Surgical tool, surgical tool control method and device

Abstract

The specification discloses a surgical tool, a surgical tool control method and device, the surgical tool comprising a surgical execution part, a force sensor and a driving unit, the force sensor being arranged between the surgical execution part and the driving unit, during a surgical operation of the surgical execution part, sensor data acquired by the force sensor is sent to a control device, so that the control device determines a control instruction of the surgical execution part according to the sensor data and state data of the surgical execution part, and sends the control instruction to the driving unit, it can be seen that when the surgical execution part is subjected to an external force, the force sensor can directly acquire the external force received by the surgical execution part, without the need for conversion, so that the accuracy of the sensor data representing the force condition of the surgical execution part can be improved. Moreover, the control device can adjust the control instruction of the surgical execution part in real time according to the external force data received by the surgical execution part, so as to avoid causing harm to a patient, and thus the precision and sensitivity of the surgical operation can be improved.

Description

Technical Field

[0001] This specification relates to the field of medical technology, and in particular to a surgical tool, a surgical tool control method, and a device. Background Technology

[0002] With the continuous advancement of robotics research and technological development, robotics technology has been widely applied in the field of medical assistance. Surgical instruments can be mounted on the end effector of a robotic arm, allowing doctors to remotely control these instruments to perform surgical procedures. However, remote control of the robotic arm makes it difficult for doctors to directly perceive the external forces exerted on the surgical instruments during operations, potentially leading to situations where doctors cannot directly feel the forces acting on the instruments, thus causing harm to the patient.

[0003] Currently, by installing a force feedback sensor between the end of the robotic arm and the surgical tool assembly, the force on the surgical execution unit at the end of the surgical tool assembly can be calculated based on the force received by the force feedback sensor and fed back to the doctor, allowing the doctor to feel the force on the surgical execution unit and thus avoid harming the patient.

[0004] However, in practical applications, the actuator at the end of the surgical tool assembly is the actual surgical tool used to perform the surgical procedure, and the force feedback sensor in the above method cannot directly obtain the force situation of the actuator. For surgical scenarios requiring the use of robotic arms to perform delicate operations, the calculated force situation of the surgical actuator may have low accuracy. Summary of the Invention

[0005] This specification provides a surgical tool, a surgical tool control method, and a device to partially solve the aforementioned problems existing in the prior art.

[0006] The following technical solution is adopted in this specification: This specification provides a surgical tool 11 for moving according to control commands sent by a control device 3. The surgical tool 11 includes a surgical execution unit 111, a force sensor 116, and a drive unit 112; wherein the force sensor 116 is disposed between the drive unit 112 and the surgical execution unit 111. The drive unit 112 is used to control the movement of the surgical execution unit 111 according to the control commands of the surgical execution unit 111; The surgical execution unit 111 is used to perform surgical operations on the patient's affected area 4; The force sensor 116 is used to acquire sensor data between the drive unit 112 and the surgical execution unit 111. During the surgical operation performed by the surgical execution unit 111, the acquired sensor data is sent to the control device 3, so that the control device 3 determines the control command of the surgical execution unit 111 based on the sensor data and the status data of the surgical execution unit 111, and sends it to the drive unit 112. The status data of the surgical execution unit 111 is used to indicate the interference of the surgical execution unit 111 itself with the sensor data.

[0007] Optionally, the surgical tool 11 is disposed at the end of the robotic arm 1; The robotic arm 1 is used to move to a designated position according to the movement command sent by the control device 3, so that the surgical tool 11 moves along a pre-planned surgical path at the end of the robotic arm 1, and the surgical execution unit 111 in the surgical tool 11 performs surgical operations on the diseased site 4.

[0008] Optionally, the drive unit 112 includes a drive spindle 115, and the surgical execution unit 111 is connected to the drive spindle 115 via an execution unit mounting head 1151; the force sensor 116 is disposed between the execution unit mounting head 1151 and the drive spindle 115. The surgical execution unit 111 includes at least one of a puncture tool, a grinding tool, and a grasping tool.

[0009] Optionally, the surgical tool 11 includes a drive spindle 115 and a surgical execution unit 111. The drive spindle 115 includes a shaft cylinder assembly 1153, a drive motor 1152, and a signal transmission unit 117. The surgical tool 11 is mounted on the surgical tool base 113 at the end of the robotic arm 1; according to the movement command sent by the control device 3, the surgical tool 11 moves along a pre-planned surgical path on the surgical tool base 113, and the surgical execution unit 111 in the surgical tool 11 performs surgical operations on the diseased site 4.

[0010] Optionally, the force sensor 116 is a one-dimensional tensile-compression sensor; The force sensor 116 is used to acquire tension or pressure data between the drive unit 112 and the surgical execution unit 111, and to send the acquired tension or pressure data to the control device 3 during the surgical operation performed by the surgical execution unit 111.

[0011] This manual provides a method for controlling surgical tools, including: During the movement of the surgical execution unit, sensor data sent by the force sensor is acquired; Obtain the status data of the surgical execution unit; Based on the sensor data and the status data, the force data of the surgical execution unit is determined; The control commands of the surgical execution unit are adjusted based on the force data of the surgical execution unit. The adjusted control commands are sent to the drive unit, so that the drive unit controls the surgical execution unit according to the adjusted control commands.

