direction, and the first direction, the second direction, and the third direction are perpendicular to each other. If the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction, that is, at least one axis is in the X-axis direction, at least one axis is in the Y-axis direction, and at least one axis is in the Z-axis direction. In actual implementation, the first direction, the second direction, and the third direction may not be perpendicular to each other, but it is necessary to satisfy that in any space rectangular coordinate system, after the first direction, the second direction, and the third direction are decomposed along the X-axis, Y-axis, and Z-axis in this coordinate system, the decomposed values on the X-axis, Y-axis, and Z-axis are all non-zero.

[0056] In some embodiments, referring to Figure 1 , Figure 2 , Figure 3, the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, the fifth axis is perpendicular to the first axis and the second axis respectively, and the first axis and the second axis are perpendicular to each other.

[0057] In some embodiments, with reference to Figures 1 to 3 , an auxiliary support structure 4 is provided on the linkage mechanism. The auxiliary support structure 4 is used to support the second member 32 and the third member 33. The auxiliary support structure 4 includes a first support member 41 and a second support member 42, and the first support member 41 and the second support member 42 are hinged.

[0058] When the auxiliary support structure 4 is used to support the second member 32, the first support member 41 is hinged to the first member 31, and the second support member 42 is hinged at the joint between the second member 32 and the third member 33, so that the first member 31, the second member 32, the first support member 41, and the second support member 42 jointly form a parallelogram mechanism; when the auxiliary support structure 4 is used to support the third member 33, the first support member 41 is hinged to the fourth member 34, and the second support member 42 is hinged at the joint between the second member 32 and the third member 33, so that the third member 33, the fourth member 34, the first support member 41, and the second support member 42 jointly form a parallelogram mechanism.

[0059] In some embodiments, with reference to Figures 1 to 3 , the auxiliary support structure 4 further includes a buffer elastic member 43. When the auxiliary support structure 4 is used to support the second member, the buffer elastic member 43 is disposed between the corresponding first support member 41 and the second member 32; when the auxiliary support structure 4 is used to support the third member 33, the buffer elastic member 43 is disposed between the first support member 41 and the third member 33. In actual implementation, the buffer elastic member 43 can be a spring, a gas spring, a rubber band, etc. As long as it can provide buffer elastic force, the supported member can be subjected to a smaller impact force during rotation, which is beneficial to making the structure of the entire actuator more stable and reliable.

[0060] In some embodiments, the sensor 5 is an encoder. During implementation, the type of the sensor 5 is set according to the actual structure of the actuator. If a sliding pair is further provided in the actuator, a displacement sensor can also be correspondingly provided. And for a rotary joint, in addition to using an encoder to obtain its rotation angle, other angle sensors can also be used as long as its motion data can be obtained.

[0061] In some embodiments, the sensor 5 is disposed at the first joint 131, the second joint 235, the joint between the first member 31 and the second member 32, the joint between the second member 32 and the third member 33, and the joint between the fourth member 34 and the fifth member 35. In Figures 1 to 3Among them, each sensor 5 is an encoder. There are five encoders provided on this manipulator, namely the first encoder 51, the second encoder 52, the third encoder 53, the fourth encoder 54, and the fifth encoder 55. The first encoder 51 is arranged at the first joint 131, the second encoder 52 is arranged at the joint between the first member 31 and the second member 32, the third encoder 53 is arranged at the joint between the second member 32 and the third member 33, the fourth encoder 54 is arranged at the joint between the fourth member 34 and the fifth member 35, and the fifth encoder 55 is arranged at the second joint 235. At this time, the displacement data between the third member 33 and the fourth member 34 obtained by the first encoder 51, the second encoder 52, and the third encoder 53 can be utilized, and the posture of the holding part can be obtained by the fourth encoder 54 and the fifth encoder 55. Of course, in the actual implementation process, sensors can also be correspondingly arranged at each joint to achieve all-round displacement and posture recognition.

[0062] In some embodiments, the manipulator further includes a limiting structure 7 for limiting the degrees of freedom of the holding part 2 in a non-surgical state. When the surgery is completed or interrupted, the manipulator is locked to a certain extent by using this limiting structure.

[0063] In some embodiments, the limiting structure 7 includes a limiting hole 72 provided on the base 1 and a limiting part 71 provided on the linkage mechanism. The limiting part 71 restricts the degrees of freedom of the holding part 2 by inserting into the limiting hole 72. In the figure, the limiting part 71 is arranged on the fourth member 34 in the linkage mechanism. At this time, the degrees of freedom of the holding part 2 are 2. In the actual implementation process, the limiting part 71 can also be arranged on other members in the linkage mechanism; or the limiting part 71 can be directly arranged on the operating part to completely lock the holding part 2, so that the degrees of freedom corresponding to the holding part 2 are 0. In addition, the structure for restricting the limiting part is not limited to the form of a limiting hole, and it can also be a limiting groove or other structures. Moreover, the limiting hole can be not arranged on the base, or can be arranged on a structure outside the manipulator, as long as the limitation of the holding part can be achieved.

[0064] In some embodiments, an interaction area 6 for controlling the surgical instrument to perform surgical actions is provided on the holding part 2.

[0065] In some embodiments, the end effector includes a focused ultrasound device.

[0066] In some embodiments, a button 61 or interface for triggering the focused ultrasound device to emit ultrasonic waves is provided on the interaction area 6. In the actual implementation process, a solidification button 61 (or interface) and a de-solidification button 61 (or interface) for solidifying the lesion image can also be provided on the interaction area 6, and other functional buttons 61 or interfaces can also be provided, which is more convenient for controlling the entire surgical instrument.

[0067] In the description of the present invention, unless otherwise clearly defined and limited, the first feature being “on” the second feature may include direct contact between the first and second features, or may include indirect contact between the first and second features through additional features therebetween.

