Variable-rigidity flexible surgical operation arm and operation method thereof

Abstract

The invention relates to the technical field of surgical instruments, and discloses a variable-rigidity flexible surgical operation arm which comprises a supporting body and a joint part, and the surgical arm body is connected with the joint part; a force sensor is arranged at the joint of the supporting body and the joint part, an ultrasonic sensor, a camera module and a lighting assembly are arranged at the end, away from the joint, of the joint part, and an angle sensor is arranged near the axis position of the joint part. The supporting main body comprises a DEA sensing driver and an SMP variable stiffness layer, and shape sensing sensors are arranged near the SMP variable stiffness layer and the DEA sensing driver; a working channel penetrating through the supporting body is formed in the position, located on the end face of the ultrasonic sensor, of the joint part. The joint part can deform through the DEA driver and can be suitable for the human body cavity environment, precise movement in a cavity is achieved in combination with a series of sensors, and an operation is conducted on a focus through the execution tail end of the operation operation arm; the invention further provides an operation method suitable for the operation arm.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a variable-rigidity flexible surgical operating arm and an operating method thereof. Background Art

[0002] Existing surgical robots are usually composed of multiple joints and connecting rods and have multiple degrees of freedom. They can flexibly simulate the movement of human arms. At the same time, they are equipped with imaging systems such as cameras to provide doctors with high-definition, three-dimensional images of the surgical site. The surgical instruments are usually equipped at the end of the robotic arm, which can accurately locate and operate the surgical site.

[0003] However, in a complex human cavity environment, such as when there is a large amount of mucus or tissue adhesion, relying solely on a camera is not enough to achieve precise operation. Mucus may block the camera's view and affect the doctor's judgment of the position of the operating arm, while tissue adhesion may create additional resistance to the movement of the operating arm, and the existing control mechanism cannot cope with this well.

[0004] Therefore, there is an urgent need for a variable-rigidity flexible surgical operating arm and an operating method thereof to solve the above problems.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present application is to provide a variable-rigidity flexible surgical operating arm to solve the problem that the existing surgical operating arms cannot cope well with the complex environment of the human body cavity, resulting in the inability to achieve precise operation.

[0007] To achieve the above-mentioned purpose, the present application provides a variable-rigidity flexible surgical operating arm, comprising a supporting body and a joint part, wherein the surgical arm body is connected to the joint part; A force sensor is provided at the connection between the support body and the joint part, an ultrasonic sensor, a camera module and a lighting assembly are provided at one end of the joint part away from the connection part, and an angle sensor is provided near the axis position of the joint part; The support body includes a DEA sensing driver and an SMP variable stiffness layer, wherein the DEA driver is arranged inside the SMP variable stiffness layer, a plurality of DEA drivers are arranged around the side wall of the joint, and a shape sensing sensor is arranged near the SMP variable stiffness layer and the DEA sensing driver; It also includes a working channel. The joint portion is located on the end surface of the ultrasonic sensor and is provided with the working channel that runs through the supporting body. The working channel can be used to place a small surgical operating arm or surgical instrument.

[0008] As a preferred solution of the present application, the operating arm body includes an antibacterial coating, an outer packaging layer, a lubricating layer, an SMP variable stiffness layer, a DEA sensing driver and an inner packaging layer, the SMP variable stiffness layer and the DEA sensing driver are both located between the outer packaging layer and the inner packaging layer, the antibacterial coating is arranged on the outside of the outer packaging layer, and the lubricating layer is arranged between the outer packaging layer and the SMP variable stiffness layer.

[0009] As a preferred solution of the present application, the DEA sensing driver includes a dielectric elastomer layer, a stretchable electrode layer and a pattern electrode layer, wherein the stretchable electrode layer and the pattern electrode layer are respectively located on both sides of the dielectric elastomer layer, and the pattern electrode layer is close to the SMP variable stiffness layer.

[0010] As a preferred solution of the present application, it further includes a fault detection module, which is arranged inside the supporting body and is electrically connected to the DEA driver.