[0012] Optionally, the status data of the surgical execution unit includes the real-time pose of the surgical execution unit and the pre-determined weight of the surgical execution unit; Based on the sensor data and the status data, the force data of the surgical execution unit is determined, specifically including: Based on the real-time pose, determine the angle between the axial direction of the surgical execution unit and the horizontal direction; Based on the included angle and the weight of the surgical execution unit, determine the interference force data of the weight of the surgical execution unit on the sensor data in the axial direction of the surgical execution unit; Based on the interference force data, the sensor data is calibrated to obtain the force data of the surgical execution unit.

[0013] Optionally, the control commands of the surgical execution unit are adjusted based on the force data of the surgical execution unit, specifically including: Based on the type of the surgical execution unit, obtain the corresponding force safety range of the surgical execution unit; Determine whether the force data falls within the safe force range; If so, do not send control commands, and allow the surgical execution unit to continue moving; If not, adjust the control commands of the surgical execution unit according to its type.

[0014] Optionally, the surgical execution unit is a puncture tool; Based on the type of the surgical execution unit, the corresponding safe force range for the surgical execution unit is determined, specifically including: Based on the puncture tool, the force safety threshold corresponding to the puncture tool is determined as the first safety threshold; Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data exceeds the first safety threshold, the control command of the puncture tool is adjusted to stop puncture or return.

[0015] Optionally, based on the type of the surgical execution unit, the corresponding safe force range for the surgical execution unit is obtained, specifically including: When the sensor data is received, the action being performed by the surgical execution unit is obtained; Based on the type of the surgical execution unit and the action being performed by the surgical execution unit, the corresponding force safety range of the surgical execution unit is determined.

[0016] Optionally, the surgical execution unit is a grinding head tool; the action being performed by the surgical execution unit is a grinding action; Based on the type of the surgical execution unit and the action being performed by the surgical execution unit, the corresponding safe force range for the surgical execution unit is determined, specifically including: Based on the grinding action being performed by the grinding head tool, the force safety threshold corresponding to the grinding head tool is determined as the second safety threshold; Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data is less than the second safety threshold, the control command of the grinding head tool is adjusted to stop grinding or return.

[0017] Optionally, the surgical execution unit is a gripping forceps tool; Based on the type of the surgical execution unit and the action being performed by the surgical execution unit, the corresponding safe force range for the surgical execution unit is determined, specifically including: When the gripper tool is performing a gripping action, the force safety threshold corresponding to the gripper tool is determined to be the third safety threshold. When the gripper tool is performing a pulling action, the force safety threshold corresponding to the gripper tool is determined to be the fourth safety threshold. Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data is less than the third safety threshold, adjust the control command of the gripper tool to re-grip; When the force data exceeds the fourth safety threshold, the control command of the gripper tool is adjusted to stop pulling.

[0018] Optionally, the method further includes: If the force data does not fall within the safe force range, a prompt message will be displayed to remind the operator to control the surgical execution unit.

[0019] This manual provides a surgical tool control device, including: The first acquisition module is used to acquire sensor data sent by the force sensor during the movement of the surgical execution unit; The second acquisition module is used to acquire the status data of the surgical execution unit; The determination module is used to determine the force data of the surgical execution unit based on the sensor data and the status data; An adjustment module is used to adjust the control commands of the surgical execution unit based on the force data of the surgical execution unit; The sending module is used to send the adjusted control instructions to the drive unit, so that the drive unit controls the surgical execution unit according to the adjusted control instructions.

[0020] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described surgical tool control method.

[0021] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described surgical tool control method.

[0022] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects: The surgical tool provided in this manual is used to move according to control commands sent by a control device. A force sensor is configured between the surgical execution unit and the drive unit. During the surgical operation, the acquired sensor data is sent to the control device, which then determines the control commands for the surgical execution unit based on the sensor data and the status data of the surgical execution unit, and sends these commands to the drive unit. Therefore, when the surgical execution unit is subjected to external force, the force sensor can directly acquire the force without conversion, improving the accuracy of the sensor data in representing the force situation on the surgical execution unit. Furthermore, the control commands for the surgical execution unit can be adjusted in real time based on the external force data, avoiding unnecessary harm to the patient and thus improving the precision and sensitivity of the surgical operation. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings: Figure 1A This is a schematic diagram of one of the surgical tools described in this instruction manual; Figure 1B This is a schematic diagram of one of the surgical tools described in this instruction manual; Figure 1C This is a schematic diagram of a surgical device described in this manual; Figure 2 This is a flowchart illustrating a surgical tool control method provided in this specification. Figure 3 This is a schematic diagram of a surgical tool control device provided in this specification; Figure 4 The corresponding information provided in this specification Figure 2 A schematic diagram of an electronic device. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0025] Additionally, it should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and regulations of the country where the invention is located, and with authorization from the owner of the corresponding device.

[0026] Currently, minimally invasive surgery is essential for treatment in orthopedics, neurology, and interventional procedures. The demands for minimally invasive and precise surgical techniques are increasing, requiring minimal trauma and accurate targeting of the affected area for effective treatment. The technology of using surgical robots to perform minimally invasive surgery has developed rapidly and is widely used in various fields such as bone implantation, joint replacement, abdominal soft tissue surgery, puncture, and interventional procedures.

