A force feedback surgical robotic system and force feedback implementation method

Abstract

The application discloses a force feedback surgical robot system and a force feedback implementation method. The system comprises a control end and an execution end. The control end comprises a first master control unit, a first driving mechanism, a linkage connected mechanical mechanism and a motion control device. The execution end comprises a second master control unit and a second driving mechanism. The second driving mechanism drives the robot end to perform a surgical action. The second master control unit collects the rotating speed of the second driving mechanism and the input current in real time. When the first master control unit judges that the rotating speed at the current sampling moment decreases by more than 5% compared with the last sampling moment, the rotating speed is not zero and the current increases by more than a preset value, the first control instruction is generated according to one or more of the electrical parameters and is transmitted to the first driving mechanism. The first driving mechanism receives the first control instruction and drives the mechanical mechanism to move and / or deform. The application can feedback the resistance of the robot end to the motion control device for the doctor to perceive, and can reduce the surgical risk.

Description

Technical Field

[0001] This invention relates to the field of interventional surgical robot technology, and in particular to a force feedback surgical robot system and a force feedback implementation method. Background Technology

[0002] In existing interventional robotic procedures, surgeons remotely control the robot's distal end to perform surgical actions. Currently, when using long, thin instruments such as guidewires and catheters within blood vessels, surgeons cannot perceive the resistance encountered by the instruments during movement, which hinders their decision-making.

[0003] Currently, very few surgical robot products in the industry offer force feedback functionality. The few research solutions available are relatively complex, requiring a considerable number of force sensors to sense the force applied, which hinders flexible placement of the end effector. Furthermore, force sensors cannot typically be integrated into slender instruments such as guidewires and catheters to detect the resistance they encounter in blood vessels.

[0004] Furthermore, existing robot force feedback algorithms are complex, and their application to force feedback at the end effector of surgical robots makes surgical robot force feedback systems extremely complex, with their practical effectiveness yet to be verified. Moreover, existing surgical robot force feedback systems generally fail to allow surgeons to intuitively perceive the resistance experienced by the robot's end effector during surgery.

[0005] The above background information is provided only to assist in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical teaching. In the absence of clear evidence that the above information was disclosed before the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0006] The purpose of this invention is to provide a force feedback surgical robot system and a force feedback implementation method, which can make it easier and more intuitive for the object applying force to perceive the magnitude of the resistance experienced by the surgical robot end effector.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A force feedback surgical robot system for feeding back resistance experienced by the robot's end effector includes an electrically connected control end and an execution end. The control end includes a first main control unit, a first drive mechanism, a mechanical mechanism, and a motion control device, wherein the mechanical mechanism is linked to the motion control device. The execution end includes a second main control unit and a second drive mechanism.

[0009] The second drive mechanism is configured to drive the surgical robot end effector to perform surgical actions;

[0010] The second main control unit is electrically connected to the second drive mechanism and the first main control unit respectively. It is configured to collect the electrical parameters of the second drive mechanism in real time and transmit them to the first main control unit. The electrical parameters include the rotational speed of the second drive mechanism and the current input to it.

[0011] The first main control unit is electrically connected to the first drive mechanism. It is configured to generate a first control command based on one or more of the electrical parameters and transmit it to the first drive mechanism when it is determined that the rotational speed decreases by more than 5% and is not zero and the current increases by more than a preset value at the current sampling time compared with the previous sampling time.

[0012] The first drive mechanism is driven to the mechanical mechanism and is configured to drive the mechanical mechanism to move and / or deform in response to receiving the first control command.

[0013] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the motion control device is electrically connected to the first main control unit and is further configured to generate corresponding motion signals under drive and transmit them to the first main control unit.

[0014] The first main control unit is electrically connected to the second main control unit and is configured to respond to receiving the action signal, generate a second control command based on the action signal, and transmit it to the second main control unit.

