Force control device, robotic arm mechanism and control method of robotic arm

Abstract

This invention relates to a medical device, and more particularly to a force control device, a robotic arm mechanism, and a control method for the robotic arm. The force control device is disposed at the end effector of the robotic arm and includes a gripping component and a detection module. The gripping component is used to drive the end effector of the robotic arm to move under the action of an external force. The detection module is disposed on the gripping component and is used to detect the motion state information of the end effector of the robotic arm in real time, and send the detected motion state information to the main control module of the robotic arm, so that the main control module can control the movement of the robotic arm according to the received motion state information. Compared with the prior art, this invention ensures that the force control device can manually drive the end effector of the robotic arm to move accurately and quickly to the target position, reducing surgical time and minimizing harm to the patient.

Description

Technical Field

[0001] The embodiments of the present invention relate to a medical device, and more particularly to a force control device, a robotic arm mechanism, and a control method for the robotic arm. Background Technology

[0002] With the continuous advancement of medical technology, natural orifice surgery has become an increasingly popular treatment method. However, due to limitations such as limited surgical space and poor visibility, problems such as high surgical difficulty and high risk often arise. To solve these problems, robotic surgery technology has emerged. However, in current robotic surgery operations, the robotic arm control mode is singular, and the operation is not flexible and precise enough, making it impossible to avoid the robotic arm moving to an inappropriate position. Summary of the Invention

[0003] The purpose of this invention is to design a force control device, a robotic arm mechanism, and a robotic arm control method, which can manually drive the end of the robotic arm to move accurately to the target position, thereby reducing the operation time and minimizing harm to the patient.

[0004] To achieve the above objectives, embodiments of the present invention provide a force control device disposed at the end of a robotic arm, the force control device comprising:

[0005] A gripping assembly for moving the end effector of the robotic arm under the action of an external force;

[0006] A detection module, located in the gripping assembly, is used to detect the motion state information of the end effector of the robotic arm in real time, and send the detected motion state information to the main control module of the robotic arm, so that the main control module controls the movement of the robotic arm according to the received motion state information.

[0007] In addition, embodiments of the present invention also provide a robotic arm mechanism, including: a main control module, a robotic arm, and a force control device as described above, wherein the force control device is disposed at the end of the robotic arm, and the detection module of the force control device is communicatively connected to the main control module;

[0008] The main control module is used to receive motion state information of the end effector of the robotic arm sent by the detection module in real time, and to control the movement of the robotic arm in real time according to the received motion state information.

[0009] In addition, embodiments of the present invention also provide a control method for a robotic arm, comprising the following steps:

[0010] When the end effector of the robotic arm moves under the action of an external force, the motion state information of the end effector of the robotic arm during the movement is detected in real time;

[0011] The movement of the robotic arm is controlled based on the detected motion state information.

[0012] Compared to the prior art, the embodiments of the present invention feature a force control device located at the end of a robotic arm, comprising a gripping component and a detection module. The gripping component can drive the end of the robotic arm to move under external force, while the detection module can detect the motion state information of the end of the robotic arm in real time and send the detected motion state information to the main control module of the robotic arm. The main control module can then control the movement of the robotic arm based on the received motion state information, resulting in better flexibility of the robotic arm during movement and easier human operation. This ensures that the force control device can manually drive the end of the robotic arm to move quickly and accurately to the target position, reducing surgical time and minimizing harm to the patient. Attached Figure Description

[0013] Figure 1 This is an axial side view of the force control device from the right side in some embodiments of the present invention;

[0014] Figure 2 This is an axial side view of the force control device from the left side in some embodiments of the present invention;

[0015] Figure 3 This is a left view of the force control device in one embodiment of the present invention;

[0016] Figure 4 for Figure 3 Sectional view at point DD;

[0017] Figure 5 for Figure 4 Sectional view at CC;

[0018] Figure 6 for Figure 5 Enlarged view of part A in the middle;

[0019] Figure 7 for Figure 4 Sectional view at point BB;

[0020] Figure 8 This is an isometric view of the force control device and the conduit controller during assembly in some embodiments of the present invention;

[0021] Figure 9 This is a system module block diagram of the robotic arm mechanism in some embodiments of the present invention;

[0022] Figure 10 This is a schematic diagram showing the state of the robotic arm mechanism in use in some embodiments of the present invention;

[0023] Figure 11 This is a flowchart illustrating the control method for a robotic arm in one of the embodiments of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to facilitate a better understanding of this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0025] Example 1

[0026] The first embodiment of the present invention relates to a force control device, such as... Figure 1 , Figure 2 and Figure 3 As shown, the force control device 1 is located at the end 21 of the robotic arm 2, and the force control device 1 includes: a gripping component 11 and a detection module 12.

