Consumable control device, slave robot, and flexible catheter tip bend control method

Abstract

The application provides a kind of consumable control device, slave robot and flexible catheter head end bending degree control method, including control unit and execution unit, execution unit includes DC motor, slider and sensor;DC motor and sensor are electrically connected with control unit respectively;The driving end of slider is used to connect DC motor, the execution end of slider is used to connect control bending wire, when DC motor controls the bending of the distal end of control bending wire by driving slider linear sliding, the execution end bears the tension from control bending wire;Sensor is correspondingly arranged with execution end, and is used to output sensing information, sensing information can evaluate the movement of execution end relative to driving end when slider is bent and deformed due to tension;Wherein, control unit can adjust the operating parameter of DC motor according to the target value and sensing information input, to make the bending degree of the distal end of control bending wire and target value adapt to each other.The application improves the control precision of the bending degree of flexible catheter head end.

Description

Technical Field

[0001] This invention relates to the field of navigation surgical robot technology, and in particular to a consumable control device, a slave robot, and a method for controlling the curvature of the flexible catheter tip. Background Technology

[0002] The navigation surgical robot system includes a master control robot and slave robots. The slave robots respond to control commands from the master control robot and perform corresponding functions. The slave robots include consumables, a consumable control device, and a robotic arm. Operation commands are input through the master control robot, and the consumable control device and robotic arm respond to these commands, controlling the consumables. The consumable control device includes a motor and a slider. The consumables include a flexible catheter and a bending control wire. The tip of the flexible catheter is inserted into the body, and the end of the flexible catheter is connected to the consumable control device. The bending control wire is fitted to the inner or outer surface of the flexible catheter and is fixedly connected to the tip of the flexible catheter. The other end of the bending control wire is connected to the slider, which is driven by a motor. During operation, the motor drives the slider to move linearly in a preset direction, pulling the bending control wire, which in turn causes the tip of the flexible catheter to bend.

[0003] Chinese patent CN115153390 A, published on October 11, 2022, discloses an endoscope, its manual endoscope handle, and an operating method for the endoscope. Specifically, it discloses the technical information of using a motor to drive a slider, which in turn moves a control wire to control the bending of a flexible catheter. However, the slider (both the driving and following sliders) experiences significant forces at both ends and is affected by friction and material deformation. During the process of controlling the bending of the flexible catheter's tip, the slider undergoes bending deformation, causing a change in the position of the control wire. This change, reflected at the flexible catheter's tip, results in an inaccurate actual bending degree relative to the target value. Summary of the Invention

[0004] The purpose of this invention is to provide a consumable control device, a slave robot, and a method for controlling the curvature of the flexible catheter tip, which solves the problem of inaccurate actual curvature of the flexible catheter tip caused by the bending deformation of the slider in a navigation surgical robot.

[0005] This invention is specifically implemented through the following scheme:

[0006] A consumable control device includes a control unit and an execution unit, wherein the execution unit includes a DC motor, a slider, and a sensor;

[0007] The DC motor and the sensor are respectively electrically connected to the control unit;

[0008] The driving end of the slider is used to connect to the DC motor, and the actuating end of the slider is used to connect to the control bending wire of the consumable. When the DC motor drives the slider to slide linearly to control the bending of the distal end of the control bending wire, the actuating end bears the tension from the control bending wire.

[0009] The sensor is configured correspondingly to the actuator and is used to output sensing information. The sensing information can evaluate the motion of the actuator relative to the drive end when the slider is bent and deformed by the tension.

[0010] The control unit can adjust the operating parameters of the DC motor according to the input target value and the sensing information, so that the bending degree of the distal end of the bending wire is adapted to the target value.

[0011] Optionally, the control unit includes a main controller and a motor driver that are electrically connected to each other. The motor driver is connected to the DC motor, and the motor driver and the execution unit are configured in a one-to-one correspondence.

[0012] Optionally, the sensor is a tensile force detection device, the sensing information is the tensile force data, and the sensing information is directly sent to the main controller.

[0013] Optionally, the sensor is a distance detection device, and the sensing information is the displacement information of the actuator caused by the bending deformation of the slider.

