A multi-stage telescopic pole master end manipulator and a control method thereof

Abstract

This invention belongs to the field of surgical robots, specifically a multi-stage telescopic rod master-end manipulator and its control method. The multi-stage telescopic rod master-end manipulator includes a housing and two sets of telescopic handle components symmetrically arranged within the inner cavity of the housing. Each set of telescopic handle components includes a handle body, a multi-stage telescopic rod, and an axial force detection component. This invention, through the design of the telescopic handle components, effectively improves operational accuracy and comfort, allowing surgeons to utilize their surgical experience, making it more suitable for delicate operations, effectively reducing size, and facilitating movement and installation. This invention can perform real-time friction compensation during the surgeon's operation and proposes a force feedback protection strategy based on the characteristics of vascular interventional forces. The force information received by the surgical instrument tip is divided into four regions according to its magnitude: a safe zone, a sub-safe zone, a risk zone, and a danger zone. Each region has a corresponding feedback force strategy, ultimately allowing the surgeon to obtain different operational feels.

Description

Technical Field

[0001] This invention belongs to the field of surgical robots, specifically a multi-stage telescopic rod master end manipulator and its control method. Background Technology

[0002] Cardiovascular diseases, due to their high incidence and mortality rates, are known as the leading cause of death among middle-aged and elderly people. Interventional surgery, with its advantages of small incisions, few complications, and rapid recovery, is widely used in the treatment of cardiovascular diseases. However, long-term interventional surgery can seriously damage the health of doctors, making them more susceptible to occupational diseases such as spinal cord injuries, breast cancer, and brain tumors.

[0003] To alleviate the surgical burden on doctors, vascular interventional robots have emerged. They employ a master-slave control model and consist of three main parts: a master manipulator, slave actuators, and a control system. The master manipulator, which is directly operated by the doctor, directly impacts the efficiency and safety of the surgery.

[0004] Currently, the master manipulators used in vascular interventional robots are mostly commercially available multi-degree-of-freedom handles. These handles offer convenient communication and provide some force feedback during use. However, commercial handles are not designed specifically for the operational characteristics of vascular interventional surgery, resulting in significant differences between robotic and manual operation methods. This can easily lead to misoperation and compromise surgical safety. To fill the technological gap in the design of master manipulators for vascular interventional robots, universities and institutions both domestically and internationally have conducted targeted research and proposed several design solutions.

[0005] In these designs, the master manipulator can fulfill the motion requirements of axial movement and radial rotation, and can provide force feedback according to surgical needs. However, considering the operational needs of complex surgeries and the context of remote surgery, the current designs still have some problems. First, the operational accuracy and comfort are insufficient, which is not conducive to surgeons utilizing their surgical experience; second, the ability for fine manipulation is insufficient; third, the force feedback is inaccurate, and there is a lack of corresponding force feedback protection strategies; fourth, the overall size is too large, resulting in insufficient convenience for movement and installation. Therefore, it is necessary to design a master manipulator that can solve the above problems. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a multi-stage telescopic pole main end manipulator and its control method.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A multi-stage telescopic rod main end manipulator includes a housing and two sets of telescopic handle components disposed in the inner cavity of the housing;

[0009] Each set of telescopic handle components includes a handle body, a multi-stage telescopic rod, and an axial force detection component. One end of the multi-stage telescopic rod of each set of telescopic handle components is connected to the handle body of the same set of telescopic handle components. One end of the handle body of each set of telescopic handle components extends to the outside of the outer shell. The other end of the multi-stage telescopic rod of each set of telescopic handle components is connected to the outer shell. The axial force detection component of each set of telescopic handle components pulls the multi-stage telescopic rod of the same set of telescopic handle components to extend and retract via a steel wire rope, and measures the axial force when operating the handle body.

[0010] Several thin-film pressure sensors are provided on the outer surface of one end of each handle body located on the outer side of the outer shell.

[0011] One end of the multi-stage telescopic rod of each group of telescopic handle components is connected to the handle body of the same group of telescopic handle components via a rotary encoder A.