[0027] Among them, such as Figure 1 , Figure 2 and Figure 3 As shown, the gripping component 11 is used to drive the end effector 21 of the robotic arm 2 to move under the action of external force, while the detection module 12 is set on the gripping component 11 to detect the motion state information of the end effector 21 of the robotic arm 2 in real time and send the detected motion state information to the main control module 3 of the robotic arm 2, so that the main control module 3 can control the movement of the robotic arm 2 according to the received motion state information.

[0028] As can be seen from the above, since the force control device 1 is located at the end 21 of the robotic arm 2, and the force control device 1 includes a gripping component 11 and a detection module 12, the gripping component 11 can drive the end 21 of the robotic arm 2 to move under the action of external force, while the detection module 12 can detect the motion state information of the end 21 of the robotic arm 2 in real time and send the detected motion state information to the main control module 3 of the robotic arm 2. The main control module 3 can control the movement of the robotic arm 2 according to the received motion state information, so that the robotic arm 2 has better flexibility during movement and is easier to operate manually. This ensures that the force control device 1 can drive the end 21 of the robotic arm 2 to move quickly and accurately to the target position by manual means, which can reduce the operation time and reduce the harm to the patient.

[0029] Specifically, in some embodiments, the motion state information includes: the force applied by the gripping component 11 to the end effector 21 of the robotic arm 2, the position information of the end effector 21 of the robotic arm 2, and the speed and acceleration of the end effector 22 of the robotic arm 21 during movement. To enable the detection module 12 to detect various information about the end effector 21 of the robotic arm 2, such as... Figure 9 As shown, the detection module 12 includes a position detection submodule 121, a force detection submodule 122, and an acceleration detection submodule 123. All three submodules are communicatively connected to the main control module 3. Specifically, the position detection submodule 121 detects the position information of the end effector 21 of the robotic arm 2 and sends this information to the main control module 3. Secondly, the force detection submodule 122, also communicatively connected to the main control module 3, detects the force applied by the gripping component 11 to the end effector 21 of the robotic arm 2 and sends this force to the main control module 3. Finally, the acceleration detection submodule 123 detects the velocity and acceleration of the end effector 21 during movement and sends these values ​​to the main control module 3. This allows the main control module 3 to control the movement of the robotic arm 2 based on the received position information of the end effector 21 of the robotic arm 2, the force applied to the end effector 21 of the robotic arm 2, and the speed and acceleration of the end effector 21 during movement. Furthermore, it should be noted that in some embodiments, the position detection submodule 121 may use a position detection sensor, the force detection submodule 122 may use a force detection sensor, and the acceleration detection submodule 123 may use an acceleration sensor. Of course, in other embodiments, the position detection submodule 121, force detection submodule 122, and acceleration detection submodule 123 may also use other detection elements, and the types of the position detection submodule 121, force detection submodule 122, and acceleration detection submodule 123 are not specifically limited here.

