A micro-actuator for inner ear injection sampling procedures

Abstract

The application relates to a micro actuator for inner ear injection sampling surgery, and relates to the field of medical instruments.The application solves the problems that the existing actuator cannot more accurately assist the doctor in judging the surgery progress, lacks clinical surgery practicability in design, and makes the otological surgery still have certain operation difficulty.The microneedle puncture mechanism module is embedded in the driving and sensing module, the driving and sensing module is installed on the high-precision linear driving module, the end operation mechanism module is installed at the front of the driving and sensing module, the microneedle puncture mechanism module passes through the end operation mechanism module and extends out, and the endoscope camera module in the end operation mechanism module provides real-time images in the surgery process, the tension sensor in the driving and sensing module monitors the change of the steel wire tension in real time, and safety interaction with the ear canal environment is ensured.The application is used for inner ear injection sampling surgery.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a miniature actuator for inner ear injection sampling surgery, used for sampling and surgery of the inner ear. Background Technology

[0002] Currently, the incidence of inner ear dysfunction is high worldwide, manifesting as hearing loss, tinnitus, and vertigo. If left untreated, it often leads to serious sequelae, severely impacting patients' quality of life. Due to the inner ear's location deep within the temporal bone and its complex anatomical structure, traditional treatments such as systemic or local drug administration have limited efficacy, and invasive surgeries like cochlear implantation are highly traumatic. The ear canal, as a natural cavity of the body, provides a low-trauma pathway for surgery. By creating a perforation in the tympanic membrane (within 3mm in diameter, which heals spontaneously), the external auditory canal and middle ear can be connected, providing a natural passage for surgical instruments. Through puncture of the round window membrane, targeted drug injection and tissue fluid sampling can be performed directly. This method effectively avoids the high costs of traditional surgery, while reducing trauma and improving treatment outcomes.

[0003] For example, the invention patent with authorization announcement number CN116098762B, entitled "An Inner Ear Injection-Sampling Actuator for an Otolaryngological Surgical Robot," breaks through the bottleneck of the blood-labyrinth barrier hindering precise inner ear drug delivery in traditional inner ear treatment. It achieves effective and controllable direct delivery of drugs to the target location, greatly improving the surgical efficiency and efficacy of drug delivery procedures. By sampling inner ear tissue fluid, it allows for understanding of disease and microenvironmental changes, enabling early prevention and accurate diagnosis of inner ear diseases. From a clinical surgical perspective, the entire surgical process causes less damage to the human body, shortens the operation time, and significantly improves surgical safety. Furthermore, it is the first to utilize a flexible segment module to achieve non-invasive postoperative surgical operation by entering the inner ear's circular window target location through natural cavities. Moreover, this actuator can achieve flexible four-degree-of-freedom bending motion within a micro-sized area (2mm in diameter), effectively meeting the stringent requirements of surgical robots operating in confined natural cavities.

[0004] However, in practical use, this actuator does not exist in isolation. For example, during inner ear surgery, the surgeon needs to constantly monitor whether the actuator is touching the inner ear cavity and assess the progress of the surgery while operating the robot. Therefore, it needs to work in concert to achieve precise ear sampling and surgery. Although existing actuators can see the operating environment of the inner ear through cameras, they cannot sense the feedback during the operation of the flexible segment module, which prevents them from accurately assisting the surgeon in assessing the progress of the surgery, making ear surgery still somewhat difficult. Furthermore, existing actuators achieve overall feed freedom through linear modules, resulting in a large size and difficulty in integrating with positioning robotic arms, thus lacking practicality.

[0005] In summary, existing actuators cannot accurately assist doctors in judging the progress of surgery, making otological surgery still somewhat difficult. Furthermore, their design lacks clinical practicality and does not fully consider issues such as system integration, surgical operation, and sterilization, which also brings certain difficulties to surgical trials and clinical promotion. Summary of the Invention

[0006] The purpose of this invention is to address the problems of existing actuators, which lack the precision to assist surgeons in assessing surgical progress and are not clinically practical, thus making ear surgeries still challenging. Therefore, this invention provides a miniature actuator for inner ear injection sampling surgery.

