Actuator for controlling the movement of micro forceps

Abstract

The present application relates to an actuator for controlling the movement of microscopic tweezers, comprising: a support frame; a linear drive assembly, mounted on the support frame, comprising a first drive component and a linear moving assembly, one end of the linear moving assembly is connected to the first drive assembly, the linear moving assembly is mounted on the support frame, and can move up and down in the axial direction of the support frame; a fixed assembly, used to install the microscopic tweezers; a rotational drive assembly, mounted on the support frame, comprising a second drive component and a rotational actuator assembly, a fixed assembly is installed between the second drive assembly and the rotational actuator assembly, the second drive assembly drives the fixed assembly and the rotational actuator assembly to rotate around the axis of the support frame; an elastic clamping assembly, clamped at the other end of the linear moving assembly, the linear moving assembly drives the elastic clamping assembly to move up and down in the axial direction of the support frame; clamped at the rotational actuator assembly, the rotational actuator assembly drives the elastic clamping assembly to rotate around the axis of the support frame.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to an actuator for controlling the movement of micro forceps. Background Art

[0002] As an important organ of the human body, the eye requires high precision in surgical operations. Microtweezers are important surgical instruments used to perform a variety of surgical operations such as tearing the anterior capsule and clamping tissues. Compared with surgeons operating microtweezers, robots control the precision and sensitivity of microtweezers.

[0003] Based on the above situation, it is necessary to provide a mechanical device that can drive the microscopic forceps to automatically rotate and open and close, so as to improve the accuracy and sensitivity of controlling the microscopic forceps. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides an execution device for controlling the movement of microtweezers, which can drive the microtweezers to realize automatic rotation and opening and closing and other movements, thereby improving the accuracy and sensitivity of controlling the microtweezers.

[0005] The present invention provides an actuator for controlling the movement of microtweezers, comprising: a support frame; a linear drive assembly, installed on the support frame, comprising a first drive component and a linear moving assembly, one end of the linear moving assembly is connected to the first drive assembly, the linear moving assembly is limited by the support frame, and can move up and down in the axial direction of the support frame; a fixed assembly, used to install the microtweezers; a rotation drive assembly, installed on the support frame, comprising a second drive component and a rotation actuator assembly, the fixed assembly is installed between the second drive assembly and the rotation actuator assembly, the second drive assembly drives the fixed assembly and the rotation actuator assembly to rotate around the axis of the support frame; an elastic clamping assembly, clamped at the other end of the linear moving assembly, the linear moving assembly drives the elastic clamping assembly to move up and down in the axial direction of the support frame; clamped at the rotation actuator assembly, the rotation actuator assembly drives the elastic clamping assembly to rotate around the axis of the support frame.

[0006] In some optional embodiments, the support frame includes a first support component, a second support component and a plurality of support rods, one end of each of the support rods is connected to the first support component, the other end of each of the support rods is connected to the second support component, and the plurality of support rods are arranged circumferentially of the support frame.

[0007] In some optional embodiments, the first supporting component is provided with a first sub-limiting portion and a second sub-limiting portion, and the second supporting component is provided with a third sub-limiting portion and a fourth sub-limiting portion, the first sub-limiting portion and the third sub-limiting portion are provided correspondingly, and the second sub-limiting portion and the fourth sub-limiting portion are provided correspondingly.

[0008] In some optional embodiments, the first driving component is a first reduction motor, the linear moving assembly includes a lead screw and a moving rod, the moving rod passes through the first sub-limiting portion and the third sub-limiting portion, the moving rod is provided with a threaded hole, and the first reduction motor is rotatably connected to the threaded hole through the lead screw.

[0009] In some optional embodiments, the fixing assembly includes a fixed shell, the fixed shell includes a first fixing component, a plurality of fixing rods and a second fixing component, the two ends of the plurality of fixing rods are respectively connected to the first fixing component and the second fixing component, the first fixing component is connected to the second driving component, the two ends of the second fixing component are respectively provided with a first groove and a second groove, a partition is provided between the first groove and the second groove, and the partition is provided with a through hole.

[0010] In some optional embodiments, the fixing component also includes an installation component, which is arranged in the first groove. The installation component includes an extrusion component, an extrusion head, a spring and a first installation tube. The microtweezers are arranged in the first installation tube. The spring is arranged on the outside of the extrusion head. The extrusion head is connected to the extrusion component, and the extrusion component is provided with a third groove. The two ends of the spring are respectively arranged in the third groove and the partition.