[0030] Additionally, it is worth mentioning that, in order to enable the gripping component 11 to drive the end effector 21 of the robotic arm 2 to move, in some embodiments, such as Figure 1 and Figure 2 As shown, the grip assembly 11 includes a bracket 111 and a gripper 112. The gripper 112 can be a handle, while the bracket 111 is equipped with a detection module 12, which is connected to the end effector 21 of the robotic arm 2. Additionally, as... Figure 1 and Figure 2 As shown, the gripper 112 is disposed on the bracket 111, and the gripper 112 is used to drive the end effector 21 of the robotic arm 2 to move under the action of external force. Furthermore, in some embodiments, it is combined with... Figure 3 As shown, the grip 112 is positioned perpendicular to the bracket 111, and the grip 112 can be detachably connected to the bracket 111, for example, in combination with... Figure 4 , Figure 5 and Figure 6 As shown, the grip 112 and the bracket 111 can be locked together via a locking knob 113. Specifically, a positioning hole 1111 can be pre-set on the bracket 111, and the grip 112 has a positioning protrusion 1121 that can be inserted into the positioning hole 1111. Figure 4 and Figure 6 As shown, a threaded hole 1122 is provided on the positioning protrusion 1121, and a connecting hole 1112 is provided on the bracket 111 along an axis perpendicular to the positioning hole 1111. Therefore, when the positioning protrusion 1121 is inserted into the positioning hole 1111 of the bracket 111, the center of the threaded hole 1122 on the positioning protrusion 1121 can be on the same axis as the center of the connecting hole 1112 on the bracket 111. Furthermore, corresponding to the threaded hole 1122, as... Figure 4 and Figure 6 As shown, the locking knob 113 includes a stud 1131 and a knob body 1132 coaxially arranged with the stud 1131. The stud 1131 can pass through the connecting hole 1112 and is used to engage with the threaded hole 1122. The knob body 1132 is exposed outside the bracket 111. The knob body 1132 can be used to drive the stud 1131 to rotate under the action of external force, so that the stud 1131 can be screwed into or out of the threaded hole 1122. Therefore, by operating the locking knob 113, the gripper 112 can be installed and removed from the bracket 111. For example, when the end effector 21 of the robotic arm 2 is moved to the target position, the gripper 112 can be removed to avoid misoperation of the robotic arm 2.

[0031] However, in other embodiments, such as Figure 4 and Figure 6 As shown, an elastic element 114 is also fitted onto the stud 1131 of the locking knob 113. This elastic element 114 can be a spring, or other components with restoring elasticity. Corresponding to the elastic element 114, such as... Figure 6 As shown, the bracket 111 also has a protrusion 1113, and a connecting hole 1112 is provided on the protrusion 1113. Simultaneously, a cavity 1115 is provided on the protrusion 1113 along the axial direction of the connecting hole 1112. The cavity 1115 divides the connecting hole 1112 into two parts, namely a first hole section 11121 and a second hole section 11122. The cavity 1115 can accommodate the elastic element 114. Therefore, when the stud 1131 of the locking knob 113 is screwed into the threaded hole 1122 of the positioning protrusion 1121, as... Figure 4 and 6As shown, the elastic element 114 can always apply a restoring force to the knob body 1132 of the locking knob 113, thus ensuring that the locking knob 113 can always be in a coaxial position with the threaded hole 1122, thereby facilitating the rotation of the locking knob 113.

[0032] Furthermore, it is worth noting that in some embodiments, the positioning protrusion 1121 may be a first magnetic component, or a first magnetic component (not shown in the figure) may be provided on the positioning protrusion 1121. At the same time, a second magnetic component (not shown in the figure) that can be magnetically attracted to the first magnetic component is provided in the positioning hole 1111 of the bracket 111. Thus, when the positioning protrusion 1121 is embedded in the positioning hole 1111, the positioning protrusion 1121 can be quickly positioned in the positioning hole 1111 through the mutual magnetic attraction of the first magnetic component and the second magnetic component. This allows the stud 1131 of the locking knob 113 to be easily screwed into the threaded hole 1122, enabling quick installation between the grip 112 and the bracket 111.

[0033] Additionally, in some embodiments, combined with Figure 8 As shown, the bracket 111 can also be detachably equipped with the catheter placement controller 4, in order to enable the bracket 111 to simultaneously install both the catheter controller 4 and the gripper 112. Figure 5 As shown, the bracket 111 includes a first connector 1116 and a second connector 1117. The first connector 1116 includes a mounting side 11161 for connecting the detection module 12 and a snap-fit ​​side 11162 disposed relative to the mounting side 11161. The bottom of the first connector 1116 can be connected to the gripper 112. Additionally, as... Figure 2 , Figure 3 and Figure 5 As shown, the second connector 1117 includes: a snap-fit ​​portion 11171 disposed on a snap-fit ​​side 11162 away from the first connector 1116, and a receiving portion 11172 disposed between the snap-fit ​​portion 11171 and the first connector 1116. Wherein, combined with Figure 8 As shown, the receiving part 11172 is used to set the catheter controller 4, and the snap-fit ​​part 11171 is movable relative to the snap-fit ​​side 11162 of the first connector 1116, so that the snap-fit ​​part 11171 can cooperate with the snap-fit ​​side 11162 of the first connector 1116 to snap the catheter controller 4 onto the receiving part 11172.