[0012] Each set of telescopic handle components includes an axial force detection assembly comprising a motor, a motor mounting sleeve, a main end actuator force sensor, a motor mounting bracket, and a winding reel for winding the wire rope. The motor mounting bracket of each axial force detection assembly is fixed within the inner cavity of the outer casing. The motor mounting sleeve of each axial force detection assembly is rotatably mounted on the same motor mounting bracket. The motor of each axial force detection assembly is mounted within the same motor mounting sleeve. The output shaft of the motor of each axial force detection assembly extends outwards from the connected electrical... The motor mounting sleeve is connected to the winding wheel of the same axial force detection assembly. The axial center lines of the motor, motor mounting sleeve, and winding wheel of the same axial force detection assembly are all collinear. The main end manipulator force sensor of each axial force detection assembly is mounted on the motor mounting support of the same axial force detection assembly. The detection end of the main end manipulator force sensor of each axial force detection assembly is connected to a motor mounting sleeve fixing piece for connecting the motor mounting sleeve of the same axial force detection assembly. A rotary encoder B is also mounted on the output shaft of the motor of each axial force detection assembly.

[0013] Each of the axial force detection components has a motor mounting bracket equipped with several bearings that are rotatably connected to the motor mounting sleeve of the same axial force detection component.

[0014] The multi-stage telescopic rods of each telescopic handle component are divided into a first-stage telescopic rod, a second-stage telescopic rod, and a third-stage telescopic rod that are sequentially connected. A plurality of wire rope guide wheels are respectively provided on the first-stage telescopic rod, the second-stage telescopic rod, and the third-stage telescopic rod of each telescopic handle component. A wire rope connection block is provided on the first-stage telescopic rod of each telescopic handle component. One end of the wire rope of each telescopic handle component is connected to one end of the wire rope connection block of the same group of telescopic handle components. The other end of the wire rope of each telescopic handle component bypasses the wire rope winding wheel and each wire rope guide wheel of the same group, and then is connected to the other end of the wire rope connection block of the same group. One end of the first-stage telescopic rod of each telescopic handle component is connected to the handle body of the same group. The third-stage telescopic rod of each telescopic handle component is connected to the housing.

[0015] The installation positions of the two telescopic handle components are symmetric to each other. The axial centerlines of each third-stage telescopic rod, second-stage telescopic rod, first-stage telescopic rod, handle body, motor, motor mounting sleeve, and wire rope winding wheel are all parallel to the horizontal plane.

[0016] A guide rail A is installed on the first-stage telescopic rod of each telescopic handle component. A slider A and a guide rail B are installed on the second-stage telescopic rod of each telescopic handle component. A slider B is installed on the third-stage telescopic rod of each telescopic handle component. Each slider A is slidably connected to the adjacent guide rail A. Each slider B is slidably connected to the adjacent guide rail B.

[0017] A control method for the main end controller of a multi-stage telescopic rod, which is applicable to the main end controller of the multi-stage telescopic rod described above. According to the received feedback force command from the slave end, the value of the motor torque is adjusted, and the main end controller is controlled through real-time compensation, including the following steps:

[0018] When the pressure film pressure sensor senses pressure, the motor starts to be enabled; the relationship between the speed value v of the motor and the speed threshold v0 is judged;

[0019] When the moving speed of the handle body is less than the speed threshold v0 and no friction compensation is given, that is, when -v0 < v < v0, at this time, the friction compensation value F Q = 0;

[0020] When the moving speed of the handle body is relatively large, a traction force in the same speed direction as the handle body is provided by the motor to assist the movement of the handle body, that is, when v ≤ -v0, the friction compensation value F Q = -F0, where F0 is the friction calibration value; when v ≥ v0, the friction compensation value F Q = F0;

[0021] According to the feedback force F of the feedback force command from the slave endC Compare the size with the risk area;

[0022] When the force is within the safe zone, the feedback resistance F f =F i =0; when the force belongs to the sub-safe zone, the feedback resistance F f =F1; When the force belongs to the risk zone, i.e., the feedback resistance F f =F2, when the feedback force from the slave end is in the danger zone, the master end controller is locked by locking the main body of the locking handle. At this time, the feedback force F f =F T ;F i F1, F2, F T These are the force values ​​set for the safe zone, sub-safe zone, risk zone, and danger zone, respectively.

[0023] Motor traction force F = F Q +F f +F C This allows for adjustment of the motor torque.