[0011] As a preferred solution of the present application, it also includes a backup module, which is arranged inside the supporting body and shares some circuits and control systems with the DEA drive.

[0012] As a preferred solution of the present application, it also includes a circuit switching system, and the circuit switching system is electrically connected to the control system.

[0013] As a preferred solution of the present application, the joint part is made of flexible material.

[0014] A method for operating a variable-rigidity flexible surgical operating arm, applicable to any of the variable-rigidity flexible surgical operating arms described above, comprises the following steps: Step 1, using a force sensor to perform zero point calibration, and at the same time, using an angle sensor to determine the initial position of the joint, so as to calibrate and initialize the variable stiffness flexible surgical operating arm; Step 2, slowly extend the operating arm into the cavity of the human body, use the lighting component and the camera module to shoot the environment in the cavity, and use the ultrasonic sensor for auxiliary positioning; Step 3: When the camera module observes that the propulsion direction needs to be adjusted, a voltage is input to the DEA driver to change the direction of the joint, and a voltage is applied to the pattern electrode layer to make the shape of the operating arm fit the human body cavity, and then the operation arm is moved slowly; Step 4, repeating steps 2 and 3 until the mechanical device is delivered to the lesion of the patient; Step 5, repeat steps 2 and 3 to remove the variable stiffness flexible operating arm from the human body cavity.

[0015] As a preferred solution of the present application, in step 3, when the operating arm is pushed forward, it also includes using an angle sensor to detect the angle change of the joint, using a shape sensing sensor to detect the shape of the supporting body, and using a force sensor to detect the external force at the connection between the operating arm body and the joint.

[0016] The present application provides a variable stiffness flexible surgical operating arm. The surgical operating arm provided by the present application can be operated by a single surgical operating arm or by a plurality of surgical operating arms in a combined form according to actual conditions. The surgical operating arm in a combined form can be suitable for cavities with more complex cavity environments. The surgical operating arm in a combined form can provide 6 degrees of freedom of movement, can face the complex environmental changes of natural cavities, and make the control operation of the device more accurate. By controlling the bending posture and extension length of the end of the joint in real time during surgery, the overall stiffness of the end effector and the bending radius of the end of the joint in the small surgical operating arm can be adjusted to adapt to the complex environmental changes of the natural cavity. By adopting a DEA driver, the DEA driver can drive the joint to deform, realize precise motion compensation for the supporting body, and can accurately control the deformation of the joint by controlling the input voltage, avoiding the secondary error generated by the wire motion compensation, and improving the positioning accuracy of the end of the operating arm. At the same time, during the movement process, an ultrasonic sensor is used for auxiliary positioning, an angle sensor is used to detect the angle change of the joint, a shape sensing sensor is used to detect the shape of the supporting body, and a force sensor is used to detect the external force at the connection between the operating arm body and the joint, so as to achieve the effect of precise adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of a variable-rigidity flexible surgical operating arm bending in a combined state in one embodiment of the present application; Figure 2 This is a schematic diagram of a variable stiffness flexible surgical operating arm structure in one embodiment of the present application; Figure 3 In one embodiment of the present application, a variable stiffness flexible surgical operating arm is Figure 2 The main view of the structure shown; Figure 4 This is a schematic structural diagram of a supporting body in a variable-rigidity flexible surgical operating arm in one embodiment of the present application; Figure 5 This is a structural diagram of a variable-rigidity flexible surgical operating arm in an unbent assembled state in one embodiment of the present application.