[0027] Among them, spinal endoscopic minimally invasive technology, as an early minimally invasive technique, causes less damage to the paravertebral muscles and can preserve the complete spinal structure to the greatest extent, maintaining the stability of the spine after surgery. It has the advantages of minimal trauma, less bleeding, faster recovery, fewer complications, and definite curative effect.

[0028] All of the aforementioned minimally invasive surgeries performed by surgical robots involve surgical instruments operating through narrow endoscopic channels. Typically, surgical instruments mounted at the end of the robotic arm need to pass through these narrow endoscopic channels to enter the patient's body and perform delicate surgical procedures on the affected area within this confined space.

[0029] Typically, surgical instruments undergo three main types of movement: one-dimensional axial movement (forward and backward), rotation along the axis, and end-effector actions (such as the opening and closing of forceps or the high-speed rotation of a drill). Since the rotation of the end-effector's actuator is usually confined within the endoscope's working channel and does not exceed its bounded space, the risk of accidental injury to patient tissues obscured by the channel is minimal. However, during radial movement and actuator actions, accidental damage may occur to the affected area and surrounding tissues due to insensitive robotic arm control, particularly when performing surgical procedures.

[0030] To address the aforementioned issues, current surgical robots or robotic arms equipped with surgical tools typically require force feedback functionality. Force feedback refers to the ability of a surgical robot to sense the external forces acting on the surgical tools as they move within the patient's body. Generally, in scenarios where a surgeon uses surgical tools to perform procedures, the surgeon can sense the resistance encountered by the tools during the procedure and adjust the surgical strategy in real time. Therefore, existing surgical robots usually need to be equipped with force feedback systems to obtain the external forces acting on the surgical tools within the patient's body, allowing for real-time adjustments to the control commands of the surgical tools and preventing unnecessary harm to the patient.

[0031] Existing surgical robot systems typically integrate force feedback systems by mounting force sensors, usually multi-dimensional force sensors, between the robotic arm's end effector and the surgical instrument. These sensors acquire force information about the surgical instrument across multiple dimensions. Due to the large size of these multi-dimensional force sensors, they must be mounted between the robotic arm's end effector and the surgical instrument assembly. This results in the multi-dimensional force sensor not being directly connected to the end effector of the surgical instrument. This not only increases the complexity of the robotic arm's end effector design but, more importantly, allows for indirect calculations to obtain the force information about the surgical instrument in a specific direction. For scenarios involving delicate operations within the endoscopic channel, the force feedback is not direct enough, impacting surgical accuracy and sensitivity.

[0032] All of the above issues could lead to reduced surgical precision and sensitivity in scenarios where surgical robots perform delicate operations due to low accuracy of force feedback data.

[0033] Based on this, embodiments of this specification provide a surgical tool that enables an assistant to perform surgical procedures on a patient. For ease of understanding, endoscopic surgery is used as an example to illustrate the specific technical solution in these embodiments.

[0034] The surgical tool 11 can be configured at the end of the robotic arm 1. The surgical tool 11 moves according to the control commands sent by the control device 3. The surgical tool 11 includes a surgical execution unit 111, a force sensor 116, and a drive unit 112. The force sensor 116 is configured between the drive unit 112 and the surgical execution unit 111.

[0035] like Figure 1A This is an exploded view of the surgical tool 11, in which the surgical execution unit 111 performs surgical operations on the patient's affected area 4 and is a component that requires direct force monitoring. Therefore, by placing the force sensor 116 between the drive unit 112 and the surgical execution unit 111, sensor data between the drive unit 112 and the surgical execution unit 111 can be obtained.

[0036] In the embodiments described in this specification, in the context of endoscopic orthopedic surgery, the surgical actuator 111 can be a sharp tool such as a puncture needle, a grasping forceps tool for removing soft tissue such as a nucleus pulposus forceps, a burr tool for removing bone such as a high-speed burr, or other related tools such as radiofrequency ablation. All of the above-mentioned types of surgical actuators 111 share the common characteristic of being a slender rod type that can move in and out of the narrow channel of the endoscope. Of course, depending on the specific surgical scenario, any slender rod type of surgical actuator that can move in and out of the endoscope channel can be selected; this specification does not limit this choice. Different types of surgical actuators allow for quick assembly and disassembly to meet the needs of different surgical procedures.

[0037] The drive unit 112 can move forward and backward along the axis 114 of the surgical tool base 113, and can also connect the surgical tool 11 to the robotic arm 1. The drive spindle 115 is used to mount the surgical execution unit 111 and integrates a force sensor 116 to monitor the force on the surgical execution unit 111. It can also drive the surgical execution unit 111 to move as a whole, such as adjusting the orientation of the nucleus pulposus forceps to meet the needs of surgical operations. The signal transmission unit 117 is used to transmit the sensor data acquired by the force sensor 116, and optionally, it can also supply power to the transmission components inside the drive spindle 115.

[0038] In this embodiment, the force sensor 116 can be a one-dimensional tensile / compression sensor, a core component for monitoring the force applied to surgical instruments. A high-precision one-dimensional tensile / compression sensor with a measurement accuracy of 0.1%FS can be selected. That is, a force sensor with a full range of 3kg (approximately 30N) can distinguish a force change of 3g (approximately 0.03N). Of course, any force sensor that can be configured between the surgical execution unit 111 and the drive unit 112 can also be used; this specification does not limit this choice.