[0068] In the description of the present invention, the singular forms “a”, “an” and “the” are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms “comprising” and / or “including”, when used in this specification, specify the presence of the stated features, integers, steps, operations, components and / or parts, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts and / or groups.

[0069] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An actuator for controlling the end effector of a surgical instrument, characterized in that: It includes a base, a holding part and a linkage mechanism. The linkage mechanism is connected between the base and the holding part. A plurality of intermediate joints are provided on the linkage mechanism. A first joint is provided between the base and the linkage mechanism, and a second joint is provided between the linkage mechanism and the holding part. When the holding part is moved, the first joint, the second joint and each of the intermediate joints adaptively decompose actions according to the movement path of the holding part. Sensors are provided on some or all of the joints. The sensors are used to collect action data of the corresponding joint actions. The action data is used to make the end effector of the surgical instrument move corresponding to the movement paths of the corresponding joints and / or the holding part. The linkage mechanism includes a plurality of sequentially connected components, and each component is connected by the intermediate joints. The linkage mechanism is rotatably arranged on the base, so that the movement limit space of the holding part is located within a spherical space centered on the base, and the holding part moves freely within its movement limit space. The linkage mechanism includes a sub-plane linkage mechanism, and the sub-plane linkage mechanism includes at least two sequentially connected components. In the sub-plane linkage mechanism, each component is sequentially connected and in the same plane, so that the holding part approaches or moves away from the base when the sub-plane linkage mechanism is bent.

2. The manipulator for controlling the operation of the end effector of a surgical instrument according to claim 1, characterized in that: Each joint is a revolute joint. The linkage mechanism includes a first component, a second component, a third component, a fourth component and a fifth component connected in sequence. The first joint is provided between the base and the first component, and the second joint is provided between the fifth component and the holding part.

3. The manipulator for controlling the end effector of a surgical instrument according to claim 2, wherein: The first component is rotatably arranged on the base, and the axis of rotation between the first component and the base is the first axis. The second component is rotatably arranged on the first component, and the axis of rotation between the second component and the first component is the second axis. The third component is rotatably arranged on the second component, and the axis of rotation between the third component and the second component is the third axis. The fourth component is rotatably arranged on the third component, and the axis of rotation between the fourth component and the third component is the fourth axis. The fifth component is rotatably hinged on the fourth component, and the axis of rotation between the fifth component and the fourth component is the fifth axis. The holding part is rotatably arranged on the fifth component, and the axis of rotation between the holding part and the fifth component is the sixth axis. Among the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis, the axial direction of at least one axis is the first direction, the axial direction of at least one axis is the second direction, and the axial direction of at least one axis is the third direction. The first direction, the second direction and the third direction are perpendicular to each other.

4. The manipulator for controlling the operation of the end effector of the surgical instrument according to claim 3, characterized in that: The first axis and the sixth axis are parallel to each other. The second axis, the third axis, and the fourth axis are parallel to each other. The fifth axis is perpendicular to both the first axis and the second axis, and the first axis and the second axis are perpendicular to each other.

5. The manipulator for controlling the end effector of a surgical instrument according to claim 4, wherein: An auxiliary support structure is provided on the linkage mechanism. The auxiliary support structure is used to support the second member and / or the third member. The auxiliary support structure includes a first support member and a second support member, and the first support member and the second support member are hinged.

6. The manipulator for controlling the end effector of a surgical instrument according to claim 5, wherein: When the auxiliary support structure is used to support the second member, the first support member is hinged to the first member, and the second support member is hinged at the joint between the second member and the third member, so that the first member, the second member, the first support member, and the second support member together form a parallelogram mechanism; When the auxiliary support structure is used to support the third member, the first support member is hinged to the fourth member, and the second support member is hinged at the joint between the second member and the third member, so that the third member, the fourth member, the first support member, and the second support member together form a parallelogram mechanism.

7. The manipulator for controlling the end effector of a surgical instrument according to claim 5, wherein: The auxiliary support structure further includes a buffer elastic member; When the auxiliary support structure is used to support the second member, the buffer elastic member is disposed between the first support member and the second member; When the auxiliary support structure is used to support the third member, the buffer elastic member is disposed between the first support member and the third member.

8. The manipulator for controlling the operation of the end effector of a surgical instrument according to claim 4, wherein, The sensor is arranged at: The first joint; The joint between the first member and the second member; The joint between the second member and the third member; The joint between the fourth member and the fifth member; and The second joint.

9. The manipulator for controlling the operation of the end effector of a surgical instrument according to claim 1, characterized in that: It further includes a limiting structure for limiting the degrees of freedom of the holding part in a non-surgical state.

10. The manipulator for controlling the operation of the end effector of the surgical instrument according to claim 9, characterized in that: The limiting structure includes: A limiting hole, which is provided on the base; A limiting part, which is provided on the linkage mechanism or the holding part; Wherein, the limiting part restricts the degrees of freedom of the holding part by inserting into the limiting hole.

11. The manipulator for controlling the operation of the end effector of a surgical instrument according to claim 1, wherein: The sensor is an encoder.

12. The manipulator for controlling the operation of the end effector of the surgical instrument according to claim 1, characterized in that: An interaction area for manipulating the surgical instrument to perform surgical actions is provided on the holding part.

13. The manipulator for controlling the operation of the end effector of the surgical instrument according to claim 12, characterized in that: The end effector includes a focused ultrasound device, and a button or interface for triggering the focused ultrasound device to emit ultrasonic waves is provided on the interaction area.

14. The manipulator for controlling the operation of the end effector of a surgical instrument according to claim 1, wherein: The end effector includes a focused ultrasound device.

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