[0024] The risk zone includes four consecutively defined force value ranges, namely the safe zone 0≤F. f <F S Sub-safe zone F S ≤F f <F R Risk Zone F R ≤F f <F E and danger zone F f ≥F E ;F S F R F E Each sets a threshold.

[0025] The advantages and positive effects of this invention are as follows:

[0026] 1. The present invention, through a telescopic handle component including a handle body, a multi-stage telescopic rod and an axial force detection component, can effectively improve the accuracy and comfort of operation, facilitate doctors to make use of surgical experience, is more suitable for delicate operation, effectively reduce size, and is more convenient to move and install.

[0027] 2. This invention can compensate for friction in real time during the doctor's operation, and proposes a force feedback protection strategy based on the characteristics of vascular intervention force. The force information received by the tip of the surgical instrument is divided into four areas according to the size range: safe area, sub-safe area, risk area and danger area. Each area has a corresponding feedback force strategy, ultimately allowing the doctor to obtain different operating feel. Attached Figure Description

[0028] Figure 1This is a schematic diagram of the external structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the telescopic handle component of the present invention;

[0030] Figure 3 This is a schematic diagram of the external connection structure of the handle body, the first-stage telescopic rod, the second-stage telescopic rod, and the third-stage telescopic rod of the present invention;

[0031] Figure 4 This is a schematic diagram of the axial force detection component of the present invention;

[0032] Figure 5 This is a schematic diagram of the internal connection structure of the handle body, the first-stage telescopic rod, the second-stage telescopic rod, and the third-stage telescopic rod of the present invention.

[0033] Figure 6 This is a flowchart of the force feedback closed-loop control process used in this invention;

[0034] Figure 7 This is a schematic diagram of the displacement / velocity mode of the present invention;

[0035] Figure 8 This is a flowchart illustrating the reciprocating delivery process of the location mode of the present invention.

[0036] Figure 9 This is a flowchart of the friction compensation process of the present invention;

[0037] Figure 10 This is a schematic diagram of the force feedback protection strategy of the present invention.

[0038] In the diagram: 1 represents the outer shell;

[0039] 2 is the telescopic handle component, 21 is the first-stage telescopic rod, 211 is the guide rail A, 212 is the rotary encoder A, 213 is the wire rope connecting block, 22 is the second-stage telescopic rod, 221 is the guide rail B, 23 is the third-stage telescopic rod, 24 is the handle body, 241 is the thin-film pressure sensor, 25 is the axial force detection component, 251 is the rope winding wheel, 252 is the main end actuator force sensor, 2521 is the motor mounting sleeve fixing component, 2522 is the sensor connecting seat, 253 is the motor, 2531 is the motor mounting sleeve, 254 is the motor mounting support, 2541 is the bearing, 26 is the wire rope, 271 is the wire rope guide wheel A, 272 is the wire rope guide wheel B, 273 is the wire rope guide wheel C, 274 is the wire rope guide wheel D, 275 is the wire rope guide wheel E, and 276 is the wire rope guide wheel F.

[0040] 3 is the display screen, and 4 is the function button. Detailed Implementation

[0041] The following is in conjunction with the appendix Figure 1-10 The present invention will be described in further detail below.

[0042] A multi-stage telescopic rod main end manipulator, such as Figure 1-5 As shown, this embodiment includes a housing 1, and also includes two sets of telescopic handle components 2 symmetrically arranged in the inner cavity of the housing 1.

[0043] Each telescopic handle component 2 includes a handle body 24, multi-stage telescopic rods, and an axial force detection component 25. One end of the multi-stage telescopic rods of each telescopic handle component 2 is connected to the handle body 24 of the same group of telescopic handle components 2. One end of the handle body 24 of each telescopic handle component 2 extends to the outside of the outer shell 1. The other end of the multi-stage telescopic rods of each telescopic handle component 2 is connected to the outer shell 1. The axial force detection component 25 of each telescopic handle component 2 pulls the multi-stage telescopic rods of the same group of telescopic handle components 2 through steel wire ropes 26 to extend and retract, and measures the axial force when operating the handle body 24. In this embodiment, the number of stages of the multi-stage telescopic rods can be increased or decreased according to surgical needs, and the structure can adopt existing technology. In use, the doctor can directly use the handle body 24 to drag each stage of the telescopic rods sequentially. Through the multi-stage telescopic design concept, the telescopic handle component 2 greatly reduces the overall size of the device while meeting the surgical delivery distance requirements.