[0039] like Figure 1BThe diagram shows an exploded view of the drive spindle 115, where the actuator mounting head 1151 is used to rigidly connect different types of surgical actuators 111. Because the actuator mounting head 1151 and the surgical actuator 111 are rigidly connected, they can share force as a whole after connection. The force sensor 116 can be a one-dimensional tension / compression sensor, directly connected to the actuator mounting head 1151. When the surgical actuator 111 is subjected to force during movement or action, the force sensor 116 can detect the force signal and transmit it to the control device 3 for judgment. Optionally, in this specification, the force sensor 116 can be a hollow, internally wired structure due to overall design requirements. The drive motor 1152 is connected to the mechanism inside the actuator mounting head 1151, and can drive the surgical actuator 111 to move after it is installed. The shaft cylinder assembly 1153 is used to carry the actuator mounting head 1151, the drive motor 1152 and the force sensor 116. Specifically, the shaft cylinder assembly 1153 has a rotary transmission component and a support bearing, which can realize rotation within the rotary spindle housing.

[0040] like Figure 1C As shown in the embodiments of this specification, the surgical equipment includes at least a robotic arm 1 and a control device 3. The robotic arm 1 is equipped with surgical tools 11, which can be controlled to perform surgical operations on the affected area 4 of the patient located on the operating table 5. The control device 3 can be used in the surgical environment where the robotic arm 1 is located, or as a remote control device in other environments; this specification does not limit this. The surgical equipment may also include an auxiliary robotic arm 2, which can fix the working channel 21 and the endoscope 22 to assist the surgical tools 11 in performing surgical operations.

[0041] Furthermore, the control device 3 can pre-plan the surgical path for the affected area 4 and send control signals to control the surgical execution unit 111 to enter the working channel 21 so as to perform specific surgical operations under the endoscope 22. During the forward or backward movement of the surgical execution unit 111 in the working channel 21, the force sensor 116 acquires sensor data and sends the sensor data to the control device. The control device 3 receives the sensor data and acquires the status data of the surgical execution unit 111, and then determines the force data of the surgical execution unit 111 based on the sensor data and the status data. The status data of the surgical execution unit 111 is used to indicate the interference of the surgical execution unit 111 itself with the sensor data. Furthermore, based on the force data of the surgical execution unit 111, the control command of the surgical execution unit 111 is adjusted; the adjusted control command is sent to the drive unit 112, which can control the surgical execution unit 111 according to the received adjusted control command.

[0042] Optionally, the surgical device in this manual may also include a display device 6 for displaying scanned images of the patient's affected area 4, real-time surgical images transmitted by the endoscope 22, or surgical operation prompts, etc.

[0043] based on Figure 1A The surgical instrument shown features a force sensor 116 positioned between the surgical execution unit 111 and the drive unit 112. When the surgical execution unit 111 is subjected to external force, the force sensor 116 can directly acquire the force received by the surgical execution unit 111 without conversion, thus improving the accuracy of the sensor data acquired by the force sensor 116 in characterizing the force situation of the surgical execution unit 111. Furthermore, the control device 3 can adjust the control commands of the surgical execution unit 111 in real time based on the external force data received by the surgical execution unit 111, avoiding unnecessary harm to the patient and thereby improving the precision and sensitivity of the surgical operation.

[0044] To facilitate understanding of the surgical tools described above, this instruction manual also provides a flowchart illustrating the control method of the surgical tools, thus demonstrating the operation of the surgical equipment during actual surgery. Figure 2 As shown.

[0045] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0046] Figure 2 This is a flowchart illustrating a surgical tool control method provided in this specification.

[0047] S100: During the movement of the surgical execution unit, sensor data sent by the force sensor is acquired.

[0048] The executing entity is as follows Figure 1C The control device in the surgical equipment shown can also be an electronic device such as a server that has the function of executing the surgical tool control method provided in the embodiments of this specification. The specific solution will be described below with the control device as the main execution subject.

[0049] The control device can pre-plan the surgical path for the surgical execution unit to reach the affected area based on the patient's lesion site and the position of the robotic arm within the surgical environment. In the embodiments described in this specification, the surgical execution unit can first be configured as a puncture tool, and perform a puncture action according to the pre-planned surgical path, so as to subsequently deploy the working channel and endoscope. After deploying the working channel and endoscope along the surgical path, the surgical execution unit can enter the patient's body along the working channel and reach the lesion site. The actions performed by the distal end of the surgical execution unit can be determined by the operator through near-field / remote operation, or the surgical operation can be performed according to a pre-planned action.

[0050] Because the force sensor is rigidly connected between the surgical actuator and the drive unit, it can directly obtain the external force data received by the surgical actuator as sensor data and send it to the control device. The sensor data can be collected in real time according to the step length during the movement of the surgical actuator, or it can be collected only when the surgical actuator is subjected to an external force; this specification does not limit this.

[0051] S102: Obtain the status data of the surgical execution unit.

[0052] Specifically, depending on the specific circumstances of the surgery, the surgical execution unit can be replaced. The length, weight, and center of gravity of different types of surgical execution units may vary. Since the force sensor is located at the rear end of the surgical execution unit, the weight of the surgical execution unit may interfere with the sensor data obtained by the force sensor. In other words, the sensor data obtained by the force sensor may include a component of the weight of the surgical execution unit.