[0015] The second main control unit is configured to generate a third control command based on the second control command and transmit it to the second drive mechanism in response to receiving the second control command;

[0016] The second drive mechanism is configured to drive the surgical robot end effector to perform surgical actions in response to receiving the third control command.

[0017] Furthermore, following any one or a combination of the aforementioned technical solutions, the mechanical mechanism is configured to link the motion control device in the event of its movement and / or deformation, such that the motion control device moves in the opposite direction to its current movement.

[0018] Furthermore, based on any one or a combination of the aforementioned technical solutions, the amount of motion of the mechanical mechanism is positively correlated with the change in the current; and / or,

[0019] The deformation of the mechanical mechanism is positively correlated with the change in the current.

[0020] Furthermore, based on any one or a combination of the aforementioned technical solutions, if the rotational speed decreases by more than 5% and is not zero at the current sampling time compared to the previous sampling time, and the current increases by more than a preset value, then the robot end effector experiences a resistance.

[0021] The second drive mechanism is a servo system, and the resistance is calculated using the following formula:

[0022]

[0023] Among them, F 阻 The resistance is ΔI, the change in current is K, the torque constant of the servo system is R, and the radius of the drive gear in the servo system is R.

[0024] Furthermore, following any one or a combination of the aforementioned technical solutions, the system further includes a display screen configured to display the magnitude of the resistance.

[0025] Furthermore, based on any one or a combination of the aforementioned technical solutions, the mechanical mechanism moves and / or deforms, thereby linking the motion control device;

[0026] In response to being linked by the mechanical structure, the motion control device generates an input signal and transmits it to the first main control unit.

[0027] In response to receiving the input signal, the first main control unit generates a fourth control command and transmits it to the second main control unit;

[0028] The second main control unit is configured to generate a fifth control command based on the fourth control command and transmit it to the second drive mechanism in response to receiving the fourth control command;

[0029] The second drive mechanism is configured to stop driving the surgical robot end effector in response to receiving the fifth control command.

[0030] Furthermore, in accordance with any or a combination of the aforementioned technical solutions, the system further includes a prompter, wherein the motion control device, in response to being linked by the mechanical structure, triggers the prompter to issue a prompt signal.

[0031] Furthermore, based on any or a combination of the aforementioned technical solutions, the motion control device is a rocker arm, which is configured to be pushed within a certain stroke and / or a certain angle;

[0032] The mechanical mechanism is configured to engage the rocker arm in motion and / or deformation such that the rocker arm is resisted when it is pushed.

[0033] Furthermore, based on any or a combination of the aforementioned technical solutions, the second drive mechanism is a servo system, which includes an intelligent driver configured to collect and store electrical parameters of the second drive mechanism;

[0034] The second main control unit is configured to acquire the electrical parameters obtained by the intelligent driver.

[0035] Furthermore, following any one or a combination of the aforementioned technical solutions, the first driving mechanism is a servo system; and / or,

[0036] The control terminal and the execution terminal are configured to be wirelessly connected via a wireless communication module; and / or,

[0037] The second main control unit and the second drive mechanism are electrically connected via a CAN bus.

[0038] According to another aspect of the present invention, the present invention provides a force feedback implementation method, which utilizes the force feedback surgical robot system described in any one or a combination of the above technical solutions to realize feedback on the resistance experienced by the robot end effector, comprising the following steps:

[0039] Configure the second drive mechanism to drive the surgical robot end effector to perform surgical actions;

[0040] The second main control unit collects the electrical parameters of the second drive mechanism in real time and transmits them to the first main control unit. The electrical parameters include the rotational speed of the second drive motor and its input current.

[0041] If the rotational speed decreases by more than 5% and is not zero at the current sampling time compared to the previous sampling time, and the current increases by more than a preset value, then the first main control unit generates a first control command based on the change in current and transmits it to the first drive mechanism.

[0042] When the first drive mechanism receives the first control command, it drives the mechanical mechanism to move and / or deform, thereby linking the action control device.