[0034] However, in order to allow the locking portion 11171 to move relative to the locking side 11162 of the first connector 1116, so as to achieve locking of the catheter controller 4, as... Figure 7As shown, the receiving portion 11172 is formed by a portion of the snap-fit ​​portion 11171 extending horizontally towards the first connecting member 1116, and the receiving portion 11172 is elastically connected to the first connecting member 1116, allowing the second connecting member 1117 to move relative to the first connecting member 1116. For example, as... Figure 7 As shown, the receiving part 11172 is provided with a slide rail 11173 in a direction perpendicular to the first connecting member 1116, and a guide rod 1118 connected to the first connecting member 1116 is provided in the slide rail 11173, so that the receiving part 11172 can slide and engage with the guide rod 1118 through the slide rail 11173, and can move relative to the first connecting member 1116. Meanwhile, as... Figure 7 As shown, a tension spring 1119 is also fitted onto the guide rod 1118. One end of the tension spring 1119 is connected to the receiving part 11172, and the other end of the tension spring 1119 is connected to the guide rod 1118. This allows the tension spring 1119 to always apply tension to the receiving part 11172, thereby enabling the snap-fit ​​part 11171 and the snap-fit ​​side 11162 of the first connector 1116 to snap-fit ​​and fix the catheter controller 4 of various sizes. Of course, in order to realize the installation of the catheter controller 4 on the bracket 111, in other embodiments, the catheter controller 4 can also be installed and fixed on the receiving part 11172 of the first bracket 111 in other ways. Here, the installation method of the catheter controller 4 on the first bracket 111 is not specifically limited.

[0035] Additionally, in other embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 8 As shown, the force control device 1 also includes: a bending control operation module 13, and, combined with Figure 10 As shown, the bending control module 13 is mounted on the gripper 112 and is communicatively connected to the catheter controller 4. The bending control module 13 can send bending commands to the catheter controller 4, allowing the catheter controller 4 to control the bending direction of the flexible catheter 10 according to the received bending commands. For example, the bending control module 13 can be a rocker module. The rocker module's rocker arm can swing in different directions, sending bending commands to the catheter controller 4 to bend the flexible catheter 10 in different directions. For instance, when the rocker arm swings upwards, it sends an upward bending command to the catheter controller 4, causing the catheter controller 4 to bend the flexible catheter 10 upwards. Conversely, when the rocker arm swings downwards, it sends a downward bending command to the catheter controller 4, causing the catheter controller 4 to bend the flexible catheter 10 downwards.

[0036] Furthermore, it is worth mentioning that in some other embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 8 As shown, the force control device 1 also includes: a force control operation module 5, and, combined with Figure 9 As shown, the force control module 5 is mounted on the gripper 112 and is communicatively connected to the main control module 6 of the robotic arm mechanism. The force control module 5 sends electrical signals to the main control module 6. Upon receiving the electrical signal from the force control module 5, the main control module 6 can switch the robotic arm 2 to manual force control mode, allowing the operator to move the end effector 21 of the robotic arm 2 by holding the gripper 112. For example, in some embodiments, such as... Figure 1 As shown, the force control module 5 can be a pressable button module, which can be mounted on the gripper 112. When pressed, the button module sends an electrical signal to the main control module 6, allowing the robotic arm 2 to enter manual force control mode. This means the operator can move the robotic arm 2 by holding the gripper 112, enabling the end effector of the robotic arm 2 to move quickly and accurately to the target position. When the button module is released, it immediately stops sending electrical signals to the main control module 6, allowing the main control module 6 to switch the robotic arm 2 to remote mode. In this mode, the operator can control the movement of the robotic arm 2 remotely via a remote device. It should be noted that the force control module 5 is described using a button module as an example; in other embodiments, the force control module 5 can be other signal transmission modules, without specifically limiting its type.