[0053] Based on this, the length, weight, and center of gravity of various types of surgical actuators can be pre-acquired as predetermined state data for calibrating the sensor data. Since the surgical actuator can also be rigidly connected to the drive unit via the actuator mounting head, optionally, the length, weight, and center of gravity of the actuator mounting head can also be included in the predetermined state data to remove interfering data from the sensor data and calibrate the force data of the surgical actuator, thereby further improving the accuracy of the force sensor in acquiring the force condition of the surgical actuator.

[0054] S104: Determine the force data of the surgical execution unit based on the sensor data and the status data.

[0055] Furthermore, in typical surgical scenarios, the working channel is not arranged perpendicular to the horizontal direction, but is usually positioned at an angle within the patient's body. Therefore, the posture of the surgical actuator moving within the working channel is at an angle to the horizontal direction. Consequently, the surgical actuator itself and the actuator mounting head may interfere with the data on external forces received by the surgical actuator. Therefore, it is necessary to calibrate the sensor data based on the status data to obtain interference-free force data for the surgical actuator.

[0056] S106: Adjust the control commands of the surgical execution unit according to the force data of the surgical execution unit.

[0057] Specifically, if the force data of the surgical execution unit falls within the preset safety range, it means that the external force received by the surgical execution unit indicates that the control instructions or action strategies being executed by the surgical execution unit will not cause harm to the patient, and therefore the movement can continue according to the pre-planned control instructions.

[0058] If the force data of the surgical execution unit is outside the preset safety range, it means that the control instructions or action strategies being executed by the surgical execution unit may cause harm to the patient. The movement or action should be stopped first, and the current control instructions should be adjusted according to the specific type of surgical execution unit and the force situation.

[0059] S108: The adjusted control command is sent to the drive unit, so that the drive unit controls the surgical execution unit according to the adjusted control command.

[0060] In practical applications, the control device can analyze the force situation during surgery in real time based on the sensor data sent by the force sensor. When the force data of the surgical execution unit exceeds the preset safe position corresponding to this type of surgical execution unit, the control command for the surgical execution unit is dynamically adjusted to achieve precise control of the surgical execution unit and further avoid the harm caused to the patient by the surgical execution unit.

[0061] based on Figure 2 The surgical tool control method shown describes a method where the surgical tool moves according to control commands sent by a control device. During the surgical operation, a force sensor sends acquired sensor data to the control device. The control device then determines the control commands for the surgical execution unit based on the sensor data and the status data of the surgical execution unit, and sends these commands to the drive unit. This demonstrates that when the surgical execution unit is subjected to external force, the force sensor can directly acquire the force without conversion, improving the accuracy of the sensor data in representing the force on the surgical execution unit. Furthermore, the control commands for the surgical execution unit can be adjusted in real time based on the external force data, further avoiding unnecessary harm to the patient and improving the precision and sensitivity of the surgical operation.

[0062] In one or more embodiments described in this specification, such as Figure 2 Steps S102-S104 show that the force data of the surgical execution unit is determined based on the sensor data and the status data, which can be achieved in the following ways.

[0063] First, the status data of the surgical execution unit is acquired. The status data of the surgical execution unit includes the real-time pose of the surgical execution unit and the pre-determined weight of the surgical execution unit.

[0064] Typically, the working channel is not arranged perpendicular to the horizontal direction, but is usually positioned at an angle within the patient's body. Therefore, the posture of the surgical execution unit moving within the working channel is at an angle to the horizontal direction. Furthermore, the force sensor is located at the rear end of the surgical execution unit, and the weight of the surgical execution unit may interfere with the sensor data acquired by the force sensor. In other words, the sensor data acquired by the force sensor may include a component representing the weight of the surgical execution unit.

[0065] Optionally, the status data of the surgical execution unit may also include other parameters, such as the length and center of gravity of the surgical execution unit, which may interfere with the force sensor's acquisition of sensor data in determining the weight of the surgical execution unit.

[0066] Optionally, the force sensor can be configured between the actuator mounting head and the drive unit, thus the actuator mounting head may also interfere with the sensor data. Therefore, the acquired state data of the surgical actuator may also include the weight, length, and center of gravity of the actuator mounting head.

[0067] Secondly, based on the real-time pose, the angle between the axial direction of the surgical execution unit and the horizontal direction is determined.

[0068] Typically, the pre-planned surgical path forms an angle with the horizontal direction, and the working channel and endoscope are also deployed along this angled surgical path. Therefore, when the surgical actuator enters the patient's body along the surgical path, it also forms an angle with the horizontal direction. At this point, if the surgical actuator is subjected to external force, the sensor data acquired by the force sensor may be affected by the surgical actuator itself and the actuator mounting head, causing a decrease in the accuracy of the sensor data. Therefore, it is necessary to calibrate the sensor data based on status data to obtain more accurate force data for the surgical actuator.

[0069] Then, based on the included angle and the weight of the surgical execution unit, the interference force data of the weight of the surgical execution unit on the sensor data in the axial direction of the surgical execution unit is determined.

[0070] Since the force sensor provided in the embodiments of this specification can be a one-dimensional tension / compression sensor, the sensor data obtained by the force sensor is only the tension or compression in the axial direction of the surgical execution unit. Therefore, based on the angle between the surgical execution unit and the horizontal direction, the component of the weight of the surgical execution unit that interferes with the sensor data can be determined, and this component is used as the interference force data for calibrating the sensor data.