[0011] In some optional embodiments, the rotary execution assembly includes a second mounting cylinder, a first limiting component, a limiting plate, a second limiting component, a reinforcing plate and a reinforcing rib. The second mounting cylinder is sleeved on the outside of the second fixing component. One side of the end of the second mounting cylinder, the first limiting component and one end of the limiting plate are connected. The reinforcing plate is arranged at the other end of the limiting plate. The reinforcing rib sequentially connects the first limiting component, the second limiting component and the reinforcing plate. The limiting plate is provided with a limiting hole. The elastic clamping assembly passes through the limiting hole and is connected to the second limiting component.

[0012] In some optional embodiments, the first limiting component is provided with a first arc-shaped limiting hole, the second limiting component is provided with a second arc-shaped limiting hole, the moving rod passes through the first arc-shaped limiting hole and the second arc-shaped limiting hole, and the moving rod is provided with a third limiting portion at both ends of the second limiting component.

[0013] In some optional embodiments, the elastic clamping assembly includes a group of elastic clamping parts, and the group of elastic clamping parts are arranged face to face. The elastic clamping parts include an elastic clamping plate, a first clamping column and a second clamping column. The first clamping column and the second clamping column are respectively arranged at both ends of the elastic clamping plate, and the first clamping column passes through the limiting hole to connect the second limiting part.

[0014] In some optional embodiments, the elastic clamping assembly further includes a thin film pressure sensor, the thin film pressure sensor is disposed on the elastic clamping plate, and a protective layer is disposed on the outer surface of the thin film pressure sensor.

[0015] Compared with the prior art, the present invention has the following technical effects:

[0016] An actuator for controlling the movement of microtweezers provided in an embodiment of the present application includes: a support frame, a linear drive component, a fixed component, a rotational drive component and an elastic clamping component. The support frame is used to fix the linear drive component and the rotational drive component. The linear drive component includes a first drive component and a linear moving component. The linear moving component is connected to the first drive component, and the linear moving component can move up and down in the axial direction of the support frame; the fixed component is used to install the microtweezers; the rotational drive component includes a second drive component and a rotational actuator component. The fixed component is installed between the second drive component and the rotational actuator component, and the second drive component drives the fixed component The component and the rotating execution component rotate around the axis of the support frame; the elastic clamping component is clamped at the other end of the linear moving component, and the linear moving component drives the elastic clamping component to move up and down in the axial direction of the support frame. The elastic clamping component is clamped at the rotating execution component, and the rotating execution component drives the elastic clamping component and the fixed component to rotate around the axis of the support frame. Since the microtweezers are installed on the fixed component, when the fixed component rotates, the microtweezers will rotate along with the fixed component, which not only realizes the rotation of the microtweezers, but also realizes the clamping of the elastic clamping component at different positions of the microtweezers, thereby improving the precise control of the movement and clamping position of the microtweezers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0019] Figure 1 A three-dimensional structural view of an execution device provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a three-dimensional cross-sectional structure of an execution device provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of the first state structure of a support frame of an execution device provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the second state structure of the support frame of the execution device provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the structure of a rotary actuator assembly of an actuator provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of the partial structure of a rotary actuator assembly of an actuator provided in an embodiment of the present application;

[0025] Figure 7 A schematic diagram of a partial three-dimensional structure of an elastic clamping assembly of an actuator provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of a three-dimensional cross-sectional structure of a fixing assembly of an actuator provided in an embodiment of the present application;

[0027] Fig. 9 A schematic diagram of a partial structure of a fixed housing of an actuator provided in an embodiment of the present application;

[0028] Fig.10 A schematic diagram of the partial structure of the fixing assembly of the execution device provided in an embodiment of the present application.