[0007] The technical solution of this invention is:

[0008] A miniature actuator for inner ear injection sampling surgery includes an end effector module, a drive and sensing module, a microneedle puncture mechanism module, and a high-precision linear drive module. The drive and sensing module is horizontally slidably mounted on the high-precision linear drive module and moves horizontally under the drive of the high-precision linear drive module. The microneedle puncture mechanism module is horizontally embedded in the drive and sensing module. The end effector module is mounted at the front end of the drive and sensing module, passes through the end effector module and extends out, and provides real-time images of the surgical process through an endoscope camera module located in the end effector module. The tension sensor in the drive and sensing module monitors changes in wire tension in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary.

[0009] Furthermore, the end-effector module includes multiple rolling saddle-shaped segments, an endoscope camera module, and flexible microneedles. The multiple rolling saddle-shaped segments are connected in series by multiple steel wires on the drive and sensing module, and can bend at any angle with multiple degrees of freedom under different tensions of each steel wire. The multiple rolling saddle-shaped segments form a hollow flexible structure. The endoscope camera module and flexible microneedles are embedded inside the flexible structure, and the endoscope camera module is located at the end of the flexible structure.

[0010] Furthermore, the drive and sensing module includes multiple drive units, which are mounted on the frame in a circular array. Each drive unit includes a wire guide mechanism, a tension sensor, a signal transmitter, a miniature guide rail, a wire drive motor, a wire, and an integrated drive board. The wire guide mechanism is mounted at the front of the frame, the wire drive motor is mounted at the rear of the frame, the integrated drive board is mounted vertically at the rear of the frame, the miniature guide rail is mounted in the middle of the frame, the tension sensor is fixedly mounted on the miniature guide rail by a slider, the signal transmitter is mounted above the tension sensor, one end of the wire is connected to the threaded hole of the tension sensor through a wire drawer, and the other end of the wire is fixed to the rolling saddle segment after passing around the wire guide mechanism.

[0011] Furthermore, the microneedle puncture mechanism module includes multiple needle delivery modules and a single stepped shaft microneedle unit. The multiple needle delivery mechanisms are installed axially inside the frame, and the microneedle unit is installed in the central hole of the needle delivery mechanism and arranged coaxially.

[0012] Furthermore, each needle feeding module includes a head end protection support, a needle feed support, a microneedle puncture drive motor, and a tail end fixing device. The needle feed support and the microneedle puncture drive motor are mounted on the frame and located at the center inside the drive and sensing module. The output shaft of the microneedle puncture drive motor drives the nut on the ball screw to perform high-resolution linear motion, and the feeding motion is realized through the needle feed support fixed to it. The head end protection support is mounted on the wire guide mechanism to limit the maximum displacement of the microneedle feed.

[0013] Furthermore, the microneedle unit includes a stepped shaft puncture needle and a Luer connector, the Luer connector being connected to the stepped shaft puncture needle, and the stepped shaft puncture needle passing through and connecting to the tip protection support.

[0014] Preferably, the stepped shaft puncture needle is an integrated stepped shaft puncture needle mechanism.

[0015] Furthermore, it also includes a quick-change mounting mechanism, which is installed on the lower end face of the high-precision linear drive module and allows for quick assembly and disassembly with the external robotic arm.

[0016] Furthermore, it also includes a separate protective housing that covers the end effector module, drive and sensing module, microneedle puncture mechanism module, and high-precision linear drive module.

[0017] Preferably, the split protective housing includes an actuator protective sleeve, an actuator housing, and a linear drive housing. The actuator protective sleeve is fitted onto the end effector module, the actuator housing is fitted onto the drive and sensing module and the microneedle puncture mechanism module, and the linear drive housing is fitted onto the high-precision linear drive module.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] This invention relates to a miniature, dexterous actuator for inner ear injection and sampling procedures. This actuator can be inserted through the natural ear canal, enabling minimally invasive surgery. Under endoscopic guidance, it flexibly avoids obstacles within the ear, precisely reaching the target area to complete autonomous puncture, injection, and sampling. Specifically, it offers the following advantages:

[0020] 1. The present invention has the advantages of miniaturization and high flexibility: The present invention integrates the drive and sensing module 2 and the microneedle puncture mechanism module 3, and the length of the high-precision linear drive module 4 is greatly reduced, making the overall design size more compact and the integration higher. Complex inner ear surgery operations can be performed through the natural ear canal, meeting the requirements of minimally invasive surgery.