[0014] Optionally, the control unit further includes a processor connected to the sensor to acquire the sensing information, and connected to the motor driver to acquire the current information of the DC motor. The processor is used to process the displacement information and the current information and generate feedback parameters. The main controller adjusts the operating parameters of the DC motor according to the feedback parameters.

[0015] Optionally, the sensor acquires the displacement information via laser ranging;

[0016] Optionally, the processor includes a data conversion module and a Kalman filter module. The data conversion module pre-stores a force-displacement model, which is used to evaluate the relationship between the tension borne by the actuator and the displacement generated by the actuator during the bending deformation of the slider. The data conversion module is used to respond to the displacement information and generate a tension estimate based on the force-displacement model. The Kalman filter module is used to fuse the tension estimate and the current information according to the Kalman filter algorithm to obtain feedback parameters.

[0017] A slave robot includes consumables and a consumables control device as described in any one of the preceding claims. The consumables include a flexible conduit and a bending control wire. The tip of the flexible conduit is for insertion into a biological body, and the end of the flexible conduit is connected to the consumables control device. The two ends of the bending control wire are respectively connected to the tip of the flexible conduit and the actuator.

[0018] Optionally, the target value includes the curvature of the flexible catheter tip, and the control unit adjusts the current parameters of the DC motor and / or the rotational speed of the DC motor according to the target value and the sensing information.

[0019] Optionally, four bending control wires are evenly distributed around the flexible conduit, each bending control wire is matched with one of the execution units, and each execution unit is controlled by the control unit.

[0020] A method for controlling the curvature of a flexible catheter tip, wherein the control method is implemented by the aforementioned consumable control device, and the control method is used to control the degree of curvature of the tip of a flexible catheter equipped with a control wire, wherein the two ends of the control wire are respectively connected to the tip of the flexible catheter and the execution end;

[0021] The control method includes the following steps:

[0022] Obtain the target value and the sensing information;

[0023] The target value and the sensing information are processed. When the sensing information and the target value do not match, a PID algorithm is used for processing, and the operating parameters of the DC motor are adjusted according to the processing result.

[0024] Optionally, the sensing information is the displacement information of the actuator caused by the bending deformation of the slider, and the comparison of the target value and the sensing information specifically includes the following steps:

[0025] The estimated tension is obtained based on the displacement information and the pre-stored tension-displacement model, wherein the tension-displacement model is used to evaluate the relationship between the tension borne by the actuator and the displacement generated by the actuator during the bending deformation of the slider; and the current information of the DC motor is obtained.

[0026] The tension estimate and the current information are fused by Kalman filtering to obtain the filtered value of the tension information at the execution end;

[0027] Compare the target value with the filtered value of the tension information.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. This invention takes the deformation of the slider as the starting point. To address the error caused by the bending of the flexible conduit tip due to slider deformation, a sensor and a control unit are set up. The sensor can detect the change of the actuator end when the slider bends and deforms, and obtain sensing information that can evaluate the change. The control unit can use the sensing information as feedback to adjust the operating parameters of the DC motor in real time, and apply feedback control to the DC motor. This allows for real-time compensation of the torque of the bending wire, thereby improving the control accuracy of the bending of the flexible conduit tip.

[0030] During use, the consumable control device detects the displacement information caused by torque changes or deformation at the actuator end through sensors, indirectly detecting the bending of the flexible catheter tip in real time, and providing real-time feedback on the deformation information of the slider. The control unit performs PID calculations based on the target value and feedback parameters, and adjusts the operating parameters of the DC motor in real time to accurately control the movement path of the flexible catheter.

[0031] 2. In some solutions, the sensor uses laser ranging to obtain displacement information of the actuator caused by the bending deformation of the slider. The tension estimate is obtained according to the pre-stored tension-displacement model, and the tension estimate and the corresponding current information are fused by Kalman filtering algorithm to obtain feedback parameters. These solutions integrate estimated data and measurement data, and manage error in a closed loop. This can limit the error to a small range and ensure stable error during long-term operation.