[0029] Among them, 1-support frame; 11-first support component; 111-first sub-limiting part; 112-second sub-limiting part; 12-second support component; 121-third sub-limiting part; 122-fourth sub-limiting part; 13-support rod; 2-linear drive assembly; 21-first drive component; 22-linear moving assembly; 221-screw; 222-moving rod; 223-third limiting component; 224-first coupling; 3-rotation drive assembly; 31-second drive component; 311-flange; 32-rotation execution assembly; 321-second mounting cylinder; 322-first limiting component; 323-limiting plate; 324-second limiting Part; 325-reinforcement plate; 326-reinforcement rib; 4-elastic clamping assembly; 41-elastic clamping part; 411-elastic clamping plate; 412-first clamping column; 413-second clamping column; 414-thin film pressure sensor; 5-fixing assembly; 51-fixed shell; 511-first fixing part; 512-fixing rod; 513-second fixing part; 514-first groove; 515-second groove; 516-partition; 52-installation assembly; 521-extrusion part; 522-extrusion head; 523-spring; 524-first installation cylinder; 525-third groove; 526-screw; 6-housing; 7-microscopic forceps. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] The present invention provides an actuator for controlling the action of micro-tweezers, comprising: a support frame 1, a linear drive assembly 2, a rotational drive assembly 3, an elastic clamping assembly 4 and a fixed assembly 5. The linear drive assembly 2 is mounted on the support frame 1, and the linear drive assembly 2 comprises a first drive component 21 and a linear moving assembly 22, one end of the linear moving assembly 22 is connected to the first drive assembly 21, the linear moving assembly 22 is mounted on the support frame 1, and can move up and down in the axial direction of the support frame 1. The fixed assembly 5 is used to install the micro-tweezers 7. The rotational drive assembly 3 is mounted on the support frame 1, and the rotational drive assembly 3 comprises a second drive component 31 and a rotational actuator assembly 32, and the fixed assembly 5 is installed between the second drive assembly 31 and the rotational actuator assembly 32, and the second drive assembly 31 drives the fixed assembly 5 and the rotational actuator assembly 32 to rotate around the axis of the support frame 1. The elastic clamping assembly 4 is clamped on the other end of the linear moving assembly 22, and the linear moving assembly 22 drives the elastic clamping assembly 4 to move up and down in the axial direction of the support frame 1. The elastic clamping assembly 4 is clamped on the rotating execution assembly 32, and the rotating execution assembly 32 drives the elastic clamping assembly 4 to rotate around the axis of the support frame 1.

[0033] Specifically, Figure 3 and Figure 4 As shown, the axial direction of the support frame 1 is consistent with the length direction of the micro-tweezers 7. The first driving component 21 can drive the linear moving component 22 to move up and down in the axial direction of the support frame 1, and the linear moving component 22 drives the elastic clamping component 4 to move up and down in the axial direction of the support frame 1, and applies pressure to the elastic clamping component 4, and the elastic clamping component 4 will clamp the micro-tweezers 7. The linear driving component 2 drives the elastic clamping component 4, so that the elastic clamping component 4 can clamp at any position of the micro-tweezers 7. The rotation driving component 3 can drive the fixing component 5 and the rotation executing component 32 to rotate around the axis of the support frame 1, and the rotation driving component 3 drives the micro-tweezers 7 and the elastic clamping component 4 to rotate.

[0034] In some optional embodiments, the support frame 1 includes a first support component 11, a second support component 12 and a plurality of support rods 13, one end of each support rod 13 is connected to the first support component 11, and the other end of each support rod 13 is connected to the second support component 12, and the plurality of support rods 13 are arranged circumferentially of the support frame 1.

[0035] Specifically, the first support component 11 is provided with a first sub-limiting portion 111 and a second sub-limiting portion 112, and the second support component 12 is provided with a third sub-limiting portion 121 and a fourth sub-limiting portion 122. The first sub-limiting portion 111 and the third sub-limiting portion 121 are provided correspondingly, and the second sub-limiting portion 112 and the fourth sub-limiting portion 122 are provided correspondingly. The first sub-limiting portion 111 is a through hole, the second sub-limiting portion 112 is a through hole, the third sub-limiting portion 121 is a through hole, and the fourth sub-limiting portion 122 is a through hole.

[0036] In some optional embodiments, the first driving component 21 is a first reduction motor, and the linear moving assembly 22 includes a lead screw 221 and a moving rod 222, the moving rod 222 passes through the first sub-limiting portion 111 and the third sub-limiting portion 121, the moving rod 222 is provided with a threaded hole, and the first reduction motor is rotatably connected to the threaded hole through the lead screw 221.