[0037] Furthermore, in some embodiments, the stress control operation module 5, such as Figure 2 As shown, the force control device 1 also includes: a prompting module 20, and, combined with Figure 9 As shown, the prompting module 20 can communicate with the main control module 6 of the robotic arm mechanism. Simultaneously, when the main control module 6 receives an electrical signal from the force control module 5, it can activate the prompting module 20, allowing it to issue a prompt message to alert the operator that the robotic arm 2 can be moved using the force control device 1. Furthermore, it should be noted that in some embodiments, the prompting module 20 can be a light module, which can provide a light prompt after being activated by the main control module 6. Of course, in other embodiments, the prompting module 20 can also use other modules, such as a display module, which can display the prompt message in the form of code or text. This method can also achieve the purpose of reminding the operator. However, this embodiment does not specifically limit the type of the prompting module 20.

[0038] Example 2

[0039] Embodiment 2 of the present invention relates to a robotic arm mechanism, such as... Figure 9 and Figure 10 As shown, the robotic arm mechanism includes: a main control module 3, a robotic arm 2, and a force control device 1 as described in Embodiment 1, and, combined with Figure 9 As shown, the force control device 1 is located at the end 21 of the robotic arm 2. At the same time, the detection module 12 of the force control device 1 is also connected to the main control module 3.

[0040] Furthermore, the main control module 3 is used to receive motion status information of the end effector 21 of the robotic arm 2 sent by the detection module 12 in real time, and can control the movement of the robotic arm 2 in real time according to the received motion status information.

[0041] As can be seen from the above, since the force control device 1 is located at the end 21 of the robotic arm 2, and the force control device 1 includes a gripping component 11 and a detection module 12, the gripping component 11 can drive the end 21 of the robotic arm 2 to move under the action of external force, while the detection module 12 can detect the motion state information of the end 21 of the robotic arm 2 in real time and send the detected motion state information to the main control module 3 of the robotic arm 2. The main control module 3 can control the movement of the robotic arm 2 according to the received motion state information, so that the robotic arm 2 has better flexibility during movement and is easier to operate manually. This ensures that the force control device 1 can drive the end 21 of the robotic arm 2 to move quickly and accurately to the target position by manual means, which can reduce the operation time and reduce the harm to the patient.

[0042] Specifically, in some embodiments, such as Figure 9 As shown, the main control module 3 includes a processor 31 and a controller 32. The processor 31 is communicatively connected to the detection module 3, enabling it to receive motion status information from the detection module 3 in real time and calculate the driving force required for the robotic arm 2 to move based on the received motion status information. The controller 32 is communicatively connected to the processor 31, acquiring the driving force calculated by the processor 31 and controlling the motors of the robotic arm mechanism based on the obtained driving force to ensure that the end effector 21 of the robotic arm 2 can move quickly and accurately to the target position.

[0043] Example 3

[0044] Embodiment 3 of the present invention relates to a control method for a robotic arm, such as... Figure 11 As shown, it includes the following steps:

[0045] Step 1110: When the end effector 21 of the robotic arm 2 moves under the action of an external force, the motion state information of the end effector 21 of the robotic arm 2 during the movement is detected in real time.

[0046] Step 1120: Control the movement of the robotic arm 2 based on the detected motion state information.

[0047] As can be seen from the above, when the end effector 21 of the robotic arm 2 is moving, the motion state information of the end effector 21 of the robotic arm 2 is detected in real time, and the movement of the robotic arm 2 is controlled according to the detected motion state information. This allows the end effector 21 of the robotic arm 2 to move to the target position accurately and quickly, thereby making the movement of the robotic arm more flexible. This reduces the operation time and also reduces the harm to the patient.

[0048] Specifically, in this embodiment, the step of real-time detection of the motion state information of the end effector 21 of the robotic arm 2 during movement, i.e., step 1110, specifically includes:

[0049] The position information of the end effector 21 of the robotic arm 2 is detected.