[0018] Description of reference numerals: 1. Support body; 2. Joint; 3. DEA drive; 4. End effector; 5. Camera; 6. Lighting assembly; 7. Secondary operating arm; 8. Working channel; 9. Inner packaging layer; 10. Stretchable electrode layer; 11. Dielectric elastomer layer; 12. Patterned electrode layer; 13. SMP variable stiffness layer; 14. Lubricating layer; 15. Outer packaging layer; 16. Antibacterial coating; 17. Ultrasonic sensor. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0020] In addition, if the descriptions of "first", "second", etc. are involved in this application, they are only used for descriptive purposes (such as for distinguishing the same or similar elements), and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 5 In one embodiment, a variable stiffness flexible surgical operating arm includes a supporting body 1 and a joint part 2, the joint part 2 is made of a flexible material, and the surgical arm body is connected to the joint part 2; A force sensor is provided at the connection between the support body 1 and the joint part 2, an ultrasonic sensor 17, a camera module and an illumination assembly 6 are provided at one end of the joint part 2 away from the connection, and an angle sensor is provided near the axis position of the joint part 2; The support body 1 includes a DEA sensing driver 3 and an SMP variable stiffness layer 13. The DEA driver 3 is arranged inside the SMP variable stiffness layer 13. A plurality of DEA drivers 3 are arranged around the side wall of the joint 2. A shape sensing sensor is arranged near the SMP variable stiffness layer 13 and the DEA sensing driver 3. It also includes a working channel 8. The end surface of the joint part 2 located at the ultrasonic sensor 17 is provided with a working channel 8 that penetrates the supporting body 1. The working channel 8 can be used to place a small surgical operating arm or surgical instrument.

[0022] It should be noted that, in the present embodiment, SMP is a smart responsive material, also known as shape memory polymer, which refers to a product with an initial shape that changes its initial conditions under certain conditions and temporarily maintains the shape after being fixed, and can restore its original shape through the stimulation of external conditions (such as electricity, heat, light, chemical induction, etc.).

[0023] In this embodiment, the lighting assembly 6 mainly includes components such as LED lamp beads, and the camera module mainly includes components such as the camera 5. The lighting module, the camera module, the force sensor, the ultrasonic sensor 17, the angle sensor, and the shape sensing sensor are connected to the microprocessor built into the support body 1, and the microprocessor is connected to the external control device through signal lines, power lines, and other lines, and transmits the captured cavity images and data and other information to the display screen of the control device; It can be understood that the surgical operating arm provided by the present application can be operated by using a single surgical operating arm according to actual conditions, or by using multiple surgical operating arms in a combined form. In the surgical operating arm in the combined state, for the convenience of distinction, a two-stage operating arm is taken as an example, which is divided into a main operating arm and a secondary operating arm 7. The secondary operating arm 7 is installed in the working channel 8 of the main operating arm. The structural composition of the secondary operating arm 7 is the same as that of the main operating arm, but the size is different. The surgical operating arm in the combined form can be applied to cavities with more complex cavity environments. The combined surgical operating arm can provide 6 degrees of freedom of movement, which can face the complex environmental changes of the natural cavity, making the control operation of the device more accurate; By controlling the bending posture and extension length of the end of the joint part 2 in real time during surgery, the overall stiffness of the end effector 4 and the bending radius of the joint end in the small surgical operating arm can be adjusted to adapt to the complex environmental changes of the natural cavity; by adopting the DEA driver 3, the DEA driver 3 can drive the joint part 2 to deform, and realize accurate motion compensation for the support body 1. The deformation amount of the joint part 2 can be accurately controlled by controlling the input voltage, avoiding the secondary error caused by the wire motion compensation, and improving the end positioning accuracy of the operating arm; At the same time, during the movement, ultrasonic sensors 17 are used for auxiliary positioning. In a complex human cavity environment, when there is mucus or tissue adhesion, the mucus may block the line of sight of the camera module and affect the doctor's judgment of the position of the operating arm, and tissue adhesion may create additional resistance to the movement of the operating arm. At this time, auxiliary positioning technologies such as ultrasonic sensors 17 can still determine the position of the operating arm when the line of sight of the camera 5 is blocked.