[0043] The beneficial effects of the technical solution provided by this invention are as follows:

[0044] a. This invention obtains the current and speed of the second drive mechanism at the execution end, and determines whether the end effector of the surgical robot is subject to resistance based on the changes in the current and speed of the second drive mechanism. If resistance is encountered, the resistance of the end effector of the surgical robot is fed back to the motion control device through the first drive mechanism and mechanical mechanism at the control end, which allows the doctor to intuitively feel the resistance encountered by the end effector of the robot during the operation.

[0045] b. The force feedback surgical robot system provided by this invention has a simple structure and a simple force feedback implementation method. It establishes the relationship between the resistance received by the surgical robot end and the change in the input current, torque constant and drive gear radius of the servo system at the execution end. It can effectively and accurately feedback the resistance received by the robot end in real time without integrating a force sensor at the end of the surgical robot. Moreover, it is low in cost and has a wide range of applications.

[0046] c. When the force feedback surgical robot provided by the present invention determines that the end of the surgical robot is subjected to resistance, it will send a fourth control command to the execution end through the first main control unit of the control end, so that the second drive unit of the execution end will stop driving the end of the surgical robot to perform surgical actions, which can prevent misoperation and further reduce surgical risks. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A block diagram of a surgical robot system provided as an exemplary embodiment of the present invention;

[0049] Figure 2 A signal transmission diagram of force feedback in a surgical robot system provided as an exemplary embodiment of the present invention;

[0050] Figure 3 A flowchart of a force feedback method in a surgical robot system provided as an exemplary embodiment of the present invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0053] In one embodiment of the present invention, a force feedback surgical robot system is provided for feeding back the resistance experienced by the robot's end effector. See [link to relevant documentation]. Figure 1 The system includes an electrically connected control terminal and an execution terminal. The control terminal includes a first main control unit, a first drive mechanism, a mechanical mechanism, and a motion control device, wherein the mechanical mechanism and the motion control device are linked together. The execution terminal includes a second main control unit and a second drive mechanism. Preferably, the control terminal and the execution terminal are configured to be wirelessly connected via a wireless communication module.

[0054] The algorithm flow for implementing the resistance experienced by the robot's end effector in the surgical robot system is as follows: Figure 2 and Figure 3 As shown, the second drive mechanism is configured to drive the end effector of the surgical robot, such as a puncture guidewire, to perform surgical actions;

[0055] The second main control unit is electrically connected to the second drive mechanism and the first main control unit respectively. It is configured to collect the electrical parameters of the second drive mechanism in real time and transmit them to the first main control unit. The electrical parameters include the rotational speed of the second drive mechanism and its input current. Preferably, the second main control unit and the second drive mechanism are electrically connected via a CAN bus.

[0056] The first main control unit is electrically connected to the first drive mechanism. It is configured to generate a first control command based on one or more of the electrical parameters and transmit it to the first drive mechanism when it is determined that the rotational speed decreases by more than 5% and is not zero and the current increases by more than a preset value at the current sampling time compared with the previous sampling time.

[0057] The first drive mechanism is driven to the mechanical mechanism and is configured to drive the mechanical mechanism to move and / or deform in response to receiving the first control command.

[0058] In one embodiment of the present invention, the motion control device is electrically connected to the first main control unit and is further configured to generate a corresponding motion signal under drive and transmit it to the first main control unit. The first main control unit is electrically connected to the second main control unit and is configured to, in response to receiving the motion signal, generate a second control command based on the motion signal and transmit it to the second main control unit. The second main control unit is configured to, in response to receiving the second control command, generate a third control command based on the second control command and transmit it to the second drive mechanism. The second drive mechanism is configured to, in response to receiving the third control command, drive the surgical robot end effector to perform surgical actions. Thus, the control of the surgical actions of the force feedback surgical robot system and the feedback of the resistance at the surgical robot end effector are realized, forming a complete closed-loop system and effectively reducing the complexity of the surgical robot system.