[0044] Specifically, such as Figure 4As shown, in this embodiment, each axial force detection assembly 25 of the telescopic handle component 2 includes a motor 253, a motor mounting sleeve 2531, a main end actuator force sensor 252, a motor mounting bracket 254, and a winding wheel 251 for winding the wire rope 26. The motor mounting bracket 254 of each axial force detection assembly 25 is fixed in the inner cavity of the outer shell 1. The motor mounting sleeve 2531 of each axial force detection assembly 25 is rotatably mounted on the same motor mounting bracket 254 of the same axial force detection assembly 25. The motor 253 of each axial force detection assembly 25 is installed in the same motor mounting sleeve 2531 of the same axial force detection assembly 25. The output shaft of the motor 253 of each axial force detection assembly 25 extends out of the connected... The motor mounting sleeve 2531 is connected to the axial force detection assembly 25, and the winding wheel 251 of the same axial force detection assembly 25 are also connected. The axial center lines of the motor 253, motor mounting sleeve 2531, and winding wheel 251 of the same axial force detection assembly 25 are all collinear. The main end actuator force sensor 252 of each axial force detection assembly 25 is mounted on the motor mounting support 254 of the same axial force detection assembly 25. The detection end of the main end actuator force sensor 252 of each axial force detection assembly 25 is connected to a motor mounting sleeve fixing piece 2521 for connecting the motor mounting sleeve 2531 of the same axial force detection assembly 25. A rotary encoder B is also mounted on the output shaft of the motor 253 of each axial force detection assembly 25. The rotary encoder B is used to detect the movement distance of the corresponding first-stage telescopic rod 21 and handle body 24.

[0045] In the use of this invention, the motor 253 provides axial feedback force. This force information is transmitted through the steel wire rope 26 to the first-stage telescopic rod 21 and the handle body 24, ultimately providing resistance information to the doctor. However, errors in the mechanical transmission process lead to a decrease in the accuracy of the feedback force, making it impossible for the doctor to obtain accurate force information. Therefore, a main-end manipulator force sensor 252 is added next to the motor 253 to detect the axial force information during the doctor's operation. This force information is used to correct the magnitude of the braking torque and feedback force that the motor should provide. In this embodiment, the main-end manipulator force sensor 252 is a tension / compression sensor.

[0046] When the handle body 24 is moved axially, the rope wheel 251, under the traction of the wire rope 26, will theoretically drive the motor mounting sleeve 2531, which houses the motor 253, to rotate. However, due to the connection between the main end actuator force sensor 252, the motor mounting support 254, and the motor mounting sleeve fixing component 2521, the force information transmitted by the motor 253 can ultimately be detected by the main end actuator force sensor 252. In this embodiment, each axial force detection component 25 has two bearings 2541 on its motor mounting support 254 that are rotatably connected to the motor mounting sleeve 2531 of the same axial force detection component 25, ensuring smooth rotation of the motor mounting sleeve 2531.