[0037] Furthermore, the first reduction motor includes a motor and a reducer, the motor is connected to the reducer, the reducer is connected to the lead screw 221 through the first coupling 224, the moving rod 222 is provided with a threaded hole in its own axial direction, and the lead screw 221 is threadedly connected to the moving rod 222. The actuator also includes a housing 6, the interior of the housing 6 has a accommodating space, and the first driving component 21 and the second driving component 31 are arranged inside the housing 6. The first reduction motor drives the lead screw 221, and the lead screw 221 transmits power to the moving rod 222, driving the moving rod 222 to linearly feed and retract, and the moving rod 222 is connected to the elastic clamping assembly 4, and the elastic clamping assembly 4 is driven to advance and retract, and the elastic clamping assembly 4 can clamp at any position in the length direction of the microtweezers 7.

[0038] In some optional embodiments, such as Fig. 9 As shown, the fixing assembly 5 includes a fixing shell 51, and the fixing shell 51 includes a first fixing component 511, a plurality of fixing rods 512 and a second fixing component 513. The two ends of the plurality of fixing rods 512 are respectively connected to the first fixing component 511 and the second fixing component 513. The first fixing component 511 is connected to the second driving component 31. The two ends of the second fixing component 513 are respectively provided with a first groove 514 and a second groove 515. A partition plate 516 is provided between the first groove 514 and the second groove 515. The partition plate 516 is provided with a through hole so that the first groove 514 and the second groove 515 are connected.

[0039] Specifically, the first fixing component 511 is cylindrical, and the second fixing component 513 is cylindrical. The second driving component 31 is a second reduction motor, which includes a motor and a reducer, the motor and the reducer are connected, and the reducer is connected to the first fixing component 511 through the flange 311, thereby driving the first fixing component 511 to rotate, thereby driving the entire fixed housing 51 to rotate.

[0040] In some optional embodiments, such as Figure 2 and Figure 8As shown, the fixing assembly 5 also includes an installation assembly 52, which is arranged in the first groove 514. The installation assembly 52 includes an extrusion component 521, an extrusion head 522, a spring 523 and a first installation tube 524. The microtweezers 7 are arranged in the first installation tube 524, and the spring 523 is arranged on the outside of the extrusion head 522. The extrusion head 522 is connected to the extrusion component 521, and the extrusion component 521 is provided with a third groove 525. The two ends of the spring 523 are respectively arranged in the third groove 525 and the partition 516.

[0041] Specifically, the spring 523 is sleeved on the outside of the extrusion head 522, the extrusion component 521 is a handle, and the spring 523 is a tension spring. By turning the handle, due to the presence of the tension spring, the extrusion head 522 can be quickly released and clamped, thereby realizing the rapid replacement of the micro-tweezers 7. The extrusion head 522 and the handle are connected by a screw 526. The fixing assembly 5 is compatible with various models of ophthalmic micro-tweezers 7, providing force feedback for the surgical machine system.

[0042] In some optional embodiments, such as Figure 5 and Figure 6 As shown, the rotary actuator component 32 includes a second mounting cylinder 321, a first limiting component 322, a limiting plate 323, a second limiting component 324, a reinforcing plate 325 and a reinforcing rib 326. The second mounting cylinder 321 is sleeved on the outside of the second fixing component 513, and one side of the end of the second mounting cylinder 321, the first limiting component 322 and one end of the limiting plate 323 are connected. The reinforcing plate 325 is arranged at the other end of the limiting plate 323. The reinforcing rib 326 sequentially connects the first limiting component 322, the second limiting component 324 and the reinforcing plate 325. The limiting plate 323 is provided with a limiting hole, and the elastic clamping component 4 passes through the limiting hole and is connected to the second limiting component 324.

[0043] Specifically, the limiting plate 323 is provided with a group of limiting holes, one limiting hole corresponds to an elastic clamping component 41, a group of limiting holes corresponds to the elastic clamping assembly 4, and each elastic clamping component 41 passes through a limiting hole and is connected to the second limiting component 324.

