Gastroendoscope Y-shaped cooperative operation device and optical fiber clamping-three-dimensional force sensing method

Abstract

The invention provides a Y-shaped collaborative operation device for a digestive endoscope and an optical fiber clamping-three-dimensional force sensing method, and relates to the technical field of optical fiber sensing detection. The Y-shaped expanding opening and closing assembly is fixedly connected with the tail end of the main endoscope arm and used for expanding the two corresponding second channels to be opened and closed in a Y shape; the two sub-operation arms penetrate through the two second channels corresponding to the sub-operation arms and extend to the outer portion of the Y-shaped expanding opening and closing assembly, and the sub-operation arms are provided with a plurality of third channels arranged in the circumferential direction; the second driving guide wire penetrates through the third channel from the front end of the sub-operation arm and is fixedly connected with the tail end of the sub-operation arm, and the bending direction of the sub-operation arm is adjusted by controlling stretching and retracting of the second driving guide wire. And the clamping-three-dimensional force sensing operation assembly is fixedly connected with the tail end of the sub-operation arm and is used for sensing the three-dimensional force and / or the clamping force generated when the clamping-three-dimensional force sensing operation assembly interacts with the digestive tract tissue.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical fiber sensing detection, and particularly relates to a Y-shaped cooperative operation device for a digestive endoscope and a fiber clamping-three-dimensional force sensing method. BACKGROUND

[0002] In recent years, the digestive endoscope technology has become the core means for the diagnosis and treatment of digestive tract diseases, and plays a key role in early screening and minimally invasive surgery.

[0003] However, the current digestive endoscope faces the core bottleneck of single-channel instrument limitation and intraoperative force sensing loss. The traditional endoscope can only deploy instruments through a single channel, and the surgical field and instruments follow, which cannot realize multi-instrument cooperation (such as simultaneous clamping and stripping), resulting in low surgical efficiency. For example, in the ESD surgery, instruments need to be frequently replaced, which prolongs the operation time and increases the risk of perforation. The existing instruments lack high-precision three-dimensional force sensing capability, and doctors can only rely on visual experience to judge the interaction force of the tissue, which is easy to cause bleeding or tissue damage due to improper force. The fixed angle camera is difficult to dynamically track the surgical target, and the endoscope position needs to be adjusted repeatedly, which aggravates the difficulty of hand-eye coordination. SUMMARY

[0004] The purpose of the present application is to provide a Y-shaped cooperative operation device for a digestive endoscope and a fiber clamping-three-dimensional force sensing method to solve the problem of single-channel instrument limitation and intraoperative force sensing loss of the current digestive endoscope mentioned in the background.

[0005] To achieve the above object, the present application provides the following technical scheme: a Y-shaped cooperative operation device for digestive endoscope, comprising: a main endoscope arm, which is provided with a plurality of first channels arranged in a circumferential direction, and a plurality of second channels arranged inside the main endoscope arm; a plurality of first driving guide wires, which correspond to the first channels one by one, and are fixedly connected to the distal end of the main endoscope arm by penetrating the first channels from the front end of the main endoscope arm, so as to adjust the bending direction of the main endoscope arm by controlling the extension and contraction of the first driving guide wires; a Y-shaped expansion opening and closing assembly, which is fixedly connected to the distal end of the main endoscope arm, and is used to expand and close the corresponding two second channels in a Y shape; two sub-operation arms, which respectively pass through the two second channels corresponding to them one by one and extend to the outside of the Y-shaped expansion opening and closing assembly, and are provided with a plurality of third channels arranged in a circumferential direction; a plurality of second driving guide wires, which correspond to the third channels one by one, and are fixedly connected to the distal end of the sub-operation arm by penetrating the third channels from the front end of the sub-operation arm, so as to adjust the bending direction of the sub-operation arm by controlling the extension and contraction of the second driving guide wires; a clamping-three-dimensional force sensing operation assembly, which is fixedly connected to the distal end of the sub-operation arm, and is used to sense the three-dimensional force and / or clamping force generated when interacting with the digestive tract tissue.