[0059] In one embodiment of the present invention, both the first driving mechanism and the second driving mechanism are servo systems. The second driving mechanism is a servo system including an intelligent driver, which is configured to collect and store electrical parameters of the second driving mechanism. The second main control unit is configured to collect the electrical parameters acquired by the intelligent driver and transmit the data back to the first main control unit at the control terminal via wireless communication, whereby the first main control unit performs analysis and calculation.

[0060] In this embodiment, given that the second drive mechanism is a servo system, based on the mechanical and electrical characteristics of the motor, its current and output torque are positively correlated. During its normal, unhindered movement, the input current and speed of the motor are stable. When it encounters external resistance during movement, both the input current and speed of the motor will change. The input current will increase, and the speed will decrease, indicating that the robot end effector is experiencing resistance. As the resistance increases, the current also increases. By monitoring the change in current, the magnitude of the resistance experienced by the robot end effector can be indirectly obtained.

[0061] By constructing a correspondence model between resistance and one or more of the changes in current and rotation speed in the second main control unit, a corresponding first control command can be generated based on the relationship model to control the first drive mechanism to drive the mechanical mechanism to move and / or deform. The mechanical mechanism is linked to the motion control device, thereby feeding back the resistance experienced by the robot end effector to the motion control device, so that the object operated by the motion control device is like a human hand sensing a resistance, thereby realizing the force feedback of the resistance experienced by the robot end effector during the operation.

[0062] In one embodiment of the present invention, the second driving mechanism is a servo system, which has been established and improved through multiple in vivo and in vitro experiments. The resistance can be calculated using the following formula:

[0063]

[0064] Among them, F 阻 Let ΔI be the resistance, K be the torque constant of the servo system, and R be the radius of the drive gear in the servo system. It should be noted that the mapping model between the current change and the resistance described above is not universal. Different resistance calculation models are established for other surgical robot systems using non-servo systems, each model corresponding to the same type of surgical robot system and its indications.

[0065] In this embodiment, if the rotational speed decreases by more than 5% and is not zero compared to the previous sampling time, and the current increases by more than a preset value, then the robot end effector experiences resistance. The preset value of the current can be determined empirically. When the mechanical mechanism moves and / or deforms, it is linked to the motion control device, causing the motion control device to move in the opposite direction to its current movement. Furthermore, the amount of motion of the mechanical mechanism is positively correlated with the change in current. The deformation of the mechanical mechanism is also positively correlated with the change in current.

[0066] Preferably, the mechanical mechanism is linked to the motion control device such that the resistance perceived by the object being operated on by the motion control device is not less than the resistance experienced by the end effector of the surgical robot, so that the surgeon can clearly perceive the resistance experienced by the end effector during surgery. For example, the motion control device is a joystick, which is configured to be pushed within a certain stroke and / or a certain angle. The mechanical mechanism is configured to link with the joystick when it moves and / or deforms, so that the joystick is resisted when pushed.

[0067] The force feedback surgical robot system provided by this invention can more simply realize the feedback of the resistance encountered by the robot end effector. Especially in the field of vascular interventional robots, by collecting relevant electrical information of the second drive mechanism at the execution end in real time, and calculating it through a specific algorithm, the resistance encountered by the robot end effector is fed back to the motion control device at the control end through a mechanical structure. The system achieves timely and accurate force feedback without excessively increasing the complexity of the system, making up for the lack of force perception information when doctors use interventional robots to perform surgery. It allows doctors to intuitively feel the resistance encountered by the surgical robot end effector during the operation.