[0032] In these laser sensor-based solutions, since the sensor acquires displacement information, it needs to be converted into torque information and further processed using Kalman filtering to finally obtain feedback parameters. The entire processing is more difficult and costly than the sensor information processing method in the tension detection equipment solution. For slave robots with low precision requirements, the tension detection equipment-based solution is sufficient, while for application scenarios with high precision requirements, the laser sensor-based solution has a significant advantage in high control precision. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls a single bending control wire.

[0034] Figure 2 This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls four bending control wires.

[0035] Figure 3 This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls a single bending wire, and the sensor adopts a tensile testing device.

[0036] Figure 4This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls four bending control wires, and the sensor adopts a tensile testing device.

[0037] Figure 5 This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls a single bending wire, and the sensor adopts a distance detection device.

[0038] Figure 6 This is a schematic diagram of the working principle of a consumable control device according to an embodiment of the present invention, wherein the consumable control device controls four bending control wires, and the sensor adopts a distance detection device.

[0039] Figure 7 This is a schematic diagram comparing the normal state and the bending deformation state of the slider in an embodiment of the present invention. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings.

[0041] This invention provides a slave robot capable of locally intervening within a living organism (such as the human body) via its natural cavities (e.g., the trachea) to observe, sample, treat, or perform other medical procedures on target locations. The slave robot may be an endoscope used for lung manipulation.

[0042] The slave robot comprises consumables, a consumables control device, and a robotic arm. The consumables, always located outside the body, are connected to the consumables control device. The end of the consumables used for insertion into the biological body has an operating head for performing medical procedures, such as acquiring image information and sampling biological tissues. The consumables control device can control the movement and bending of the consumables' in-body end to accurately control the orientation and position of the operating head. Operators input operating commands through the corresponding master control robot. The consumables control device and robotic arm respond to these commands and control the consumables to achieve the aforementioned movements and bending operations.

[0043] The consumables include a flexible catheter and a bending control wire. During application, the aforementioned operating head is connected to the tip of the flexible catheter (i.e., the end of the flexible catheter inserted into the body). The tip of the flexible catheter is flexible and can bend after insertion into the body. When the tip of the flexible catheter bends, the position and orientation of the operating head change accordingly. The end of the flexible catheter is connected to a consumable control device, for example, fixed to the control box of the consumable control device. The bending control wire is disposed in close contact with the surface of the flexible catheter. Both ends of the bending control wire are fixedly connected to the tip of the flexible catheter and the consumable control device, respectively. Other positions of the bending control wire can move relative to the flexible catheter so that the degree of bending of the tip of the flexible catheter can be adjusted by pulling the bending control wire. Different forces applied by the consumable control device to the bending control wire result in different degrees of bending of the tip of the flexible catheter. When the tip of the flexible catheter bends to a certain degree, a matching torque is applied to the bending control wire. This invention takes into account errors and uses PID control principles to directly or indirectly compensate for this torque.

[0044] In use, the sheath of the consumable is used to establish a working channel in the natural cavity. Then, the flexible catheter connected to the bending control wire is inserted into the organism through the working channel. After the tip of the flexible catheter initially reaches the desired position, the bending control wire is pulled by the consumable control device. The consumable control device adjusts the pulling force on the bending control wire in real time according to the feedback parameters, so that the tip of the flexible catheter bends and is maintained at the target value.

[0045] like Figure 1 and Figure 2 As shown, the consumable control device includes a control unit and an execution unit. The input side of the execution unit is connected to the control unit, and the output side is connected to the bending control wire. The control unit can control the execution unit to operate according to the input target value and obtain feedback parameters during the execution process. The control unit performs PID calculations based on the target value and feedback parameters, and adjusts the operating parameters on the input side of the execution unit according to the calculation results to keep the bending degree of the flexible catheter tip at the target value.