[0006] Optionally, the main endoscope arm comprises: a front end hinge joint, a plurality of intermediate hinge joints and a distal end hinge joint arranged in sequence and connected in series; the parts where two adjacent hinge joints are connected are curved and gathered, and the parts where two adjacent hinge joints are not connected are curved and expanded; a guide wire disc is fixedly connected inside each hinge joint, the guide wire disc is provided with a plurality of first through holes arranged in a circumferential direction and a plurality of second through holes arranged in a circumferential direction, thereby forming a plurality of first channels and a plurality of second channels, the first driving guide wires penetrate the first channels of the front end hinge joint and a plurality of intermediate hinge joints in sequence and are fixedly connected to the distal end hinge joint, the bending direction of the main endoscope arm is adjusted by controlling the extension and contraction of the first driving guide wires to drive each hinge joint to rotate around the hinge shaft.

[0007] Optionally, the Y-shaped expansion opening and closing assembly comprises: a base fixedly connected to the end of the main endoscope arm; two opening and closing connectors, the bottoms of the two opening and closing connectors are hingedly connected to the base, and the tops of the two opening and closing connectors are V-shaped to adjust the opening and closing angle between the two sub-operation arms; a T-shaped rod, the two sides of the head of the T-shaped rod are rotatably connected to the opening and closing ends of the two opening and closing connectors through movable connecting rods; and a push rod, the push rod extends through the second channel corresponding to the main endoscope arm from the front end of the main endoscope arm to the side of the base away from the main endoscope arm, and is fixedly connected to the bottom of the T-shaped rod, so that the T-shaped rod is driven to move close to or away from the opening and closing connectors to drive the two opening and closing connectors to rotate and open or close.

[0008] Optionally, the Y-shaped expansion opening and closing assembly further comprises: an endoscope probe, the side away from the probe irradiation direction is rotatably connected to the base; a torsion spring, located at the rotating connection part between the endoscope probe and the base, and fixedly connected to the endoscope probe at one end and the base at the other end, in the state that the torsion spring is not stressed, the endoscope probe is in a pre-tilted state; and a pulling wire, extending through the second channel corresponding to the main endoscope arm from the front end of the main endoscope arm to the end of the main endoscope arm, and fixedly connected to one side of the endoscope probe, so that the pulling wire is pulled back or loosened to adjust the tilt angle of the endoscope probe.

[0009] Optionally, the first through hole and the second through hole are both four and staggered, wherein two of the second through holes are used for the sub-operation arms to pass through, and the other two of the second through holes are used for the push rod or the pulling wire to pass through.

[0010] Optionally, the sub-operation arm comprises: a front end spherical hinge joint, a plurality of intermediate spherical hinge joints and a terminal spherical hinge joint which are arranged in sequence and orthogonally and are gap-fitted in series; adjacent two spherical hinge joints are rotatably gap-fitted through coaxially arranged spherical heads and spherical sockets, the circumferential surface of the spherical head is provided with at least one limiting protrusion, the spherical socket is provided with a limiting groove corresponding to the limiting protrusion, and the limiting protrusion and the limiting groove are slidingly fitted to limit the in-situ torsion between adjacent spherical hinge joints.

[0011] Optionally, the clamping-three-dimensional force sensing operation assembly comprises: a force-sensitive elastomer array formed by four hollow elastic support beams arranged circumferentially along the sub-operation arm and inclined clockwise or counterclockwise, one end of the force-sensitive elastomer array being connected with the end of the sub-operation arm, and the other end being connected with a force sensing clamp or a spatula; four first fiber Bragg gratings with nickel-plated surfaces, respectively located inside the four elastic support beams and fixedly connected with the corresponding elastic support beams at both ends, the elastic support beams amplifying and transmitting the strain generated by the three-dimensional force when the elastic support beams interact with the digestive tract tissue to the first fiber Bragg gratings, and the three-dimensional force being obtained by decoupling the wavelength change of the first fiber Bragg gratings.

[0012] Optionally, the force sensing clamp comprises: a clamp support, one end of the clamp support being fixedly connected with the force-sensitive elastomer array, and the other end of the clamp support being provided with a strip-shaped through hole; two oppositely arranged clamping parts, the clamping parts being rotatably connected to one end of the clamp support near the strip-shaped through hole through a shaft pin, and the bottom of the clamping part being provided with a strip-shaped inclined hole; a push-pull guide wire, the push-pull guide wire being penetrated from the front end to the inside of the clamp support along the axial direction of the sub-operation arm and being fixedly connected with a limiting rod, the limiting rod being penetrated through the strip-shaped inclined hole in the bottom of the clamping part and being slidingly arranged inside the strip-shaped through hole, in a sliding state of the limiting rod inside the strip-shaped through hole under the push-pull of the push-pull guide wire, the strip-shaped inclined holes in the bottom of the two clamping parts and the limiting rod slidingly drive the clamping parts to rotate along the shaft pin to clamp or release; two second fiber Bragg gratings with nickel-plated surfaces, respectively located inside the two clamping parts, the strain generated by the clamping end face when the clamping parts clamp the digestive tract tissue being transmitted to the second fiber Bragg gratings, and the clamping force being obtained by decoupling the wavelength change of the second fiber Bragg gratings.