[0071] Finally, based on the interference force data, the sensor data is calibrated to obtain the force data of the surgical execution unit.

[0072] Furthermore, since the interference force data is also along the axis of the surgical actuator, removing the interference force data from the sensor data yields more accurate force data for the surgical actuator. Therefore, by directly obtaining the force condition of the surgical actuator from the force sensor, and further calibrating the sensor based on the state data of the surgical actuator, the accuracy of the force data for the surgical actuator is further improved, ensuring safe surgery.

[0073] In the embodiments described in this specification, such as Figure 2 As shown in step S106, adjusting the control commands of the surgical execution unit based on the force data of the surgical execution unit can be achieved in the following ways.

[0074] First, based on the type of the surgical execution unit, the corresponding force safety range of the surgical execution unit is obtained.

[0075] Since in one or more embodiments of this specification, various types of surgical execution units can be puncture tools, grinding tools, and grasping forceps tools, they can be divided into the following three cases according to the type of surgical execution unit: The first scenario: The surgical procedure is performed using a puncture tool.

[0076] Since the puncture tool only performs the puncture action and its tip has no additional actuation components, the safe force range of the puncture tool can be determined based on the tool itself. The corresponding safe force threshold for the puncture tool is defined as the first safe threshold. When the force data of the puncture tool exceeds the first safe threshold, it is considered that the puncture task performed by the tool has encountered an abnormality, and the control command of the puncture tool is adjusted to stop the puncture or return. Specifically, when the puncture tool performs a puncture operation on a patient, the force on the puncture tool is relatively small in soft tissues, but the force increases when it encounters hard tissues such as bone. If the external force received by the puncture tool exceeds the first safe threshold, it indicates that the puncture tool has touched hard tissues such as bone during the puncture process. To avoid harm to the patient, the puncture action should be stopped immediately, and the control command adjusted, such as returning.

[0077] Optionally, the direction of the force safety threshold corresponding to the puncture tool can be determined according to the puncture tool. Since the puncture tool is subjected to pressure by the driving device when performing the puncture action, it moves along the pre-planned surgical path to reach the disease site. Therefore, the first force safety threshold corresponding to the puncture tool can be the pressure safety threshold.

[0078] The second scenario: The surgical procedure is performed using a grinding head tool.

[0079] In practical applications, the grinding head tool reaches the patient's affected area through the working channel, and the high-speed grinding head at the end of the tool performs a grinding action on the affected area. When performing bone grinding with a high-speed grinding head, after the planned bone is removed, the grinding head experiences a feeling of loss, meaning the force on the high-speed grinding head suddenly decreases. Therefore, based on the type of surgical execution unit being a grinding head tool, and the action being performed by the grinding head tool being a grinding action, a second safety threshold for the force applied to the grinding head tool is determined. When the force data of the grinding head tool is less than the second safety threshold, it indicates that the task of removing the target with the high-speed grinding head has been completed, and the control commands for the surgical execution unit can be changed, adjusting the control commands for the grinding head tool to stop grinding or return.

[0080] Optionally, the direction of the force safety threshold corresponding to the grinding head tool can be determined according to the grinding head tool. Since the grinding head tool is subjected to pressure applied by the driving device when performing the grinding action, it grinds the target position that needs to be ground. Therefore, the second force safety threshold corresponding to the grinding head tool can be the pressure safety threshold.

[0081] The third scenario: The surgical procedure is performed using forceps.

[0082] Typically, the grasping tool reaches the patient's affected area through the working channel. The tool's pincers at the end perform a grasping action on the target object at the affected area. After grasping the target object, the tool is controlled to perform a pulling action, carrying the target object back along the working channel. Therefore, the grasping tool performs at least two actions during surgical procedures: grasping and pulling. Based on this, according to the type of surgical execution unit and the action it is currently performing, when the grasping tool is performing a grasping action, the corresponding force safety threshold is determined to be a third safety threshold; when the grasping tool is performing a pulling action, the corresponding force safety threshold is determined to be a fourth safety threshold. Furthermore, when the force data is less than the third safety threshold, the control command of the grasping tool is adjusted to re-grasp. When the force data is greater than the fourth safety threshold, the control command of the grasping tool is adjusted to stop pulling.

[0083] For example, when using a nucleus pulposus forceps to remove the nucleus pulposus, insufficient force may result in failure to grasp the nucleus. Conversely, excessive force during the return operation after grasping the nucleus may cause adhesion between the grasped nucleus and surrounding tissues. Therefore, it is necessary to stop pulling with the forceps to eliminate adhesions before proceeding with the removal. Forcibly removing the nucleus may damage surrounding tissues, such as nerves.

[0084] Optionally, the direction of the force safety threshold corresponding to the gripper can be determined based on the specific actions performed by the gripper. Since the gripper is subjected to a pulling force applied by the driving device when performing gripping and pulling actions, it grips the target object. Therefore, the third force safety threshold corresponding to the gripper can be the pulling force safety threshold.

[0085] Based on the above solution, the corresponding safe stress range of the surgical execution unit can be determined according to its type and the actions it is performing. Different safe stress ranges are determined for different types of surgical execution units and for each unit to perform different actions. This approach is applicable not only to various types of surgical scenarios but also to the precise control of the surgical execution unit to automatically complete delicate surgical operations and meet surgical needs.