[0044] In some optional embodiments, the first limiting component 322 is provided with a first arc-shaped limiting hole, the second limiting component 324 is provided with a second arc-shaped limiting hole, and the moving rod 222 passes through the first arc-shaped limiting hole and the second arc-shaped limiting hole. When the second driving component 31 drives the rotating actuator 32 to rotate, the moving rod 222 rotates in the first arc-shaped limiting hole and the second arc-shaped limiting hole. The moving rod 222 will not rotate along with the rotating actuator 32, so no interference will occur. The first reduction motor drives the lead screw 221, and the lead screw 221 transmits power to the moving rod 222. The moving rod 222 is provided with a third limiting component 223 at both ends of the second limiting component 324, so that the moving rod 222 is connected to the second limiting component 324. During the linear movement, the moving rod 222 can move linearly with the elastic clamping component 4.

[0045] In some optional embodiments, such as Figure 7 As shown, the elastic clamping assembly 4 includes a group of elastic clamping parts 41, and the group of elastic clamping parts 41 are arranged face to face. The elastic clamping parts 41 include an elastic clamping plate 411, a first clamping column 412 and a second clamping column 413. The first clamping column 412 and the second clamping column 413 are respectively arranged at both ends of the elastic clamping plate 411, and the first clamping column 412 passes through the limiting hole to connect to the second limiting part 324.

[0046] In some optional embodiments, the elastic clamping assembly 4 further includes a thin film pressure sensor 414, which is disposed on the elastic clamping plate 411, and a protective layer is disposed on the outer surface of the thin film pressure sensor 414. The elastic clamping plate 411 is an arc-shaped elastic sheet. The protective layer is the outer layer of the sensor.

[0047] Specifically, a thin film pressure sensor 414 is mounted on the arc surface of the elastic clamping plate 411, which can sense the pressure of the contact surface in real time during the opening and closing of the microscopic forceps 7, and realize sensitive control of the clamping process of the microscopic forceps 7. A protective layer is provided on the outer surface of the thin film pressure sensor 414 to protect the thin film pressure sensor 414 and prevent the sensor 341 from being damaged during the contact with the surface of the forceps 4.

[0048] Furthermore, the first clamping column 412 and the second clamping column 413 have the same structure. The first clamping column 412 includes a stud and an anti-slip ring. The outer surface of the stud is provided with an anti-slip ring.

[0049] Furthermore, the micro forceps 7 is installed between the two elastic clamping plates 411 of the elastic clamping assembly 4 through the fixing assembly 5. As a part of the surgical robot actuator, the execution device can realize the rotation and clamping of the micro forceps 7, is compatible with various models of micro forceps 7, provides force feedback for the surgical robot system, and realizes sensitive control of the micro forceps 7 during the clamping process by detecting the magnitude of the force during the clamping process of the micro forceps 7.

[0050] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An actuator for controlling the action of microtweezers, characterized in that: include: A support frame (1) comprises a first support component (11), a second support component (12) and a support rod (13), wherein the support rod (13) connects the first support component (11) and the second support component (12); A housing (6) disposed on the first supporting member (11); A linear drive component (2) is mounted on the support frame (1), comprising a first drive component (21) and a linear moving component (22), wherein the first drive component (21) is fixed to the inner surface of the housing (6), one end of the linear moving component (22) is connected to the first drive component (21), the linear moving component (22) passes through the first support frame (11) and the second support frame (12), and the first drive component (21) drives the linear moving component (22) to move up and down in the axial direction of the support frame (1); A fixing assembly (5) for mounting microscopic forceps (7); a rotational driving assembly (3), mounted on the support frame (1), comprising a second driving component (31) and a rotational executing assembly (32); the second driving component (31) is arranged on the first supporting component (11); the rotational executing assembly (32) is rotationally connected to the second supporting component (12); the fixing assembly (5) is installed between the second driving component (31) and the rotational executing assembly (32); the second driving component (31) drives the fixing assembly (5) and the rotational executing assembly (32) to rotate around the axis of the support frame (1); The elastic clamping assembly (4) is clamped on the other end of the linear moving assembly (22), and the linear moving assembly (22) drives the elastic clamping assembly (4) to move up and down in the axial direction of the support frame (1); and is clamped on the rotating actuator assembly (32), and the rotating actuator assembly (32) drives the elastic clamping assembly (4) to rotate around the axis of the support frame (1).

2. The execution device for controlling the action of micro-tweezers according to claim 1, characterized in that: The support frame (1) comprises a plurality of support rods (13), one end of each of the support rods (13) is connected to the first support component (11), and the other end of each of the support rods (13) is connected to the second support component (12), and the plurality of support rods (13) are arranged in a circumferential direction of the support frame (1).