[0046] Combination Figure 1 , Figure 2 and Figure 7 The actuator unit comprises a DC motor, a slider, and a sensor. The DC motor and sensor are electrically connected to the control unit, with the DC motor preferably being a brushless motor. The slider has a drive end connected to the DC motor and an actuator end connected to the bending control wire. When the DC motor drives the slider to slide linearly, controlling the bending of the distal end of the bending control wire (i.e., the end used for insertion into the biological body), the actuator end experiences tension from the bending control wire. This causes a slight bending deformation in the slider, which can be understood as the movement of the actuator end relative to the drive end. From this, the change in the position of the actuator end relative to its normal state can be decomposed. To visually demonstrate the information during slider bending... Figure 7 The deformation of the slider is illustrated in a simplified form, and the deformation is magnified. Figure 7 In the diagram, the dashed line represents the slider in its normal state, where it is not bent or deformed. The solid line with curvature represents the slider in its bent state. F represents the tension exerted by the bending wire on the actuator, and L represents the displacement of the actuator relative to its normal state. A sensor is correspondingly positioned to the actuator and outputs sensing information. This information evaluates the motion of the actuator relative to the drive end when the slider bends due to the aforementioned tension F. The sensing information can be torque information (e.g., information reflecting the tension F) or displacement information (e.g., information reflecting the displacement L). The control unit adjusts the operating parameters of the DC motor based on the input target value and the sensing information, compensating for the torque at the actuator. This compensates for the torque applied by the slider to the bending wire, ensuring that the degree of bending at the distal end of the bending wire matches the target value.

[0047] Specifically, the driving end of the slider is indirectly connected to the DC motor. Here are two examples of indirect connection methods: Method 1: The DC motor is connected to a lead screw, the lead screw is matched with a nut, and the slider is set on the nut; Method 2: The DC motor directly drives a linear motion structure (such as a lead screw and nut pair). The output end of the linear motion mechanism is used to output linear reciprocating motion. A driving block is set on the output end of the linear motion structure. The end of the driving block away from the output end of the linear motion structure is detachably connected to the driving end of the slider. The driving block drives the slider to slide linearly.

[0048] Specifically, the actuator end of the slider and the bending control wire can be directly connected or indirectly connected. When the bending control wire is controlled by a single-stage slider structure, one bending control wire corresponds to one actuator unit. One end of the bending control wire can be directly fixed to the actuator end of the slider. The relationship between the slider and the DC motor can be as described in Method 1 above.

[0049] When the bending control wire is controlled by a multi-stage slider structure, one bending control wire can correspond to one or more execution units. Taking the improved scheme disclosed in Chinese Patent CN115153390 A as an example, one bending control wire can correspond to one execution unit. For instance, the execution unit corresponds to the starting slider, and the sensor is set at the execution end of the starting slider (i.e., the end connected to the follower slider). The execution end of the starting slider is connected to the bending control wire through the follower slider. Alternatively, the execution unit corresponds to the follower slider, and both the sensor and the bending control wire are set at the execution end of the follower slider. The driving end of the follower slider is the end connected to the starting slider, and the driving end of the follower slider is indirectly connected to the motor through the starting slider. That is, the relationship between the follower slider and the DC motor is the same as in the second method described above. One bending control wire can also correspond to two execution units, with one execution unit each for the starting slider and the follower slider. The two execution units are controlled by a control unit, and the deformation of both stages of the slider has a compensation method, which can further improve the control accuracy of the bending of the flexible guide tip.

[0050] In some embodiments, such as Figure 1 As shown, the control unit corresponds to one execution unit, and correspondingly, the consumable control device has a set of DC motors, sliders, and sensors.

[0051] In other embodiments, the control unit may have multiple interfaces, each connected to an execution unit. In this case, the execution units and the control wires are configured in a one-to-one correspondence, or multiple execution units may correspond to one control wire. Figure 2 This illustration depicts an embodiment where a control unit corresponds to four execution units, with each execution unit and control wire forming a one-to-one correspondence. Control wires 1, 2, 3, and 4 are evenly distributed on the flexible conduit. The control unit independently controls the four control wires through the four execution units. Control wire 1 is driven by execution unit 1, which includes a DC motor 1 connected to the control unit, a slider 1 connected to the DC motor 1, and a sensor 1 for detecting the slider 1. Control wire 2 is driven by execution unit 2, which includes a DC motor 2 connected to the control unit, a slider 2 connected to the DC motor 2, and a sensor 2 for detecting the slider 2. Control wire 3 is driven by execution unit 3, which includes a DC motor 3 connected to the control unit, a slider 3 connected to the DC motor 3, and a sensor 3 for detecting the slider 3. Control wire 4 is driven by execution unit 4, which includes a DC motor 4 connected to the control unit, a slider 4 connected to the DC motor 4, and a sensor 4 for detecting the slider 4.