[0086] In an optional embodiment of this specification, the robotic arm can assist the operator in performing surgical procedures. The control command sent by the control device to the robotic arm can be to move the robotic arm to a designated position suitable for the surgery and to grasp the working channel, endoscope, and surgical instruments, thereby reducing the operator's surgical burden. Optionally, when the force data of the surgical execution unit does not fall within the corresponding safe force range for that surgical execution unit, a prompt message can be displayed on a display device configured in the surgical environment to prompt the operator to control the surgical execution unit and avoid harm to the patient. The aforementioned prompt message can be any prompt message suitable for the surgical environment, such as sound prompts, graphic prompts, or light signal prompts; this specification does not limit this.

[0087] The above describes one or more embodiments of a surgical tool control method provided in this specification. Based on the same concept, this specification also provides corresponding surgical tool control devices, such as... Figure 3 As shown.

[0088] Figure 3 This is a schematic diagram of a surgical tool control device provided in this specification, specifically including: The first acquisition module 200 is used to acquire sensor data sent by the force sensor during the movement of the surgical execution unit; The second acquisition module 202 is used to acquire the status data of the surgical execution unit; The determining module 204 is used to determine the force data of the surgical execution unit based on the sensor data and the status data; The adjustment module 206 is used to adjust the control commands of the surgical execution unit according to the force data of the surgical execution unit; The sending module 208 is used to send the adjusted control instructions to the drive unit, so that the drive unit controls the surgical execution unit according to the adjusted control instructions.

[0089] Optionally, the status data of the surgical execution unit includes the real-time pose of the surgical execution unit and the pre-determined weight of the surgical execution unit; Optionally, the determining module 204 is specifically used to determine the force data of the surgical execution unit based on the sensor data and the state data, specifically including: determining the angle between the axial direction of the surgical execution unit and the horizontal direction based on the real-time pose; determining the interference force data of the weight of the surgical execution unit on the sensor data in the axial direction of the surgical execution unit based on the angle and the weight of the surgical execution unit; calibrating the sensor data based on the interference force data to obtain the force data of the surgical execution unit.

[0090] Optionally, the adjustment module 206 is specifically used to: obtain the force safety range corresponding to the surgical execution unit according to the type of the surgical execution unit; determine whether the force data falls within the force safety range; if yes, not send control commands to allow the surgical execution unit to continue moving; if no, adjust the control commands of the surgical execution unit according to the type of the surgical execution unit.

[0091] Optionally, the surgical execution unit is a puncture tool; Optionally, the adjustment module 206 is specifically used to: determine the force safety threshold corresponding to the puncture tool as a first safety threshold based on the puncture tool; and adjust the control command of the surgical execution unit based on the force data of the surgical execution unit, specifically including: when the force data is greater than the first safety threshold, adjusting the control command of the puncture tool to stop puncture or return.

[0092] Optionally, the adjustment module 206 is specifically used to: when receiving the sensor data, acquire the action being performed by the surgical execution unit; and determine the force safety range corresponding to the surgical execution unit based on the type of the surgical execution unit and the action being performed by the surgical execution unit.

[0093] Optionally, the surgical execution unit is a grinding head tool; the action being performed by the surgical execution unit is a grinding action; Optionally, the adjustment module 206 is specifically used to determine the force safety threshold corresponding to the grinding head tool as a second safety threshold based on the grinding action being performed by the grinding head tool; Optionally, the adjustment module 206 is specifically used to adjust the control command of the grinding head tool to stop grinding or return when the force data is less than the second safety threshold.

[0094] Optionally, the surgical execution unit is a gripping forceps tool; Optionally, the adjustment module 206 is specifically used to: determine the force safety threshold corresponding to the gripper tool as a third safety threshold when the gripper tool is performing a gripping action; and determine the force safety threshold corresponding to the gripper tool as a fourth safety threshold when the gripper tool is performing a pulling action. Optionally, the adjustment module 206 is specifically used to adjust the control command of the gripper tool to re-grip when the force data is less than the third safety threshold, and to adjust the control command of the gripper tool to stop pulling when the force data is greater than the fourth safety threshold.

[0095] Optionally, the device further includes: The prompting module 210 is specifically used to display a prompt message if the force data does not fall within the force safety range, so as to prompt the operator to control the surgical execution unit.

[0096] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 2 The provided surgical tool control method.

[0097] This instruction manual also provides Figure 4 The diagram shows a schematic structural representation of the electronic device. Figure 4 At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for the business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 2 The surgical tool control method described herein. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0098] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0099] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0100] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0101] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0102] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0106] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0107] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0108] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0110] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0112] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0113] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A surgical tool, characterized in that, The surgical tool (11) is used to move according to control commands sent by the control device (3). The surgical tool (11) includes a surgical execution unit (111), a force sensor (116), and a drive unit (112). The force sensor (116) is disposed between the drive unit (112) and the surgical execution unit (111). The surgical execution unit (111) is a slender rod type that can move in and out of the endoscope channel. The force sensor (116) is a one-dimensional tensile-compression sensor. The drive unit (112) is used to control the movement of the surgical execution unit (111) according to the control instructions of the surgical execution unit (111); The surgical execution unit (111) is used to perform surgical operations on the patient's affected area (4); The force sensor (116) is used to acquire tension or pressure data between the drive unit (112) and the surgical execution unit (111). During the surgical operation performed by the surgical execution unit (111), the acquired tension or pressure data is sent to the control device (3), so that the control device (3) determines the force data of the surgical execution unit (111) based on the tension or pressure data and the status data of the surgical execution unit (111), and acquires the corresponding force safety range of the surgical execution unit (111) according to the type of the surgical execution unit (111), and determines whether the force data falls within the force safety range. If the force data does not fall within the force safety range, the control command of the surgical execution unit (111) is adjusted according to the type of the surgical execution unit (111) and sent to the drive unit (112). The status data of the surgical execution unit (111) is used to indicate the interference of the surgical execution unit (111) itself with the tension or pressure data.