[0013] In another aspect, the application also provides a fiber clamping-three-dimensional force sensing method, applied to the above-mentioned digestive endoscope Y-type cooperative operation device, the steps comprising: constructing a main endoscope arm through orthogonally arranged and serially connected hinge joints, and forming a modular combination of N / 2 pitch units and N / 2 yaw units by connecting adjacent hinge joints; establishing a three-layer mapping model from a driving space to a joint space and then to an operation space, wherein a forward kinematics model calculates the end pose of the main endoscope arm through the length change of the driving wire, and an inverse kinematics model inversely solves the length change of the driving wire through the end coordinates of the main endoscope arm; integrating two openable sub-operation arms at the end of the main endoscope arm, and establishing the pose mapping relationship among the end coordinate system of the main endoscope arm, the base coordinate system of the sub-operation arm, and the end coordinate system of the sub-operation arm through a homogeneous transformation matrix; using a force-sensitive elastomer array embedded with first fiber Bragg gratings and a force sensing clamp embedded with second fiber Bragg gratings to measure three-dimensional interaction force and clamping force in real time, and analyzing and solving Fx, Fy, and Fz three-directional forces through the strain analysis of the four elastic support beams.

[0014] Optionally, the unfolding control step of the sub-operation arm comprises: adjusting the included angle of the sub-operation arm and the main endoscope arm through the Y-shaped expansion opening and closing assembly to form a triangular operation area; using a constant curvature dummy to calculate the bending angle of each spherical hinge joint, and inversely solving the total bending angle and deflection angle through the driving guide wire length change amount; based on the geometric constraint that the distance between adjacent spherical hinge joints is constant, iteratively calculating each local coordinate system transformation matrix to achieve accurate positioning of the end of the sub-operation arm; the three-dimensional force sensing step comprises: arranging optical fibers in the four elastic support beams of the force-sensitive elastomer array respectively, and constructing a sensitivity matrix through the wavelength shift amount; for the Fx force, the geometric relationship between the lateral displacement and the axial displacement of the elastic support beam is used to solve the strain; for the Fy force, the stress analysis model of the Fx is reused and the corresponding relationship of the elastic support beam is adjusted; the vertical direction force decoupling is realized through the coupling analysis of the axial force component and the bending moment under the Fz force.

[0015] Compared with the prior art, the beneficial effects of the present application are: (1) The present application adopts two sub-operation arms inside the main endoscope arm, and expands the corresponding two second channels to Y-shaped opening and closing through the Y-shaped expansion opening and closing assembly, thereby driving the two sub-operation arms to Y-shaped opening and closing, so as to construct an operation triangular area with dynamically adjustable unfolding angle, realize the "Y" shaped double-arm cooperative operation mode, and improve the flexibility of the operation arm.

[0016] (2) The main endoscope arm of the present application adopts a hinge structure which is arranged in sequence and orthogonal and is connected in series, so that the main endoscope arm obtains a larger bending angle and a smaller bending radius, and the in-situ torsion of the main endoscope arm is limited; through the hollow setting of the hinge structure, enough space is provided for the driving push rod and / or guide wire of the sub-operation arm and the expansion opening and closing assembly, so that the realization of double sub-arm cooperative operation and endoscope pitch adjustment becomes possible.

[0017] (3) The clamping-three-dimensional force sensing operation assembly proposed in the present application embeds the fiber Bragg grating into the handle of the clamp, measures the tissue clamping force in real time, and the force-sensitive elastomer array at the end of the clamp support adopts a diagonal arrangement structure, which not only significantly reduces the overall size of the clamp, but also can convert external three-dimensional force into differential strain through geometric asymmetry to realize three-dimensional force decoupling enhancement. The inclined beam structure amplifies the strain caused by external force through the lever principle, produces strain amplification effect, and improves the force sensing sensitivity. Integrating clamping force sensing and three-dimensional force sensing into the clamp structure can accurately measure the tissue clamping and three-dimensional interaction force in real time, enhance the surgical on-site manipulation feeling, improve the operation safety and accuracy, and provide strong support for reducing the incidence of intraoperative and postoperative complications and improving the surgical efficacy. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the device of the present application.