[0052] refer to Figure 3-6 To understand, the control unit includes a main controller and a motor driver that are electrically connected to each other. The main controller can be implemented using a chip, and the motor driver controls the operating parameters of the DC motor according to the control commands sent by the main controller. For example... Figure 3 and Figure 5 As shown, the main controller can control a single motor driver, such as... Figure 4 and Figure 6 As shown, the main controller can also control multiple motor drivers; each motor driver and execution unit is configured in a one-to-one correspondence. The main controller and motor drivers can be integrated onto a single circuit board.

[0053] Different types of sensors produce different forms of sensing information, which leads to differences in the control unit. The following section will elaborate on the solutions corresponding to two different types of sensors.

[0054] like Figure 3 and Figure 4As shown, in some embodiments, the sensor employs a tensile force detection device. The sensor is connected to the actuator and detects in real time the tensile force exerted by the bending wire on the actuator during the bending deformation of the slider. That is, the sensing information is tensile force data, which is directly sent to the main controller, serving as the aforementioned feedback parameter. The main controller then uses this tensile force data as feedback, comparing it with the target value and performing PID calculations.

[0055] in, Figure 3 In the embodiment shown, the control unit corresponds to an execution unit and a bending control wire, and the main controller is equipped with a motor driver. Figure 4 In the illustrated embodiment, the control unit corresponds to four execution units, and the control unit controls each execution unit independently. Each execution unit corresponds to a bending control wire. Specifically, the control unit has a main controller, motor driver 1, motor driver 2, motor driver 3, and motor driver 4. The main controller controls the four motor drivers independently. Motor driver 1 controls the distal end of the bending control wire 1 by driving execution unit 1. Execution unit 1 includes a DC motor 1 connected to motor driver 1, a slider 1 connected to DC motor 1, and a sensor 1 for detecting sensing information at the execution end of slider 1. Motor driver 2 controls the distal end of the bending control wire 2 by driving execution unit 2. The execution unit 2 includes a DC motor 2 connected to the motor driver 2, a slider 2 connected to the DC motor 2, and a sensor 2 for detecting sensing information at the execution end of the slider 2; the motor driver 3 controls the distal end of the control bending wire 3 by driving the execution unit 3, and the execution unit 3 includes a DC motor 3 connected to the motor driver 3, a slider 3 connected to the DC motor 3, and a sensor 3 for detecting sensing information at the execution end of the slider 3; the motor driver 4 controls the distal end of the control bending wire 4 by driving the execution unit 4, and the execution unit 4 includes a DC motor 4 connected to the motor driver 4, a slider 4 connected to the DC motor 4, and a sensor 4 for detecting sensing information at the execution end of the slider 4.

[0056] like Figure 5 and Figure 6 As shown, in other embodiments, the sensor employs a distance detection device, preferably a laser sensor, to acquire sensing information via laser ranging. This method can measure minute deformations, offering high detection accuracy, fast response speed, and good stability. As mentioned above, the bending and deformation motion of the slider itself can be understood as the motion of the actuator relative to the driving end. From this, the displacement generated by the actuator can be decomposed, combined with... Figure 7 Understandably, in these embodiments, the sensing information is the displacement information of the actuator caused by the bending deformation of the slider, for example... Figure 7 The displacement L is shown.

[0057] Continue to refer to Figure 5 and Figure 6Understood, in the distance detection device-based solution, sensor information is indirectly used as the aforementioned feedback parameters. Specifically, the control unit also includes a processor, which is connected to the sensor to acquire sensor information and to the motor driver to acquire the current information of the DC motor. The processor processes the sensor information and the current information to generate feedback parameters.