[0024] Furthermore, an angle sensor is used to detect the angle change of the joint part 2. An angle sensor, such as a high-precision photoelectric encoder, is set at the joint. Since the bending angle of the joint is a key factor affecting the position and posture of the end effector 4 of the operating arm, the photoelectric encoder can accurately measure the bending angle of the joint; its position should be close to the rotation axis of the joint so as to accurately obtain the rotation information of the joint; for example, a photoelectric encoder is installed near the axis of each joint. When the joint rotates, the encoding disk rotates accordingly. The rotation angle of the joint is determined by detecting the change of the encoding pattern on the encoding disk, and the resolution can reach 0.01 degrees or even higher.

[0025] Furthermore, a shape sensing sensor is used to detect the shape of the support body 1; a shape sensing sensor, such as an optical fiber sensor, is arranged near the SMP variable stiffness layer 13 and the DEA sensing driver 3 of the support body 1. Since the change in stiffness of the SMP variable stiffness layer 13 and the driving of the DEA sensing driver 3 will affect the shape of the support body 1, the optical fiber sensor can sense the change in shape of the support body 1 by detecting the change in the propagation characteristics of light in the optical fiber. For example, when the support body 1 is bent or deformed, the light propagation path in the optical fiber will change, resulting in changes in the light intensity, phase and other characteristics. By detecting these changes, the shape information of the support body 1 can be obtained.

[0026] Furthermore, a force sensor is used to detect the external force at the connection between the operating arm body and the joint part 2, and a force / torque sensor, such as a strain gauge force / torque sensor, is set at the connection between the joint and the supporting body 1; during operation, the joint will be subjected to force and torque generated by factors such as tissue adhesion and mucus resistance. The strain gauge force / torque sensor calculates the force and torque by measuring the strain of the strain gauge under the action of force or torque. When the joint is subjected to external force, the connection part will deform slightly, and the resistance value of the strain gauge will change accordingly. By measuring the change in resistance value, the force and torque can be calculated with an accuracy of several millinewtons.

[0027] For details, please refer to Figure 4 On the basis of the above embodiment, the operating arm body includes an antibacterial coating 16, an outer packaging layer, a lubricating layer 14, an SMP variable stiffness layer 13, a DEA sensing driver 3 and an inner packaging layer 9. The SMP variable stiffness layer 13 and the DEA sensing driver 3 are both located between the outer packaging layer and the inner packaging layer 9. The antibacterial coating 16 is arranged on the outside of the outer packaging layer 15, and the lubricating layer 14 is arranged between the outer packaging layer 15 and the SMP variable stiffness layer 13.

[0028] Furthermore, based on the above embodiments, the DEA sensing driver 3 includes a dielectric elastomer layer 11, a stretchable electrode layer 10 and a pattern electrode layer 12. The stretchable electrode layer 10 and the pattern electrode layer 12 are respectively located on both sides of the dielectric elastomer layer 11. The pattern electrode layer 12 is close to the SMP variable stiffness layer 13, and the sensing layer can be stretched.

[0029] It can be understood that when operating the support body 1, direct current is loaded on the pattern electrode layer 12 alone, the pattern electrode layer 12 generates heat, and the SMP variable stiffness layer 13 is heated. After the SMP variable stiffness layer 13 softens, the stiffness decreases, so that the support body 1 can adapt to the cavity environment. When the power is turned off and heating is no longer performed, the temperature of the SMP variable stiffness layer 13 decreases, the material hardens, and the shape of the support body 1 is gradually fixed, so that the shape of the support body 1 is adapted to the human cavity. After the SMP variable stiffness layer 13 hardens, precise force transmission can be achieved.

[0030] Specifically, on the basis of the above embodiment, it further includes a fault detection module (not shown in the figure), which is arranged inside the support body 1 and is electrically connected to the DEA driver 3 .

[0031] It can be understood that the fault detection module can use a voltage sensor. The voltage sensor should be located near the voltage measurement point of the DEA driver 3 and is also connected to the microprocessor. The voltage sensor can monitor the electrical parameters such as voltage, current and impedance of the DEA driver 3 to detect faults. When it is monitored that the voltage suddenly fluctuates beyond the normal range, the current increases abnormally, or the impedance changes are not as expected, it may indicate that the DEA driver 3 has a fault; at this time, the microprocessor will transmit the detection data to the display screen of the external control device for further analysis by relevant technical personnel.