[0047] Specifically, such as Figure 2 , Figure 3 and Figure 5 As shown, in this embodiment, each set of telescopic handle components 2 consists of a multi-stage telescopic rod, a first-stage telescopic rod 21, a second-stage telescopic rod 22, and a third-stage telescopic rod 23 connected in sequence. Each set of telescopic handle components 2 has several wire rope guide wheels on its first-stage telescopic rod 21, second-stage telescopic rod 22, and third-stage telescopic rod 23. Each set of telescopic handle components 2 has a wire rope connecting block 213 on its first-stage telescopic rod 21. One end of the wire rope 26 of each set of telescopic handle components 2 is connected to one end of the wire rope connecting block 213 of the same set of telescopic handle components 2. The other end of the wire rope 26 of each set of telescopic handle components 2 passes around the rope winding wheel 251 and each wire rope guide wheel of the same set of telescopic handle components 2, and then connects to the other end of the wire rope connecting block 213 of the same set of telescopic handle components 2. One end of the first-stage telescopic rod 21 of each set of telescopic handle components 2 is connected to the handle body 24 of the same set of telescopic handle components 2. The third-stage telescopic rod 23 of each set of telescopic handle components 2 is connected to the outer shell 1. The wire rope guide pulley serves to guide and tension the wire rope 26 to prevent slippage. In this embodiment, for example... Figure 5 As shown, the first-stage telescopic rod 21 has a wire rope guide wheel A 271 and a wire rope guide wheel C 273 at the end away from the handle body 24, a wire rope guide wheel E 275 in the middle of the first-stage telescopic rod 21, a wire rope guide wheel F 276 at the end of the second-stage telescopic rod 22 near the handle body 24, a wire rope guide wheel B 272 at the end of the second-stage telescopic rod 22 away from the handle body 24, and a wire rope guide wheel D 274 at the end of the third-stage telescopic rod 23 away from the handle body 24. In each telescopic handle component 2, the other end of the wire rope 26 first passes through the wire rope guide wheel A 271, wire rope guide wheel B 272, and wire rope guide wheel C 273 in sequence, passes through the wire rope guide wheel D 274 to reach the winding wheel 251, and after winding through the winding wheel 251, passes through the wire rope guide wheel D 274 and the wire rope guide wheel E 275 to reach the wire rope guide wheel F 276, then winds through the wire rope guide wheel F 276 and passes through the wire rope guide wheel E 275, and finally connects to the other end of the wire rope connecting block 213 of the same telescopic handle component 2.

[0048] Specifically, such as Figure 2 As shown, in this embodiment, the axial center lines of each of the third-level telescopic rod 23, the second-level telescopic rod 22, the first-level telescopic rod 21, the handle body 24, the motor 253, the motor mounting sleeve 2531, and the rope winding wheel 251 are all parallel to the horizontal plane, making installation and use convenient.

[0049] Specifically, such as Figure 3 and Figure 5 As shown, in this embodiment, each telescopic handle component 2 has a guide rail A 211 installed on its first-stage telescopic rod 21, a slider A and a guide rail B 211 installed on its second-stage telescopic rod 22, and a slider B installed on its third-stage telescopic rod 23. Each slider A is slidably connected to the adjacent guide rail A 211, and each slider B is slidably connected to the adjacent guide rail B 221. The cooperative arrangement of guide rail A 211 and slider A, and guide rail B 221 and slider B, respectively, ensures the stable sliding extension and retraction of the first-stage telescopic rod 21 and the second-stage telescopic rod 22.

[0050] Specifically, such as Figure 3 As shown, in this embodiment, a number of thin-film pressure sensors 241 are provided on the outer surface of one end of each handle body 24 located outside the outer shell 1, for detecting the operating state of the doctor grasping and twisting the handle body 24.

[0051] Specifically, such as Figure 3 As shown, in this embodiment, one end of the first-stage telescopic rod 21 of each telescopic handle component 2 is connected to the handle body 24 of the same telescopic handle component 2 via a rotary encoder A 212. When the doctor rotates the handle body 24, the rotary encoder A 212 can record the rotation angle of the handle body 24.

[0052] In this embodiment, the outer casing 1 is also equipped with a display screen 3 and multiple function buttons 4. The display screen 3 can monitor the movement status of the telescopic handle component 2 and the force information during surgery in real time, assisting the doctor in robot operation. The function buttons 4 include buttons for controlling position / speed mode switching, emergency stop, instrument switching, and mapping ratio adjustment. In this embodiment, the display screen 3 and each function button 4 are respectively connected to the main end manipulator control circuit set in the outer casing 1, and the connection settings are all existing technologies. In this embodiment, one end of the display screen 3 is hinged to the outer casing 1, and the support angle can be adjusted through the existing tilt support structure. During carrying and transportation, the display screen 3 and the telescopic handle component 2 can be stored inside the outer casing for convenient storage and use. In this embodiment, the two telescopic handle components 2 are used to control the guidewire and catheter, respectively. The instrument switching function button 4 can be used to control the delivery and release of the balloon. In this embodiment, the motor 253, the thin film pressure sensor 241, the rotary encoder A 212, the rotary encoder B, and the main end manipulator force sensor 252 are all commercially available products and are respectively connected to the main end manipulator control circuit set in the outer casing 1.