[0058] In some embodiments, the processor includes a data conversion module and a Kalman filter module. The data conversion module pre-stores a force-displacement model, which is used to evaluate the relationship between the tension exerted on the actuator and the displacement generated by the actuator during the bending deformation of the slider. The tension in the force-displacement model is... Figure 7 The force F shown represents the displacement. Figure 7 The displacement L is shown. The tension-displacement model can be generated using existing calibration methods, such as: establishing a tension-displacement kinematic model for the actuator and consumables, measuring several sets of actual displacement values ​​and their corresponding actual tension values, and fitting the tension-displacement kinematic model with several sets of discrete measured values ​​to obtain the aforementioned tension-displacement model. Of course, the tension-displacement model can be implemented using other existing technologies, which will not be detailed here.

[0059] After the data conversion module obtains the displacement information, it extracts the corresponding tensile force estimate based on the tensile force-displacement model. The Kalman filter module then fuses the tensile force estimate and current information using the Kalman filter algorithm to obtain the filtered value of the denoised tensile force, which is the feedback parameter.

[0060] In these embodiments, although the feedback parameters are calculated and further processed tension information, unlike directly obtaining tension data using a tension detection device, a tension estimate is obtained through a tension-displacement model. This estimate is then combined with the corresponding DC motor current information, and further filtered using a Kalman filter algorithm to obtain the tension information. Error management is implemented throughout this process, resulting in greater accuracy compared to directly measured tension. Furthermore, the processor can be a program written on a circuit board, with the processor, main controller, and motor driver integrated onto a single circuit board.

[0061] In some embodiments, the target value includes the curvature of the flexible catheter tip. The control unit adjusts the current parameters and / or speed of the DC motor based on the target value and sensor information. Alternatively, the current parameters and / or speed of the DC motor to be adjusted can be directly output through PID calculation, or other information (such as the magnitude of the torque to be applied to the control bending wire after compensation) can be output first through PID calculation, and then the current parameters and / or speed of the DC motor can be calculated based on this information.

[0062] In the above description, some slave robots are equipped with one bending control wire, and the consumable control device includes an execution unit and a control unit. Other slave robots are equipped with four bending control wires, evenly arranged around the flexible conduit. Each bending control wire is matched with an execution unit, and each execution unit is controlled separately by the control unit. A main controller and four motor drivers are integrated on a single circuit board. It should be noted that this invention does not limit the number of bending control wires. Different numbers of bending control wires result in different bending directions at the tip of the flexible conduit. In specific applications, the appropriate number of slave robots is selected based on the surgical or diagnostic requirements. Furthermore, when a slave robot has multiple bending control wires, compensation can be performed on all or only some of them.

[0063] This invention also provides a method for controlling the curvature of a flexible catheter tip, applied in the aforementioned slave robot, and implemented through a consumable control device. The control method includes the following steps:

[0064] S10. Acquire target value and sensor information. The target value is input by the operator, either directly or by the operator inputting information, which the subordinate robot system then calculates to obtain the target value. The sensor information, as described above, can be data reflecting the tension at the actuator or displacement information of the actuator; the displacement information can be the amount of displacement or position information.

[0065] S20. Process the target value and sensor information. If the sensor information and target value do not match, process them using a PID algorithm and adjust the operating parameters of the DC motor according to the processing result.

[0066] When the sensor uses a tensile testing device, step S20 compares the target value with the tensile force data measured by the sensor.

[0067] When the sensor uses a distance detection device, the sensing information is the displacement information generated by the actuator relative to its own initial position. The "processing target value and sensing information" mentioned in step S20 specifically includes the following steps:

[0068] S201. Obtain the tensile force estimate based on the displacement information and the tension-displacement model stored in the processor. As mentioned above, the tension-displacement model is used to evaluate the relationship between the tensile force borne by the execution end and the displacement generated by the execution end during the bending deformation of the slider. Obtain the current information of the DC motor. Of course, the current information and the displacement information are parameters at the same moment and have a corresponding relationship.