[0068] In one embodiment of the present invention, the motion control device, in response to being linked by the mechanical structure, generates an input signal and transmits it to the first main control unit. The first main control unit, in response to receiving the input signal, generates a fourth control command and transmits it to the second main control unit. The second main control unit is configured to, in response to receiving the fourth control command, generate a fifth control command based on the fourth control command and transmit it to the second drive mechanism. The second drive mechanism is configured to, in response to receiving the fifth control command, stop driving the surgical robot end effector. That is, when the motion control device is linked by the mechanical structure to move in the opposite direction to its current motion, it simultaneously triggers the second drive mechanism to stop driving the surgical robot end effector, thereby preventing surgical errors and further reducing surgical risks.

[0069] In one embodiment of the invention, the system further includes a display screen configured to display the magnitude of the resistance.

[0070] In one embodiment of the present invention, the system further includes a prompter. Preferably, the prompter includes an audible prompter and a visual prompter. In response to being linked by the mechanical structure, the motion control device triggers the audible prompter to emit an audible prompt signal and triggers the visual prompter to emit a visual prompt signal.

[0071] In one embodiment of the present invention, a force feedback implementation method is provided, which utilizes the force feedback surgical robot system described above to realize feedback on the resistance experienced by the robot's end effector, including the following steps:

[0072] The control and execution ends of the surgical robot are electrically connected. The motion control device generates corresponding motion signals under drive and transmits them to the first main control unit. Upon receiving the motion signals, the first main control unit generates a second control command based on the motion signals and transmits it to the second main control unit. Upon receiving the second control command, the second main control unit generates a third control command based on the second control command and transmits it to the second drive mechanism. Upon receiving the third control command, the second drive mechanism drives the surgical robot's end effector to perform surgical actions.

[0073] The second main control unit collects the electrical parameters of the second drive mechanism in real time and transmits them to the first main control unit. These electrical parameters include the rotational speed of the second drive motor and its input current. If, at the current sampling time, the rotational speed decreases by more than 5% compared to the previous sampling time and is not zero, and the current increases by more than a preset value, the first main control unit generates a first control command based on the change in current and transmits it to the first drive mechanism. Upon receiving the first control command, the first drive mechanism drives the mechanical mechanism to move and / or deform, thereby coordinating with the motion control device.

[0074] The motion control device, in response to being linked by the mechanical structure, generates an input signal and transmits it to the first main control unit. Upon receiving the input signal, the first main control unit generates a fourth control command and transmits it to the second main control unit. The second main control unit is configured to, upon receiving the fourth control command, generate a fifth control command based on the fourth control command and transmit it to the second drive mechanism. The second drive mechanism is configured to, upon receiving the fifth control command, stop driving the surgical robot end effector.

[0075] It should be noted that the force feedback implementation method embodiment and the force feedback surgical robot system embodiment belong to the same inventive concept. The entire contents of the force feedback surgical robot system embodiment are incorporated into the force feedback implementation method embodiment by reference.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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.

[0077] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A force feedback surgical robot system for feeding back the resistance experienced by the robot's end effector, comprising an electrically connected control end and an execution end, characterized in that, The control unit includes a first main control unit, a first drive mechanism, a mechanical mechanism, and a motion control device, wherein the mechanical mechanism and the motion control device are linked together; the execution unit includes a second main control unit and a second drive mechanism. The second drive mechanism is configured to drive the surgical robot end effector to perform surgical actions; The second main control unit is electrically connected to the second drive mechanism and the first main control unit respectively. It is configured to collect the electrical parameters of the second drive mechanism in real time and transmit them to the first main control unit. The electrical parameters include the rotational speed of the second drive mechanism and the current input to it. The first main control unit is electrically connected to the first drive mechanism. It is configured to generate a first control command based on one or more of the electrical parameters and transmit it to the first drive mechanism when it is determined that the rotational speed decreases by more than 5% and is not zero and the current increases by more than a preset value at the current sampling time compared with the previous sampling time. The first drive mechanism is driven to the mechanical mechanism and is configured to drive the mechanical mechanism to move and / or deform in response to receiving the first control command.