[0032] Specifically, based on the above embodiment, a backup module (not shown in the figure) is further included. The backup module is arranged inside the support body 1 , and the backup module shares some circuits and control systems with the DEA driver 3 .

[0033] It can be understood that the backup module is specifically a backup DEA drive 3. Since the DEA drives 3 are evenly distributed around the axis of the joint part 2, the backup DEA drive 3 can be installed near each DEA ​​drive 3 or in the reserved space inside the joint part 2. In this way, when the original DEA drive 3 fails, the backup drive can quickly take over the work.

[0034] Furthermore, the backup DEA driver 3 can share some circuits and control systems with the original DEA driver 3 to reduce space occupancy and cost; specifically, they can share power supply lines and implement switching from the original driver to the backup driver by switching circuits.

[0035] Specifically, based on the above embodiment, it also includes a circuit switching system (not shown in the figure), and the circuit switching system is electrically connected to the control system.

[0036] It can be understood that for the switching of the DEA driver 3, a circuit switching system composed of electronic components such as relays or transistors can be used. When the fault detection system determines that a DEA driver 3 has a fault, a signal will be sent to the circuit switching system.

[0037] For example, during normal operation, the original DEA driver 33 is connected to the power supply and control system through the main circuit; when a fault is detected, the circuit switching system will cut off the main circuit connection of the original DEA driver 33, and at the same time connect the backup DEA driver 3 to the power supply and control system to achieve automatic switching.

[0038] In summary, when in use, the direction of the joint part 2 can be changed by controlling one or two DEA drivers 3 to bend, so that the joint part 2 can adapt to the human body cavity.

[0039] During surgery, the device is inserted into the cavity of the human body, and the support body 1 is slowly pushed. The camera 5 at the end of the joint will transmit the image of the forward direction of the operating arm to the computer operation end. The doctor uses the image to determine the position of the end effector 4 in real time. When the operating arm needs to turn, the voltage is input to the DEA driver 3, and the DEA driver 3 drives the joint to change direction. Then the current is loaded on the pattern electrode layer 12, the pattern electrode layer 12 generates heat, and the SMP variable stiffness layer 13 is heated. The stiffness of the SMP variable stiffness layer 13 is reduced, so that the operating arm can achieve cavity environment adaptation; when the power is turned off and no longer heated, the temperature of the SMP variable stiffness layer 13 decreases, the material becomes hard, and the shape of the operating arm is gradually fixed, so that the shape of the support body 1 is adapted to the human cavity, and then the operating arm is continued to be pushed. By repeating this process, the end effector 4 on the operating arm can be sent to the lesion position in the human body, and then the joint can be operated to change the direction of the end effector 4 to process the lesion position; the flexible force sensing module can sense the force and direction of the joint and the human cavity, and can assist the doctor to control the operating arm more accurately, and reduce the damage to the human body caused by the movement of the operating arm.

[0040] A method for operating a variable-rigidity flexible surgical operating arm, applicable to any of the above-mentioned variable-rigidity flexible surgical operating arms, comprises the following steps: Step 1, using a force sensor to perform zero point calibration, and at the same time, using an angle sensor to determine the initial position of the joint 2, so as to calibrate and initialize the variable stiffness flexible surgical operating arm; Step 2, slowly extend the operating arm into the cavity of the human body, use the lighting assembly 6 and the camera module to shoot the environment in the cavity, and use the ultrasonic sensor 17 to assist in positioning; Step 3, when the camera module observes that the propulsion direction needs to be adjusted, a voltage is input to the DEA driver 3 to change the direction of the joint 2, and a voltage is applied to the pattern electrode layer 12 to make the shape of the operating arm fit the human body cavity, and then move slowly; Step 4, repeating steps 2 and 3 until the mechanical device is delivered to the lesion of the patient; Step 5, repeat steps 2 and 3 to remove the variable stiffness flexible operating arm from the human body cavity.