[0021] 2. This invention has multifunctional integration: it integrates multiple micro sensors, such as tension sensors and endoscope cameras, which work together to provide real-time images and force feedback, assisting doctors in judging the progress of the operation, reducing the difficulty of operation and ensuring the safety of the operation.

[0022] 3. The present invention adopts a modular and lightweight design: the modular structure design and quick-change installation mechanism 5 can be easily replaced with the robotic arm, and the detachable split protective shell 6 can be sterilized in time, which fully considers the functional requirements of surgery and the convenience of clinical use. Attached Figure Description

[0023] Figure 1 These are actual pictures of the present invention; Figure 2 This is a two-dimensional line drawing of the external structure of the present invention; Figure 3 This is the front view of the present invention after removing the split protective shell 6; Figure 4 yes Figure 3 The main view; Figure 5 yes Figure 3 Top view; Figure 6 This is a partially enlarged view of the end-effector module 1 of the present invention; Figure 7 This is a bottom view of the quick-change installation mechanism 5; Figure 8 yes Figure 7 Top view; Figure 9 This invention provides a flowchart of the three types of sensor feedback information used to enable doctors to more accurately assess the progress of surgery. Figure 10 This is an experimental diagram of the present invention involving transauricular puncture of the temporal bone and cadaver head specimens through the round window of the inner ear canal. Detailed Implementation

[0024] Specific implementation method one: Combining Figures 1 to 9This embodiment describes an end-effector module 1, which also includes a drive and sensing module 2, a microneedle puncture mechanism module 3, and a high-precision linear drive module 4. The drive and sensing module 2 is horizontally slidably mounted on the high-precision linear drive module 4 and moves horizontally under the drive of the high-precision linear drive module 4. The microneedle puncture mechanism module 3 is horizontally embedded in the drive and sensing module 2. The end-effector module 1 is mounted at the front end of the drive and sensing module 2. The microneedle puncture mechanism module 3 passes through the end-effector module 1 and extends out. It provides real-time images of the surgical process through an endoscope camera module 1-2 located in the end-effector module 1. The tension sensor 2-2 in the drive and sensing module 2 monitors the changes in wire tension in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary.

[0025] The end-effector module 1 of this embodiment adopts a hollow design while meeting the size requirements, integrating surgical tools such as a saddle-shaped rolling joint, endoscope, light source and puncture microneedle, while meeting the needs of inner ear surgery for miniaturization, flexibility and multifunctionality of the actuator.

[0026] The high-precision linear drive module 4 in this embodiment includes a support base 4-1, a high-precision linear guide slider 4-2, and a linear feed drive motor 4-3. The third integrated drive motor 4-3 is horizontally mounted on the linear drive housing 6-3. The third integrated drive motor 4-3 drives the high-precision linear guide slider 4-2 to slide horizontally. The support base 4-1 is mounted on the high-precision linear guide slider 4-2. The drive and sensing module 2 is mounted on the support base 4-1.

[0027] Specific Implementation Method Two: Combining Figures 3 to 6 This embodiment describes an end-effector module 1 comprising multiple rolling saddle-shaped segments 1-1, an endoscope camera module 1-2, and flexible microneedles 1-3. The multiple rolling saddle-shaped segments 1-1 are connected in series via multiple steel wires on the driving and sensing module 2, and can bend at any angle with multiple degrees of freedom under different tensions of each steel wire. The multiple rolling saddle-shaped segments 1-1 form a hollow flexible structure. The endoscope camera module 1-2 and the flexible microneedles 1-3 are embedded inside the flexible structure, with the endoscope camera module 1-2 located at the end of the flexible structure.

[0028] In this configuration, the flexible microneedles 1-3 are flexible metal microneedles used for precise and safe puncture procedures, thereby achieving accurate drug delivery and sampling in the inner ear. The physician can adjust the tension and release of the drive wire via a remote control system, enabling multi-degree-of-freedom bending motion of the multi-segment flexible continuum mechanism composed of rolling segments. The endoscope and light source provide high-definition real-time imaging for navigation. Other components and connections are the same as in Specific Implementation Method One.