2. The force feedback surgical robot system according to claim 1, characterized in that, The motion control device is electrically connected to the first main control unit and is also configured to generate corresponding motion signals under drive and transmit them to the first main control unit. The first main control unit is electrically connected to the second main control unit and is configured to respond to receiving the action signal, generate a second control command based on the action signal, and transmit it to the second main control unit. The second main control unit is configured to generate a third control command based on the second control command and transmit it to the second drive mechanism in response to receiving the second control command; The second drive mechanism is configured to drive the surgical robot end effector to perform surgical actions in response to receiving the third control command.

3. The force feedback surgical robot system according to claim 1, characterized in that, The mechanical mechanism is configured to engage the motion control device in the event of its movement and / or deformation, such that the motion control device moves in the opposite direction to its current movement.

4. The force feedback surgical robot system according to claim 3, characterized in that, The amount of motion of the mechanical mechanism is positively correlated with the change in the current; and / or, The deformation of the mechanical mechanism is positively correlated with the change in the current.

5. The force feedback surgical robot system according to claim 1, characterized in that, If the rotational speed decreases by more than 5% and is not zero at the current sampling time compared to the previous sampling time, and the current increases by more than a preset value, then the robot end effector experiences a resistance. The second drive mechanism is a servo system, and the resistance is calculated using the following formula: ； Among them, F 阻 Let ΔI be the resistance, ΔI be the change in current, K be the torque constant of the servo system, and R be the radius of the drive gear in the servo system.

6. The force feedback surgical robot system according to claim 5, characterized in that, The system also includes a display screen configured to display the magnitude of the resistance.

7. The force feedback surgical robot system according to claim 1, characterized in that, The mechanical mechanism moves and / or deforms, thereby triggering the motion control device; In response to being linked by the mechanical mechanism, the motion control device generates an input signal and transmits it to the first main control unit; In response to receiving the input signal, the first main control unit generates a fourth control command and transmits it to the second main control unit; The second main control unit is configured to generate a fifth control command based on the fourth control command and transmit it to the second drive mechanism in response to receiving the fourth control command; The second drive mechanism is configured to stop driving the surgical robot end effector in response to receiving the fifth control command.

8. The force feedback surgical robot system according to claim 7, characterized in that, The system also includes a prompter, which is triggered by the motion control device in response to being linked by the mechanical mechanism to issue a prompt signal.

9. The force feedback surgical robot system according to claim 1, characterized in that, The motion control device is a rocker arm, and the mechanical mechanism is configured to link the rocker arm in motion and / or deformation so that the rocker arm is resisted when it is pushed.

10. The force feedback surgical robot system according to claim 1, characterized in that, The second drive mechanism is a servo system, which includes an intelligent driver configured to acquire and store electrical parameters of the second drive mechanism; The second main control unit is configured to acquire the electrical parameters obtained by the intelligent driver.

11. The force feedback surgical robot system according to claim 1, characterized in that, The first drive mechanism is a servo system; and / or, The control terminal and the execution terminal are configured to be wirelessly connected via a wireless communication module; and / or, The second main control unit and the second drive mechanism are electrically connected via a CAN bus.

12. A method for implementing force feedback, characterized in that, The method of using the force feedback surgical robot system as described in any one of claims 1-11 to realize feedback on the resistance experienced by the robot end effector includes the following steps: Configure the second drive mechanism to drive the surgical robot end effector to perform surgical actions; The second main control unit collects the electrical parameters of the second drive mechanism in real time and transmits them to the first main control unit. The electrical parameters include the rotational speed of the second drive motor and its input current. If the rotational speed decreases by more than 5% and is not zero at the current sampling time compared to the previous sampling time, and the current increases by more than a preset value, then the first main control unit generates a first control command based on the change in current and transmits it to the first drive mechanism. When the first drive mechanism receives the first control command, it drives the mechanical mechanism to move and / or deform, thereby linking the action control device.

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