[0019] Figure 2is the main endoscope arm structure schematic diagram of the present application.

[0020] Figure 3 is the guide wire disc structure schematic diagram of the present application.

[0021] Figure 4 is the Y-type expansion opening and closing assembly structure schematic diagram of the present application.

[0022] Figure 5 is the base structure schematic diagram of the Y-type expansion opening and closing assembly of the present application.

[0023] Figure 6 is the endoscope probe structure schematic diagram of the Y-type expansion opening and closing assembly of the present application.

[0024] Figure 7 is the opening and closing assembly structure diagram of the Y-type expansion opening and closing assembly of the present application.

[0025] Figure 8 is the surgical triangle schematic diagram of the present application.

[0026] Figure 9 is the sub-operation arm structure schematic diagram of the present application.

[0027] Figure 10 is the clamping-three-dimensional force sensing operation assembly structure schematic diagram of the present application.

[0028] Figure 11 is the main endoscope arm theoretical model schematic diagram of the present application.

[0029] Figure 12 is the sub-operation arm theoretical model schematic diagram of the present application.

[0030] Figure 13 is the force sensing assembly structure and simplified diagram of the present application.

[0031] Figure 14 is the force sensing assembly stress condition diagram when Fx acts of the present application.

[0032] Figure 15 is the force sensing assembly stress condition diagram when Fy acts of the present application.

[0033] Figure 16 is the force sensing assembly stress condition diagram when Fz acts of the present application.

[0034] Figure 17 is the method step flow chart of the present application.

[0035] In the figure: 1-main endoscope arm, 11-end hinge joint, 12-middle hinge joint, 13-front hinge joint, 14-guide wire disc, 141-first channel, 142-sub-arm channel, 143-pull guide wire channel, 144-push rod channel, 2-Y-shaped expansion opening and closing assembly, 21-base, 211-torsion spring slot, 212-buckle, 213-fixing hole, 22-endoscope probe, 221-probe body, 222-torsion spring, 223-rotation shaft, 23-opening and closing assembly, 231-T-shaped rod, 232-movable connecting rod, 233-opening and closing connecting piece, 3-sub-operation arm, 31-front spherical hinge joint, 32-middle spherical hinge joint, 33-end spherical hinge joint, 4-clamping-three-dimensional force sensing operation assembly, 41-force sensing assembly, 42-force sensing clamp, 421-first clamping part, 422-second clamping part, 423-clamp support, 424-shaft pin, 425-limiting rod, 426-clamping force sensing second fiber grating, 427-temperature sensing second fiber grating, 428-cover plate, 429-first fiber grating. DETAILED DESCRIPTION

[0036] The scheme of the present application will be clearly and completely explained in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0037] Please refer to Figures 1-10 The Y-shaped collaborative operation device of the present application comprises: a main endoscope arm 1, which is provided with a plurality of first channels 141 arranged in a circumferential direction, and a plurality of second channels arranged inside the main endoscope arm 1; a plurality of first driving guide wires, which correspond to the first channels 141 one by one, and are fixedly connected to the end of the main endoscope arm 1 by penetrating the first channels 141 from the front end of the main endoscope arm 1, so as to adjust the bending direction of the main endoscope arm 1 by controlling the extension and contraction of the first driving guide wires; a Y-shaped expansion opening and closing assembly 2, which is fixedly connected to the end of the main endoscope arm 1, and is used to expand the corresponding two second channels in a Y shape; two sub-operation arms 3, which respectively pass through two second channels corresponding to them one by one and extend to the outside of the Y-shaped expansion opening and closing assembly 2, and are provided with a plurality of third channels arranged in a circumferential direction; a plurality of second driving guide wires, which correspond to the third channels one by one, and are fixedly connected to the end of the sub-operation arm 3 by penetrating the third channels from the front end of the sub-operation arm 3, so as to adjust the bending direction of the sub-operation arm 3 by controlling the extension and contraction of the second driving guide wires; and a clamping-three-dimensional force sensing operation assembly 4, which is fixedly connected to the end of the sub-operation arm 3, and is used to sense the three-dimensional force and / or clamping force generated when interacting with the digestive tract tissue.