[0053] like Figure 6As shown, in a specific application in vascular interventional robotic surgery, the surgeon uses this invention to twist the handle body 24 and the thin-film pressure sensor 241 to issue motion commands. Upon receiving the commands, the end actuator controls the clamping instrument to complete the corresponding movements and transmits resistance information during the intervention process to the master actuator. The motor 253 of the master actuator receives the commands and provides corresponding force feedback to the surgeon. In addition, the surgeon's operating force information is continuously recorded by the force sensor 252 of the master actuator to correct the magnitude of the force feedback provided by the motor 253. Closed-loop control of force feedback can reduce the error between the surgeon's operating force and the feedback force, thereby improving the transparency of force feedback and increasing the sense of presence during the surgery.

[0054] like Figure 7 As shown, to enhance precision operation and ease of use, this invention is designed with two control modes: position and speed. Each mode has different speed settings, allowing surgeons to switch between them as the surgery progresses. The position mode is mapped based on the operating distance of the master manipulator and the movement distance of the slave actuator. The mid-distance setting has a master-slave displacement ratio of 1:1, used for routine, safe delivery; the long-distance setting has a master-slave displacement ratio of 1:1.5, saving surgical time; and the short-distance setting has a master-slave displacement ratio of 1:0.5, used for precise operations during complex stages of surgery. The speed mode is mapped based on the relative operating distance of the master manipulator and the movement speed of the slave actuator. The position at which the thin-film pressure sensor 241 is triggered is used as the operating origin for the speed mode; the farther away from this point, the faster the speed. In the constant speed mode, the master-slave mapping ratio is 1:1. At this time, the doctor can control the slave actuator to move at a predetermined speed by pressing the membrane pressure sensor 241. In the acceleration mode, the master-slave mapping ratio is 1:1.5X. The doctor presses the membrane pressure sensor 241 and moves it a distance of X. The moving speed of the slave actuator increases with the increase of the distance X.

[0055] When using position mode control, the master manipulator is sometimes limited by the travel range of the handle body 24. To ensure that the master manipulator can perform precise operations while also enabling long-distance delivery of surgical instruments, a solution is proposed as follows: Figure 8 The reciprocating delivery method is shown. The doctor sends a movement command through the twisting film pressure sensor 241, recording the movement information of the handle body 24; when the handle body 24 reaches the travel limit of one delivery, the twisting stops, the film pressure sensor 241 is no longer under force, and after 5 seconds the handle body 24 returns to the initial position driven by the steel wire rope 26. The above process is repeated to finally achieve the reciprocating delivery of surgical instruments.

[0056] Because of the friction inherent in the mechanical structure of the telescopic handle component 2, the doctor's movement during operation is not smooth enough, which affects their ability to perceive force information. To improve this problem, the following proposed... Figure 9 The friction compensation strategy for the telescopic handle component 2 shown. When a doctor operates using the handle body 24, the finger presses the thin-film pressure sensor 241, and the motor 253 starts to be enabled. The speed value v input to the motor 253 is judged for its relationship with the speed threshold v0. When the moving speed of the handle body 24 is small and the telescopic handle component 2 slides not significantly, the static friction is large and it is inconvenient to judge the direction of the friction force. At this time, no compensation is given, that is, when -v0 < v < v0, the friction compensation value F Q = 0; when the moving speed of the handle body 24 is large, the telescopic handle component 2 has an obvious movement and the direction of the sliding friction force is easy to judge. At this time, the motor 253 is used to provide a traction force in the same direction as the speed to assist the movement, that is, when v ≤ -v0, the friction compensation value F Q = -F0, where F0 is the friction calibration value. When v ≥ v0, the friction compensation value F Q = F0. The force of the above friction compensation is a fixed value, which can stably help the doctor improve the operation comfort. If further refined control is required, the value of the motor output force can be adjusted according to the operation force direction and speed provided by the force sensor for real-time compensation. The traction force F of the motor 253 = F Q + F f + F C , to achieve the adjustment of the motor torque.