2. The surgical tool as described in claim 1, characterized in that, The surgical tool (11) is located at the end of the robotic arm (1); The robotic arm (1) is used to move to a designated position according to the movement command sent by the control device (3), so that the surgical tool (11) moves along a pre-planned surgical path at the end of the robotic arm (1), and the surgical execution unit (111) in the surgical tool (11) performs surgical operation on the diseased site (4).

3. The surgical tool as described in claim 1, characterized in that, The drive unit (112) includes a drive spindle (115), and the surgical execution unit (111) is connected to the drive spindle (115) via an execution unit mounting head (1151); the force sensor (116) is disposed between the execution unit mounting head (1151) and the drive spindle (115). The surgical execution unit (111) includes at least one of a puncture tool, a grinding tool, and a grasping tool.

4. The surgical tool as described in claim 3, characterized in that, The surgical tool (11) includes a drive spindle (115) and a surgical execution unit (111). The drive spindle (115) includes a shaft cylinder assembly (1153), a drive motor (1152), and a signal transmission unit (117). The surgical tool (11) is mounted on the surgical tool base (113) at the end of the robotic arm (1); according to the movement command sent by the control device (3), the surgical tool (11) moves along the pre-planned surgical path on the surgical tool base (113), and the surgical execution unit (111) in the surgical tool (11) performs surgical operations on the diseased site (4).

5. The surgical tool as described in claim 1, characterized in that, The status data of the surgical execution unit includes the real-time pose of the surgical execution unit and the pre-determined weight of the surgical execution unit; The control device (3) is specifically used for: Based on the real-time pose, determine the angle between the axial direction of the surgical execution unit and the horizontal direction; Based on the included angle and the weight of the surgical execution unit, determine the interference force data of the weight of the surgical execution unit on the tensile or compressive data in the axial direction of the surgical execution unit; Based on the interference force data, the tensile force data or compressive force data are calibrated to obtain the force data of the surgical execution unit.

6. The surgical instrument as described in claim 1, characterized in that, The surgical execution unit is a puncture tool; The control device (3) is specifically used for: Based on the puncture tool, the force safety threshold corresponding to the puncture tool is determined as the first safety threshold; Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data exceeds the first safety threshold, the control command of the puncture tool is adjusted to stop puncture or return.

7. The surgical tool as described in claim 1, characterized in that, The control device (3) is specifically used for: When the tension data or pressure data is received, the action being performed by the surgical execution unit is obtained; Based on the type of the surgical execution unit and the action being performed by the surgical execution unit, the corresponding force safety range of the surgical execution unit is determined.

8. The surgical instrument as described in claim 7, characterized in that, The surgical execution unit is a grinding head tool; the action being performed by the surgical execution unit is a grinding action; The control device (3) is specifically used for: Based on the grinding action being performed by the grinding head tool, the force safety threshold corresponding to the grinding head tool is determined as the second safety threshold; Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data is less than the second safety threshold, the control command of the grinding head tool is adjusted to stop grinding or return.

9. The surgical tool as described in claim 7, characterized in that, The surgical execution unit is a gripping forceps tool; The control device (3) is specifically used for: When the gripper tool is performing a gripping action, the force safety threshold corresponding to the gripper tool is determined to be the third safety threshold. When the gripper tool is performing a pulling action, the force safety threshold corresponding to the gripper tool is determined to be the fourth safety threshold. Based on the force data of the surgical execution unit, the control commands of the surgical execution unit are adjusted, specifically including: When the force data is less than the third safety threshold, adjust the control command of the gripper tool to re-grip; When the force data exceeds the fourth safety threshold, the control command of the gripper tool is adjusted to stop pulling.

10. The surgical instrument as claimed in claim 1, characterized in that, The control device (3) is also used for: If the force data does not fall within the safe force range, a prompt message will be displayed to remind the operator to control the surgical execution unit.

11. A surgical tool control device, characterized in that, The device is used with the surgical instrument according to any one of claims 1-4; the device comprises: The first acquisition module is used to acquire tension or pressure data sent by the force sensor during the movement of the surgical execution unit; The second acquisition module is used to acquire the status data of the surgical execution unit; The determination module is used to determine the force data of the surgical execution unit based on the tensile or compressive data and the state data; The adjustment module is used to obtain the force safety range corresponding to the surgical execution unit according to the type of the surgical execution unit; determine whether the force data falls within the force safety range; if the force data does not fall within the force safety range, adjust the control command of the surgical execution unit according to the force data of the surgical execution unit; The sending module is used to send the adjusted control instructions to the drive unit, so that the drive unit controls the surgical execution unit according to the adjusted control instructions.

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