[0029] Compared with existing continuous robots based on saddle-shaped segments, the end-effector module 1 of this embodiment is smaller and more integrated. Specifically, the outer diameter of the end-effector module 1 is 2mm and the inner diameter is only 1.3mm. Within such a small scale, it integrates two flexible mechanisms (specifically, the continuous part of the end-effector module 1, composed of saddle-shaped segments, divided into proximal and distal parts, each with independent bending degrees of freedom, enabling each segment to achieve compliant bending motion as a whole) and surgical instruments such as endoscopes and microneedles. It can achieve four-degree-of-freedom spatial S-shaped bending within a length of only 7mm, with a maximum bending angle of 150° and a minimum bending radius of only 0.8mm.

[0030] Specific implementation method three: Combining Figures 3 to 5 This embodiment describes a driving and sensing module 2 comprising multiple driving units arranged in a ring array on a frame 2-7. Each driving unit includes a wire guide mechanism 2-1, a tension sensor 2-2, a signal transmitter 2-3, a miniature guide rail 2-4, a wire drive motor 2-5, a wire 2-8, and an integrated drive plate 2-6. The wire guide mechanism 2-1 is installed at the front of the frame 2-7, the wire drive motor 2-5 is installed at the rear of the frame 2-7, the integrated drive plate 2-6 is vertically installed at the rear end of the frame 2-7, the miniature guide rail 2-4 is installed in the middle of the frame 2-7, the tension sensor 2-2 is fixedly installed on the miniature guide rail 2-4 via a slider, the signal transmitter 2-3 is installed above the tension sensor 2-2, one end of the wire 2-8 is connected to the threaded hole of the tension sensor 2-2 via a wire drawer, and the other end of the wire 2-8 is fixed to the rolling saddle-shaped segment 1-1 after passing around the wire guide mechanism 2-1.

[0031] With this setup, the tension sensor 2-2 provides real-time feedback on the tension changes of each wire. On one hand, it combines tension transmission information to compensate for motion lag errors in the flexible segment caused by wire deformation under tension, further ensuring control accuracy. On the other hand, it provides timely feedback on contact with the ear canal environment during surgery, facilitating safe and accurate surgery and avoiding secondary injury to the patient or surgical failure due to a lack of perception of surgical force. Other components and connections are the same as in specific implementation methods one or two.

[0032] In this embodiment, the integrated drive board 2-6 is wired to each motor, and the signal transmission is achieved by the controller and driver sending control commands.

[0033] Specific implementation method four: Combination Figures 3 to 5This embodiment describes the microneedle puncture mechanism module 3, which includes multiple needle delivery modules and a single stepped shaft microneedle unit. The multiple needle delivery mechanisms are axially installed inside the frame 2-7, and the microneedle unit is coaxially arranged within the central hole of the needle delivery mechanism.

[0034] In this embodiment, the drive and sensing module 2 sends commands to the motor through the integrated drive board 2-6, and uses transmission mechanisms such as a high reduction ratio gearbox, ball screw and linear guide to achieve precise control of the steel wire displacement.

[0035] During this process, the wire guide mechanism 2-1 not only connects with the end effector, but also keeps the movement direction of each wire stable, reducing drive error.

[0036] Tension sensor 2-2 monitors changes in wire tension in real time, ensuring safe interaction between the actuator and the ear canal environment, and providing early warning information when necessary. This design effectively addresses the limitation of a single endoscope not being able to fully reflect the progress of the surgery, providing more complete feedback for the procedure.

[0037] Other components and connections are the same as any one of the specific embodiments one to three.

[0038] Specific Implementation Method Five: Combining Figures 3 to 5 This embodiment describes a needle feeding module that includes a head end protection support 3-2, a needle feed support 3-3, a microneedle puncture drive motor 3-4, and a tail end fixing device 3-5. The needle feed support 3-3 and the microneedle puncture drive motor 3-4 are mounted on the frame 2-7, located at the center of the drive and sensing module 2. The output shaft of the microneedle puncture drive motor 3-4 drives the nut on the ball screw to perform high-resolution linear motion, and the feeding motion is realized through the needle feed support 3-3 which is fixed to it. The head end protection support 3-2 is mounted on the wire guide mechanism 2-1 to limit the maximum displacement of the microneedle feed.

[0039] This design facilitates precise delivery of the stepped shaft puncture needle 3-1. Other structures and components are the same as any one of the specific embodiments one through four.

[0040] Specific Implementation Method Six: Combination Figures 3 to 5 This embodiment describes a microneedle unit comprising a stepped shaft puncture needle 3-1 and a Luer connector 3-6. The Luer connector 3-6 is connected to the stepped shaft puncture needle 3-1, and the stepped shaft puncture needle 3-1 passes through and is connected to the tip protection support 3-2.