[0057] During the vascular intervention procedure (or preoperative simulation process), the force information received by the guide wire includes contact force, viscous force, blood flow resistance, etc., and their magnitude levels vary greatly. If forces of different magnitudes are all fed back to the doctor in a 1:1 manner, it will reduce the doctor's sensitivity to the force information and seriously affect the surgical operation process. In order to reasonably feed back various force information to the doctor, as Figure 10 shown, first, according to the magnitude of the force information, the force F C is uniformly divided into four regions, namely the safe region 0 ≤ F f < F S , the sub-safe region F S ≤ F f < F R , the risk region F R ≤ F f < F E and the dangerous region F f ≥ F E . F S , F R , F E are respectively set thresholds. The intervention force in the safe region is small and will not cause harm to the blood vessel wall. In order not to affect the surgical process (or preoperative simulation process) and the doctor's operation feel, no feedback will be given, that is, the feedback resistance F f = F i＝0; The intervention force in the sub-safe zone is slightly larger. To help doctors master the surgical process, a 1:1 feedback force will be output, i.e., the feedback force and feedback resistance F. f =F1; The intervention force in the risk zone is relatively large, posing a certain surgical risk. To remind the doctor of the potential safety risks during the procedure, the feedback force, i.e., the feedback resistance F, will be appropriately amplified. f =F2; The interventional force in the danger zone can easily puncture the blood vessel wall, causing surgical accidents. To ensure the patient's safety, the main manipulator operation will be locked. The feedback resistance F at this time... f =F T F T This is the predetermined maximum force. Through the above force feedback protection strategy, doctors can obtain appropriate force feedback, ensuring the safety of the surgery.

Claims

1. A multi-stage telescopic rod main end manipulator, comprising a housing (1), characterized in that: It also includes two sets of telescopic handle components (2) disposed in the inner cavity of the outer casing (1); Each set of telescopic handle components (2) includes a handle body (24), a multi-stage telescopic rod, and an axial force detection component (25). One end of the multi-stage telescopic rod of each set of telescopic handle components (2) is connected to the handle body (24) of the same set of telescopic handle components (2). One end of the handle body (24) of each set of telescopic handle components (2) extends to the outside of the outer shell (1). The other end of the multi-stage telescopic rod of each set of telescopic handle components (2) is connected to the outer shell (1). The axial force detection component (25) of each set of telescopic handle components (2) pulls the multi-stage telescopic rod of the same set of telescopic handle components (2) to extend and retract through a steel wire rope (26) and measures the axial force when operating the handle body (24). Each of the axial force detection components (25) of the telescopic handle components (2) includes a motor (253), a motor mounting sleeve (2531), a main end actuator force sensor (252), a motor mounting bracket (254), and a rope winding wheel (251) for winding the wire rope (26). The axial center lines of the motor (253), motor mounting sleeve (2531), and rope winding wheel (251) of the same axial force detection component (25) are all collinear. Each set of telescopic handle components (2) consists of a multi-stage telescopic rod consisting of a first-stage telescopic rod (21), a second-stage telescopic rod (22), and a third-stage telescopic rod (23) connected in sequence. Each set of telescopic handle components (2) has several wire rope guide wheels on its first-stage telescopic rod (21), second-stage telescopic rod (22), and third-stage telescopic rod (23). Each set of telescopic handle components (2) has a wire rope connecting block (213) on its first-stage telescopic rod (21). One end of the wire rope (26) of each set of telescopic handle components (2) is connected to one end of the wire rope connecting block (213) of the same set of telescopic handle components (2). The other end of the wire rope (26) of each set of telescopic handle components (2) passes around the rope winding wheel (251) and each wire rope guide wheel of the same set of telescopic handle components (2), and then connects to the other end of the wire rope connecting block (213) of the same set of telescopic handle components (2).

2. The multi-stage telescopic rod main end manipulator according to claim 1, characterized in that: Several thin-film pressure sensors (241) are provided on the outer side of one end of each handle body (24) located outside the outer shell (1).

3. The multi-stage telescopic rod main end manipulator according to claim 1, characterized in that: One end of the multi-stage telescopic rod of each telescopic handle component (2) is connected to the handle body (24) of the same telescopic handle component (2) via a rotary encoder A (212).