[0050] Detect the force applied to the end effector 21 of the robotic arm 2.

[0051] The speed and acceleration of the end effector 21 of the robotic arm 2 during movement are detected.

[0052] For example, a position detection module 12 can be installed at the end 21 of the robotic arm 2, and combined with... Figure 9 As shown, the detection module 12 includes a position detection submodule 121, a force detection submodule 122, and an acceleration detection submodule 123. The position detection submodule 121 can detect the position information of the end effector 21 of the robotic arm 2, and this submodule 121 can employ, for example, a position detection sensor. Secondly, the force detection submodule 122 can detect the force applied to the end effector 21 of the robotic arm 2, and this submodule 122 can employ, for example, a force detection sensor. Finally, the acceleration detection submodule 123 can detect the velocity and acceleration of the end effector 21 of the robotic arm 2 during movement, and this submodule 123 can employ, for example, an acceleration sensor. It should be noted that in this embodiment, the position detection submodule 121, force detection submodule 122, and acceleration detection submodule 123 are described only as examples of using position detection sensors, force detection sensors, and acceleration sensors, respectively. In other embodiments, the position detection submodule 121, force detection submodule 122, and acceleration detection submodule 123 may also use other detection elements, and the types of position detection submodule 121, force detection submodule 122, and acceleration detection submodule 123 are not specifically limited here.

[0053] Additionally, in some embodiments, prior to the step of real-time detection of the motion state information of the end effector 21 of the robotic arm 2 during movement, such as... Figure 11 As shown, the control method further includes the following steps:

[0054] Step 1101: Determine whether the robotic arm 2 has entered manual power control mode.

[0055] If it is determined that the robotic arm 2 has entered the manual power control mode, then when the end effector 21 of the robotic arm 2 moves, the motion state information of the end effector 21 of the robotic arm 2 during the movement is detected in real time, that is, step 1110 is continued.

[0056] Specifically, such as Figure 10 As shown, a force control device 1 can be additionally installed at the end 21 of the robotic arm 2. This force control device 1 can drive the end 21 of the robotic arm 2 to move quickly and accurately to the target position. Furthermore, to determine whether the robotic arm 2 has entered manual force control mode, the force control device 1 can include a force control operation module 5, as shown in the figure. Figure 9 As shown, the force control module 5 can be a pressable button module. When the button module is pressed, it sends an electrical signal to the robotic arm, allowing the robotic arm 2 to enter manual force control mode. This means the operator can move the robotic arm 2 by holding the force control device 1, enabling the end effector 21 of the robotic arm 2 to move quickly and accurately to the target position. When the button module is released, it immediately stops sending electrical signals, switching the robotic arm 2 to remote mode. In this mode, the movement of the robotic arm can only be controlled by the operator remotely via a backend device. It should be noted that the force control module 5 is described using a button module as an example. In other embodiments, the force control module 5 can be any other electrical signal sending module, without specifically limiting its type.

[0057] It is clear from the above that this embodiment is an example of a robotic arm control method corresponding to the second embodiment, and this embodiment can be implemented in conjunction with the second embodiment. The relevant technical details mentioned in the second embodiment remain valid in this embodiment, and will not be repeated here to avoid repetition. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the second embodiment.

[0058] Those skilled in the art will understand that the above embodiments are specific implementations of the present invention, and in practical applications, various changes can be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A force control device, characterized in that, The force control device is disposed at the end of the robotic arm, and the force control device includes: A gripping assembly for moving the end effector of the robotic arm under the action of an external force; A detection module, disposed in the gripping component, is used to detect the motion state information of the end effector of the robotic arm in real time during movement, and send the detected motion state information to the main control module of the robotic arm mechanism, so that the main control module controls the movement of the robotic arm according to the received motion state information; The force applied to the end of the robotic arm by the gripping component, the position information of the end of the robotic arm, and the speed and acceleration of the end of the robotic arm during movement; The detection module includes: The position detection submodule is communicatively connected to the main control module and is used to detect the position information of the end effector of the robotic arm and to send the detected position information to the main control module. The force detection submodule is communicatively connected to the main control module and is used to detect the force applied by the gripping component to the end of the robotic arm, and to send the detected force to the main control module. An acceleration detection submodule, which is communicatively connected to the main control module, is used to detect the speed and acceleration of the end effector of the robotic arm during movement, and to send the detected speed and acceleration to the main control module.