[0041] This design incorporates fixing devices at both the head and tail ends of the needle delivery module. These devices not only protect the stepped-shaft puncture needle 3-1 but also maintain the microneedle's feed direction, improving operational accuracy. The use of an integrated drive motor paired with a ball screw direct drive further reduces transmission errors, ensuring high precision in puncture operations. Simultaneously, the tail end features a standard interface for fixing with a Luer connector, allowing connection to various medical injection or aspiration devices. This enables precise control of drug delivery flow and speed, effectively solves the problem of microneedle inner tube clogging, and facilitates sterilization. Other components and connections are identical to any one of the specific implementation methods one through three.

[0042] Specific implementation method seven: Combination Figures 3 to 5 This embodiment describes a stepped shaft puncture needle 3-1 as an integrated stepped shaft puncture needle mechanism.

[0043] With this configuration, the microneedle puncture mechanism adopts an integrated stepped shaft design, ensuring high-precision puncture capability even during long-distance operations. Other components and connections are the same as in any of the specific embodiments one through six.

[0044] Specific implementation method eight: Combination Figures 3 to 5 , Figure 7 and Figure 8 This embodiment also includes a quick-change mounting mechanism 5, which is mounted on the lower end face of the high-precision linear drive module 4 and can be quickly installed and removed from the external robotic arm.

[0045] The quick-change installation mechanism 5 of this embodiment includes a base 5-1, an actuator positioning cone pin 5-2, a cover plate 5-3, and a locking plate 5-4. The actuator positioning cone pin 5-2 is mounted on the base 5-1, and the locking plate 5-4 is mounted on the outer circumference of the cover plate 5-3. The cover plate 5-3 is fastened to the base 5-1. In use, the actuator can be installed and removed by rotating the quick-connect locking plate clockwise with a wrench.

[0046] The specific implementation principle is as follows: by rotating the quick-connect locking plate clockwise by 25° with a wrench, the springs in the three equally divided mounting holes are compressed, causing the three actuator positioning cone pins to disengage from the elongated holes and reach the mounting circular holes, thus achieving automatic disengagement of the actuators.

[0047] Similarly, during installation, rotate the locking plate 25° clockwise with a wrench to align the lower round hole with the positioning cone pin and insert it. Then, loosen or tighten the spring to return the positioning cone pin to the long hole limit position.

[0048] The quick-change device is fixed to the end joint of the robotic arm using standard distributed screws. The entire process only requires repeated rotation of the locking plate to install and remove the actuator. The mechanical installation accuracy is ensured by the fit between the actuator positioning cone pin and the conical mounting hole of the quick-change base, as well as the machining accuracy of the quick-connect locking plate limit hole. Furthermore, the ball bearing design ensures smooth rotation of the locking plate and prevents movement blockage.

[0049] Specific Implementation Method Nine: Combining Figure 2 This embodiment further includes a split protective shell 6, which covers the end-effector module 1, the drive and sensing module 2, the microneedle puncture mechanism module 3, and the high-precision linear drive module 4.

[0050] This design, while serving a disinfection purpose, also protects the internal structure. Other components and connections are the same as in any of the specific implementation methods one through seven.

[0051] Specific Implementation Method Ten: Combining Figure 2 This embodiment describes a split protective housing 6, which includes an actuator protective sleeve 6-1, an actuator housing 6-2, and a linear drive housing 6-3. The actuator protective sleeve 6-1 is fitted onto the end effector module 1, the actuator housing 6-2 is fitted onto the drive and sensing module 2 and the microneedle puncture mechanism module 3, and the linear drive housing 6-3 is fitted onto the high-precision linear drive module 4.

[0052] With this configuration, the split housing of this embodiment comprises three parts. The actuator protective sleeve 6-1 prevents contamination or damage to the instrument after sterilization and use; the actuator housing 6-2 adopts a split design, reducing processing and assembly difficulty; the ends are made of metal, enhancing housing stability and facilitating cleaning and sterilization; the tail end is designed with a freely opening and closing end cap for easy internal wiring and maintenance; the linear drive housing 6-3 protects internal components and facilitates installation and maintenance. This modular design not only simplifies assembly and maintenance but also improves overall ease of use and reliability. Other components and connections are the same as in any of the specific embodiments one through seven.