[0041] Specifically, based on the above embodiment, in step 3, when the operating arm is pushed forward, it also includes using an angle sensor to detect the angle change of the joint 2, using a shape sensing sensor to detect the shape of the supporting body 1, and using a force sensor to detect the external force at the connection between the operating arm body and the joint 2.

[0042] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0043] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A variable stiffness flexible surgical operating arm, characterized in that: It comprises a supporting body and a joint part, wherein the surgical arm body is connected to the joint part; A force sensor is provided at the connection between the support body and the joint part, an ultrasonic sensor, a camera module and a lighting assembly are provided at one end of the joint part away from the connection part, and an angle sensor is provided near the axis position of the joint part; The support body includes a DEA sensing driver and an SMP variable stiffness layer, wherein the DEA driver is arranged inside the SMP variable stiffness layer, a plurality of DEA drivers are arranged around the side wall of the joint, and a shape sensing sensor is arranged near the SMP variable stiffness layer and the DEA sensing driver; It also includes a working channel. The joint portion is located on the end surface of the ultrasonic sensor and is provided with the working channel that runs through the supporting body. The working channel can be used to place a small surgical operating arm or surgical instrument.

2. The variable stiffness flexible surgical operating arm according to claim 1, characterized in that: The operating arm body includes an antibacterial coating, an outer packaging layer, a lubricating layer, an SMP variable stiffness layer, a DEA sensing driver and an inner packaging layer. The SMP variable stiffness layer and the DEA sensing driver are both located between the outer packaging layer and the inner packaging layer. The antibacterial coating is arranged on the outside of the outer packaging layer, and the lubricating layer is arranged between the outer packaging layer and the SMP variable stiffness layer.

3. The variable stiffness flexible surgical operating arm according to claim 2, characterized in that: The DEA sensing driver includes a dielectric elastomer layer, a stretchable electrode layer and a pattern electrode layer. The stretchable electrode layer and the pattern electrode layer are respectively located on both sides of the dielectric elastomer layer, and the pattern electrode layer is close to the SMP variable stiffness layer.

4. The variable stiffness flexible surgical operating arm according to claim 1, characterized in that: It also includes a fault detection module, which is arranged inside the supporting body and is electrically connected to the DEA driver.

5. The variable stiffness flexible surgical operating arm according to claim 1, characterized in that: It also includes a backup module, which is arranged inside the supporting body and shares part of the circuits and control system with the DEA driver.

6. The variable stiffness flexible surgical operating arm according to claim 5, characterized in that: It also includes a circuit switching system, which is electrically connected to the control system.

7. The variable stiffness flexible surgical operating arm according to claim 6, characterized in that: The joint part is made of flexible material.

8. An operating method of a variable stiffness flexible surgical operating arm, applicable to the variable stiffness flexible surgical operating arm according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1, using a force sensor to perform zero point calibration, and at the same time, using an angle sensor to determine the initial position of the joint, so as to calibrate and initialize the variable stiffness flexible surgical operating arm; Step 2, slowly extend the operating arm into the cavity of the human body, use the lighting component and the camera module to shoot the environment in the cavity, and use the ultrasonic sensor for auxiliary positioning; Step 3: When the camera module observes that the propulsion direction needs to be adjusted, a voltage is input to the DEA driver to change the direction of the joint, and a voltage is applied to the pattern electrode layer to make the shape of the operating arm fit the human body cavity, and then the operation arm is moved slowly; Step 4, repeating steps 2 and 3 until the mechanical device is delivered to the lesion of the patient; Step 5, repeat steps 2 and 3 to remove the variable stiffness flexible operating arm from the human body cavity.

9. The method for operating a variable-rigidity flexible surgical operating arm according to claim 8, characterized in that: In step 3, when the operating arm is pushed forward, it also includes using an angle sensor to detect the angle change of the joint, using a shape sensing sensor to detect the shape of the supporting body, and using a force sensor to detect the external force at the connection between the operating arm body and the joint.

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