3. The execution device for controlling the action of micro-tweezers according to claim 2, characterized in that: The first supporting component (11) is provided with a first sub-limiting portion (111) and a second sub-limiting portion (112), and the second supporting component (12) is provided with a third sub-limiting portion (121) and a fourth sub-limiting portion (122); the first sub-limiting portion (111) and the third sub-limiting portion (121) are provided correspondingly, and the second sub-limiting portion (112) and the fourth sub-limiting portion (122) are provided correspondingly.

4. The execution device for controlling the action of micro-tweezers according to claim 3, characterized in that: The first driving component (21) is a first reduction motor, and the linear moving component (22) comprises a lead screw (221) and a moving rod (222), wherein the moving rod (222) passes through the first sub-limiting portion (111) and the third sub-limiting portion (121), and the moving rod (222) is provided with a threaded hole, and the first reduction motor is rotatably connected to the threaded hole via the lead screw (221).

5. The execution device for controlling the action of micro-tweezers according to claim 4, characterized in that: The fixing assembly (5) comprises a fixing shell (51), the fixing shell (51) comprising a first fixing component (511), a plurality of fixing rods (512) and a second fixing component (513), the two ends of the plurality of fixing rods (512) are respectively connected to the first fixing component (511) and the second fixing component (513), the first fixing component (511) is connected to the second driving component (31), the two ends of the second fixing component (513) are respectively provided with a first groove (514) and a second groove (515), a partition (516) is provided between the first groove (514) and the second groove (515), and the partition (516) is provided with a through hole.

6. The execution device for controlling the action of micro-tweezers according to claim 5, characterized in that: The fixing assembly (5) also includes a mounting assembly (52), wherein the mounting assembly (52) is arranged in the first groove (514), the mounting assembly (52) includes an extrusion component (521), an extrusion head (522), a spring (523) and a first mounting tube (524), the microtweezers (7) are arranged in the first mounting tube (524), the spring (523) is arranged outside the extrusion head (522), the extrusion head (522) and the extrusion component (521) are connected, the extrusion component (521) is provided with a third groove (525), and the two ends of the spring (523) are respectively arranged in the third groove (525) and the partition (516).

7. The execution device for controlling the action of micro-tweezers according to claim 5, characterized in that: The rotary actuator component (32) comprises a second mounting cylinder (321), a first limiting component (322), a limiting plate (323), a second limiting component (324), a reinforcing plate (325) and a reinforcing rib (326); the second mounting cylinder (321) is sleeved on the outside of the second fixing component (513); one side of the end of the second mounting cylinder (321), the first limiting component (322) and one end of the limiting plate (323) are connected; the reinforcing plate (325) is arranged at the other end of the limiting plate (323); the reinforcing rib (326) sequentially connects the first limiting component (322), the second limiting component (324) and the reinforcing plate (325); the limiting plate (323) is provided with a limiting hole; the elastic clamping component (4) passes through the limiting hole and is connected to the second limiting component (324).

8. The execution device for controlling the action of micro-tweezers according to claim 7, characterized in that: The first limiting component (322) is provided with a first arc-shaped limiting hole, the second limiting component (324) is provided with a second arc-shaped limiting hole, the moving rod (222) passes through the first arc-shaped limiting hole and the second arc-shaped limiting hole, and the moving rod (222) is provided with third limiting parts (223) at both ends of the second limiting component (324).

9. The execution device for controlling the action of micro-tweezers according to claim 7, characterized in that: The elastic clamping assembly (4) includes a group of elastic clamping parts (41), and the group of elastic clamping parts (41) are arranged face to face. The elastic clamping parts (41) include an elastic clamping plate (411), a first clamping column (412) and a second clamping column (413). The first clamping column (412) and the second clamping column (413) are respectively arranged at two ends of the elastic clamping plate (411), and the first clamping column (412) passes through the limiting hole to connect the second limiting part (324).

10. The execution device for controlling the action of micro-tweezers according to claim 7, characterized in that: The elastic clamping assembly (4) further comprises a thin film pressure sensor (414), wherein the thin film pressure sensor (414) is arranged on the elastic clamping plate (411), and a protective layer is arranged on the outer surface of the thin film pressure sensor (414).

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