4. The multi-stage telescopic rod main end manipulator according to claim 1, characterized in that: The motor mounting bracket (254) of each axial force detection assembly (25) is fixed in the inner cavity of the outer shell (1). The motor mounting sleeve (2531) of each axial force detection assembly (25) is rotatably mounted on the same motor mounting bracket (254) of the same axial force detection assembly (25). The motor (253) of each axial force detection assembly (25) is mounted in the same motor mounting sleeve (2531) of the same axial force detection assembly (25). The output shaft of the motor (253) of each axial force detection assembly (25) extends out of the connected motor mounting sleeve (2531) and is connected to the same... The axial force detection components (25) are connected by a rope wheel (251). The main end manipulator force sensor (252) of each axial force detection component (25) is mounted on the motor mounting bracket (254) of the same axial force detection component (25). The detection end of the main end manipulator force sensor (252) of each axial force detection component (25) is connected to a motor mounting sleeve fixing piece (2521) for connecting the motor mounting sleeve (2531) of the same axial force detection component (25). A rotary encoder B is also mounted on the output shaft of the motor (253) of each axial force detection component (25).

5. The multi-stage telescopic rod main end manipulator according to claim 4, characterized in that: Each of the axial force detection components (25) has a number of bearings (2541) on its motor mounting bracket (254) that are rotatably connected to the motor mounting sleeve (2531) of the same axial force detection component (25).

6. A multi-stage telescopic rod main end manipulator according to claim 4, characterized in that: One end of the first-stage telescopic rod (21) of each group of telescopic handle components (2) is connected to the handle body (24) of the same group of telescopic handle components (2), and the third-stage telescopic rod (23) of each group of telescopic handle components (2) is connected to the outer shell (1).

7. A multi-stage telescopic rod main end manipulator according to claim 6, characterized in that: The two sets of telescopic handle components (2) are symmetrically positioned, and the axial center lines of each of the third-level telescopic rod (23), the second-level telescopic rod (22), the first-level telescopic rod (21), the handle body (24), the motor (253), the motor mounting sleeve (2531), and the rope wheel (251) are parallel to the horizontal plane.

8. A multi-stage telescopic rod main end manipulator according to claim 6, characterized in that: Each set of telescopic handle components (2) has a guide rail A (211) installed on the first telescopic rod (21), a slider A and a guide rail B (221) installed on the second telescopic rod (22), and a slider B installed on the third telescopic rod (23). Each slider A is slidably connected to the adjacent guide rail A (211), and each slider B is slidably connected to the adjacent guide rail B (221).

9. A control method for a multi-stage telescopic boom main end manipulator, applicable to the multi-stage telescopic boom main end manipulator according to any one of claims 1-8, characterized in that: Based on the received feedback force command from the slave end, the torque value of the motor (253) is adjusted, and the master end controller is controlled through real-time compensation, including the following steps: When the pressure sensor (241) detects pressure, the motor (253) is enabled; the speed value of the motor (253) is determined. v With speed threshold v The relationship between 0 and 0; When the moving speed of the handle body (24) is less than the speed threshold v 0, no friction compensation is given, i.e. - v 0< v < v At time 0, the friction compensation value is... F Q = 0; When the moving speed of the handle body (24) is large, the motor (253) provides a traction force in the same direction as the handle body (24) to assist the movement of the handle body (24). v ≤- v At 0, the friction compensation value F Q =- F 0, F 0 represents the friction calibration value; when v ≥ v At 0, the friction compensation value F Q = F 0; Feedback force based on the feedback force command from the slave end F C Compare the size with the risk area; When the force is within the safe zone, the feedback resistance... F f = F i= 0 When the force belongs to the sub-safe zone, the feedback resistance... F f = F 1 When the force falls within the risk zone, i.e., feedback resistance... F f = F 2. When the feedback force from the slave end is in the danger zone, the master end controller operation is locked by locking the main body of the handle (24). At this time, the feedback force F f = F T ; F i , F 1 、F 2 、F T These are the force values ​​set for the safe zone, sub-safe zone, risk zone, and danger zone, respectively. Motor (253) traction force F = F Q +F f +F C This allows for adjustment of the motor torque.

10. A control method for a multi-stage telescopic boom master end actuator according to claim 9, characterized in that: The risk zone includes: four consecutively defined force value ranges, namely the safe zone 0≤ F f <F S Asia-Pacific Security Zone F S ≤ F f <F R Risk areas F R ≤ F f <F E and danger zone F f ≥F E ; F S 、F R 、F E Each sets a threshold.

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