[0069] S202. The tension estimate and current information are fused by Kalman filtering to obtain the filtered value of the tension information at the execution end;

[0070] S203, Compare the target value with the filter value of the tension information.

[0071] The above-disclosed embodiments are only some specific embodiments of this application, but this application is not limited thereto. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A consumables control device, characterized in that, It includes a control unit and an execution unit, wherein the execution unit includes a DC motor, a slider, and a sensor; The DC motor and the sensor are respectively electrically connected to the control unit; The driving end of the slider is used to connect to the DC motor, and the actuating end of the slider is used to connect to the control bending wire of the consumable. When the DC motor drives the slider to slide linearly to control the bending of the distal end of the control bending wire, the actuating end bears the tension from the control bending wire. The sensor is configured correspondingly to the actuator and is used to output sensing information. The sensing information can evaluate the motion of the actuator relative to the drive end when the slider bends and deforms due to the tension. The control unit can adjust the operating parameters of the DC motor according to the input target value and the sensing information, so that the bending degree of the distal end of the bending wire is adapted to the target value. The control unit includes a main controller and a motor driver that are electrically connected to each other. The motor driver is connected to the DC motor, and the motor driver and the execution unit are configured in a one-to-one correspondence. The sensor is a distance detection device, and the sensing information is the displacement information of the actuator caused by the bending deformation of the slider; The control unit further includes a processor connected to the sensor to acquire the sensing information and connected to the motor driver to acquire the current information of the DC motor. The processor is used to process the displacement information and the current information and generate feedback parameters. The main controller adjusts the operating parameters of the DC motor according to the feedback parameters.

2. The consumables control device as described in claim 1, characterized in that: The sensor acquires the displacement information via laser ranging. The processor includes a data conversion module and a Kalman filter module. The data conversion module pre-stores a force-displacement model, which is used to evaluate the relationship between the force borne by the actuator and the displacement generated by the actuator during the bending deformation of the slider. The data conversion module is used to respond to the displacement information and generate a force estimate based on the force-displacement model. The Kalman filter module is used to fuse the force estimate and the current information according to the Kalman filter algorithm to obtain feedback parameters.

3. A subordinate robot, characterized in that, The device includes consumables and a consumable control device as described in any one of claims 1-2. The consumables include a flexible catheter and a bending control wire. The tip of the flexible catheter is used for insertion into a biological body, and the end of the flexible catheter is connected to the consumable control device. The two ends of the bending control wire are respectively connected to the tip of the flexible catheter and the actuating end.

4. The subordinate robot as described in claim 3, characterized in that, The target value includes the curvature of the flexible catheter tip, and the control unit adjusts the current parameters of the DC motor and / or the rotational speed of the DC motor according to the target value and the sensor information.

5. The subordinate robot as described in claim 3, characterized in that, The flexible conduit has four control wires evenly distributed around its perimeter. Each control wire is matched with one execution unit, and each execution unit is controlled by the control unit.

6. A method for controlling the curvature of a flexible catheter tip, characterized in that, The control method is implemented by the consumable control device according to any one of claims 1-2. The control method is used to control the degree of bending of the head end of the flexible conduit with a bending control wire, wherein the two ends of the bending control wire are respectively connected to the head end of the flexible conduit and the execution end. The control method includes the following steps: Obtain the target value and the sensing information; The target value and the sensing information are processed. When the sensing information and the target value do not match, a PID algorithm is used for processing, and the operating parameters of the DC motor are adjusted according to the processing result.

7. The method for controlling the curvature of the flexible catheter tip as described in claim 6, characterized in that, The sensing information is the displacement information generated by the bending deformation of the slider at the actuator end, and the processing of the target value and the sensing information specifically includes the following steps: The estimated tension is obtained based on the displacement information and the pre-stored tension-displacement model, wherein the tension-displacement model is used to evaluate the relationship between the tension borne by the actuator and the displacement generated by the actuator during the bending deformation of the slider; and the current information of the DC motor is obtained. The tension estimate and the current information are fused by Kalman filtering to obtain the filtered value of the tension information at the execution end; Compare the target value with the filtered value of the tension information.

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