2. The force control device according to claim 1, characterized in that, The gripping component includes: The support frame is equipped with the detection module, and the detection module is connected to the end effector of the robotic arm; A gripper, disposed on the bracket, is used to drive the end effector of the robotic arm to move under the action of an external force.

3. The force control device according to claim 2, characterized in that, The support can also be detachably fitted with a catheter controller.

4. The force control device according to claim 3, characterized in that, The support includes: A first connector; the first connector includes: a mounting side connected to the detection module, and a snap-fit ​​side disposed relative to the mounting side; The second connector includes: a snap-fit ​​portion disposed on the snap-fit ​​side away from the first connector, and a receiving portion disposed between the snap-fit ​​portion and the first connector; wherein the receiving portion is used to mount the catheter controller, and the snap-fit ​​portion is movable relative to the snap-fit ​​side of the first connector for snapping the catheter controller onto the receiving portion.

5. The force control device according to claim 4, characterized in that, The receiving portion is formed by a portion of the snap-fit ​​portion extending horizontally toward the first connector, and the receiving portion is elastically connected to the first connector, so that the second connector is movable relative to the first connector.

6. The force control device according to claim 2, characterized in that, The grip is a handle that is detachably connected to the bracket.

7. The force control device according to any one of claims 3-5, characterized in that, The force control device further includes: A bending control module is mounted on the grip and is communicatively connected to the conduit controller. The bending control module is used to send bending commands to the catheter controller, so that the catheter controller controls the bending direction of the flexible catheter according to the received bending commands.

8. The force control device according to claim 7, characterized in that, The bending control module is a rocker module, which is used to send bending commands to the catheter controller to make the flexible catheter bend in different directions.

9. The force control device according to claim 7, characterized in that, The force control device further includes: A force control operation module is mounted on the gripper and is communicatively connected to the main control module of the robotic arm mechanism; The force control module is used to send an electrical signal to the main control module, so that the main control module switches the robotic arm to manual force control mode according to the received electrical signal.

10. The force control device according to claim 9, characterized in that, The force control operation module is a pressable button module, which sends an electrical signal to the main control module when pressed.

11. A robotic arm mechanism, characterized in that, include: The system includes a main control module, a robotic arm, and a force control device as described in any one of claims 1-10, wherein the force control device is disposed at the end of the robotic arm, and the detection module of the force control device is communicatively connected to the main control module. The main control module is used to receive motion state information of the end effector of the robotic arm sent by the detection module in real time, and to control the movement of the robotic arm in real time according to the received motion state information.

12. The robotic arm mechanism according to claim 11, characterized in that, The main control module includes: The processor is communicatively connected to the detection module and is used to receive the motion state information sent by the detection module in real time, and to calculate the driving force required by the robotic arm during movement based on the received motion state information. The controller is communicatively connected to the processor and is used to acquire the driving force calculated by the processor and to control the movement of the robotic arm based on the acquired driving force.

13. A control method for a robotic arm, characterized in that, The robotic arm has a force control device as described in any one of claims 1 to 10, and the method includes the following steps: When the end effector of the robotic arm moves under the action of an external force, the motion state information of the end effector of the robotic arm during the movement is detected in real time; The movement of the robotic arm is controlled based on the detected motion state information; The step of real-time detection of the motion state information of the end effector of the robotic arm during movement specifically includes: Detect the position information of the end effector of the robotic arm; Detect the force applied to the end effector of the robotic arm; The speed and acceleration of the end effector of the robotic arm during movement are detected.

14. The control method for the robotic arm according to claim 13, characterized in that, Before the step of real-time detection of the motion state information of the end effector of the robotic arm during movement, the control method further includes the following steps: Determine whether the robotic arm has entered manual power control mode; If it is determined that the robotic arm has entered the manual control mode, then when the end effector of the robotic arm moves, the motion state information of the end effector during the movement is detected in real time.

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