[0053] In practical use, this invention employs multimodal feedback information fusion:

[0054] To address the issue of insufficient status feedback during robot-assisted surgery, which compromises surgical safety, an actuator design integrating multiple sensors is proposed, primarily including:

[0055] The continuum endoscope module measures only 0.65x0.65x1mm and provides 400x400 real-time first-view intraoperative images. While meeting the requirements for intraoperative imaging, it minimizes the hardware integration size and can assist doctors in judging the surgical process, the location of target tissues, and the status of microneedle puncture.

[0056] In addition, we integrated a tension sensor into the ball screw nut holder to detect the tension of the wire during surgery. This effectively prevents the wire from breaking due to excessive tension and compensates for wire deformation based on real-time tension information, improving control accuracy. Furthermore, it allows us to determine whether the end effector is coming into contact with the ear canal environment based on sudden tension changes, effectively ensuring the safety of the surgical procedure.

[0057] Meanwhile, the drive unit adopts an integrated solution of motor, reducer and encoder. The encoder feedback can effectively ensure the accuracy and stability of the control signal at the drive input end, obtain the tension / release input displacement of each wire and the micro-needle puncture feed depth, and provide feedback on the robot's intraoperative status information to improve the success rate of surgery.

[0058] By fusing the feedback information from the three types of sensors mentioned above, more accurate and reliable intraoperative feedback based on multimodal information can be achieved:

[0059] 1. By combining real-time endoscopic images and tension information, it is possible to determine whether the actuator interferes with the ear canal environment from multiple aspects, such as whether there are spikes or jitters in the image and force sensor signals.

[0060] 2. By combining tension information and motor encoder feedback, compensatory motion control can be achieved for the deformation of the steel wire under stress, further ensuring the robot control accuracy.

[0061] 3. During the inner ear puncture and injection procedure, the combination of endoscopic imaging and motor control feedback can identify the interaction between the microneedle and the inner ear round window puncture, realize the puncture depth estimation, and improve the success rate of the operation.

[0062] It is worth noting that, in order to facilitate system integration and reduce size, the above sensors are all selected from the smallest size solutions currently available on the market that can meet the design requirements of the surgical actuator in this paper, and are easy to sterilize.

[0063] Combination Figures 1 to 10 Explanation of the working principle of this invention:

[0064] This surgical actuator is mounted on a universal collaborative robotic arm via a pre-installed interface using a quick-change mechanism, enabling precise positioning. An internal spring-loaded locking device allows for rapid and stable installation and easy disassembly. The surgeon remotely controls the actuator, with each motor receiving control commands and adjusting the drive wire displacement at micron-level resolution, achieving multi-degree-of-freedom movement of the end effector. The endoscope provides real-time image feedback, guiding the actuator to avoid inner ear structural obstacles. Once at the target location, the flexible microneedle performs precise puncture, injection, and sampling. By combining multimodal feedback signals such as images and tension, the surgeon can adjust operating parameters in real time, improving surgical accuracy and success rate while reducing potential damage to the inner ear.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A miniature actuator for inner ear injection sampling surgery, comprising an end effector module (1), characterized in that: It also includes a drive and sensing module (2), a microneedle puncture mechanism module (3), and a high-precision linear drive module (4). The microneedle puncture mechanism module (3) is embedded in the drive and sensing module (2). The drive and sensing module (2) is installed on the high-precision linear drive module (4). The end operation mechanism module (1) is installed in front of the drive and sensing module (2). The microneedle puncture mechanism module (3) passes through the end operation mechanism module (1) and extends out. It provides real-time images of the surgical process through the endoscope camera module (1-2) located in the end operation mechanism module (1). The tension sensor (2-2) in the drive and sensing module (2) monitors the change of wire tension in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary. The microneedle puncture mechanism module (3) includes multiple needle feeding modules and a single stepped shaft microneedle unit. Multiple needle feeding mechanisms are installed axially inside the frame (2-7), and the microneedle unit is installed coaxially in the central hole of the needle feeding mechanism. Each needle feeding module includes a head end protection support (3-2), a needle feed support (3-3), a microneedle puncture drive motor (3-4), and a tail end fixing device (3-5). The needle feed support (3-3) and the microneedle puncture drive motor (3-4) are installed on the frame (2-7) and located at the center inside the drive and sensing module (2). The output shaft of the microneedle puncture drive motor (3-4) drives the nut on the ball screw to perform high-resolution linear motion, and realizes the feed motion through the needle feed support (3-3) fixed to it. The head end protection support (3-2) 3-2) Installed on the wire guide mechanism (2-1) to limit the maximum displacement of the microneedle feed; the microneedle unit includes a stepped shaft puncture needle (3-1) and a Luer connector (3-6). The Luer connector (3-6) is connected to the stepped shaft puncture needle (3-1), and the stepped shaft puncture needle (3-1) passes through the head end protection support (3-2) and is connected to the head end protection support (3-2); the stepped shaft puncture needle (3-1) is an integrated stepped shaft puncture needle mechanism, which can achieve precise puncture of the end microneedle under a long transmission distance and meet the pressure requirements of drug injection and sampling operations; the end operation mechanism module (1) can achieve four-degree-of-freedom spatial S-shaped bending in a length of only 7mm, with a maximum bending angle of 150° and a minimum bending radius of only 0.8mm; The end-effector module (1) includes multiple rolling saddle-shaped segments (1-1), an endoscope camera module (1-2), and a flexible microneedle (1-3). The multiple rolling saddle-shaped segments (1-1) are connected in series by multiple steel wires on the drive and sensing module (2), and can bend at any angle with multiple degrees of freedom under different tensions of each steel wire. The multiple rolling saddle-shaped segments (1-1) form a hollow flexible structure. The endoscope camera module (1-2) and the flexible microneedle (1-3) are embedded inside the flexible structure, and the endoscope camera module (1-2) is located at the end of the flexible structure. The drive and sensing module (2) includes multiple drive units, which are mounted on the frame (2-7) in a ring array. Each drive unit includes a wire guide mechanism (2-1), a tension sensor (2-2), a signal transmitter (2-3), a miniature guide rail (2-4), a wire drive motor (2-5), a wire (2-8), and an integrated drive board (2-6). The wire guide mechanism (2-1) is mounted at the front of the frame (2-7), and the wire drive motor (2-5) is mounted at the rear of the frame (2-7). An integrated drive board (2-6) is vertically installed at the rear end of the frame (2-7), a miniature guide rail (2-4) is installed in the middle of the frame (2-7), a tension sensor (2-2) is fixedly installed on the miniature guide rail (2-4) by a slider, a signal transmitter (2-3) is installed above the tension sensor (2-2), one end of a steel wire (2-8) is connected to the threaded hole of the tension sensor (2-2) through a wire drawer, and the other end of the steel wire (2-8) is fixed to the rolling saddle segment (1-1) after passing around the steel wire guide mechanism (2-1); By integrating feedback information from three types of sensors, intraoperative feedback based on multimodal information is achieved: combining real-time endoscopic images and tension information, the system judges whether the actuator interferes with the ear canal environment from multiple aspects, such as whether there are spikes or jitters in the image and force sensor signals; combining tension information and motor encoder feedback, the system achieves compensatory motion control for the deformation of the steel wire under stress, ensuring the robot's control accuracy; during inner ear puncture and injection operations, combining endoscopic images and motor control feedback, the system can identify the interaction state between the microneedle and the inner ear round window puncture, achieve puncture depth estimation, and improve the success rate of surgical operations.

2. The miniature actuator for inner ear injection sampling surgery according to claim 1, characterized in that: It also includes a quick-change mounting mechanism (5), which is installed on the lower end face of the high-precision linear drive module (4) and can be quickly installed and removed from the external robotic arm.

3. A miniature actuator for inner ear injection sampling surgery according to claim 2, characterized in that: It also includes a split protective shell (6), which covers the end-operation mechanism module (1), the drive and sensing module (2), the microneedle puncture mechanism module (3) and the high-precision linear drive module (4).

4. A miniature actuator for inner ear injection sampling surgery according to claim 3, characterized in that: The split protective housing (6) includes an actuator protective sleeve (6-1), an actuator housing (6-2), and a linear drive housing (6-3). The actuator protective sleeve (6-1) is fitted onto the end-operation mechanism module (1), the actuator housing (6-2) is fitted onto the drive and sensing module (2) and the microneedle puncture mechanism module (3), and the linear drive housing (6-3) is fitted onto the high-precision linear drive module (4).

Images