[0038] Specifically, the main endoscope arm 1 obtains two bending degrees of freedom through four first driving guide wires arranged along the circumference thereof, and the bending direction of the main endoscope arm 1 is adjusted by controlling the extension and contraction of the first driving guide wires; the inside of the main endoscope arm 1 is provided with four second channels, two of which are used for the two sub-operation arms 3 to pass through, one of which is used for a pulling guide wire for driving the endoscope probe 22 to pass through for pitch adjustment, and the other is used for a push rod for driving the Y-shaped expansion opening and closing assembly 2 to pass through for opening and closing; the main endoscope arm 1 of the present application adopts a hinge structure arranged in sequence and orthogonal and connected in series, so that the main endoscope arm 1 obtains a larger bending angle and a smaller bending radius, and the in-situ torsion of the main endoscope arm 1 is limited; through the hollow setting of the hinge structure, enough space is provided for the driving push rod and / or guide wire of the sub-operation arm 3 and the Y-shaped expansion opening and closing assembly 2, so that the realization of the coordinated operation of the double sub-arms and the pitch adjustment of the endoscope becomes possible. The Y-shaped expansion opening and closing assembly 2 communicates with the two second channels, and the opening and closing angle between the two sub-operation arms 3 is adjusted by adjusting the opening and closing angle of the Y-shaped expansion opening and closing assembly 2, so as to form a surgical triangle to obtain a larger surgical operation space, realize the "Y" shaped double-arm coordinated operation mode, and improve the flexibility of the operation arm. The clamping-three-dimensional force sensing operation assembly 4 proposed in the present application embeds a fiber grating into a clamp handle, measures the tissue clamping force in real time, and the force-sensitive elastomer array at the end of the clamp support 423 adopts an oblique arrangement structure, which not only significantly reduces the overall size of the clamp, but also converts external three-dimensional force into differential strain through geometric asymmetry to realize three-dimensional force decoupling enhancement. The oblique beam structure amplifies the strain caused by external force through the lever principle to produce a strain amplification effect, thereby improving the force sensing sensitivity. Integrating clamping force sensing and three-dimensional force sensing into the clamp structure can accurately measure the tissue clamping and three-dimensional interaction force in real time, enhance the surgical on-site manipulation feeling, improve the operation safety and accuracy, and provide strong support for reducing the incidence of intraoperative and postoperative complications and improving the surgical efficacy.

[0039] In some embodiments, the main endoscope arm 1 comprises: a front end hinge joint 13, a plurality of intermediate hinge joints 12 and a terminal hinge joint 11 arranged in sequence and orthogonal and connected in series; the part where the adjacent two hinge joints are connected is curved and gathered, and the part where the adjacent two hinge joints are not connected is curved and expanded; a guide wire disc 14 is fixedly connected inside each hinge joint, the guide wire disc 14 is provided with a plurality of first through holes and a plurality of second through holes arranged along the circumference, thereby forming a plurality of first channels 141 and a plurality of second channels; the first driving guide wire sequentially penetrates the first channels 141 in the front end hinge joint 13 and the plurality of intermediate hinge joints 12 connected in series, and is fixedly connected with the terminal hinge joint 11; by controlling the extension and contraction of the first driving guide wire, each hinge joint is driven to rotate around the hinge shaft, thereby adjusting the bending direction of the main endoscope arm 1.

[0040] Specifically, the hinge joints arranged in sequence and in series are machined from aluminum alloy. A wire guide 14 is arranged in the hinge joints, and four through holes are formed in the wire guide 14 in a circumferential direction for passing through first driving wires. Four second through holes are also formed in the wire guide 14 and arranged in a central symmetry at intervals of 90° for passing through two sub-operation arms 3, a push rod of a Y-shaped unfolding and folding assembly 2, and a pulling wire of an endoscope probe 22. Four driving wires are used to control bending of the main endoscope arm 1, and the four driving wires are arranged in a central symmetry at intervals of 90°. Every two driving wires arranged at intervals of 180° form a group for controlling bending degrees of freedom of the main endoscope arm 1.

[0041] In some embodiments, the Y-shaped unfolding and folding assembly 2 comprises a base 21 fixedly connected to a distal end of the main endoscope arm 1, two unfolding and folding connectors 233, the bottoms of which are hingedly connected to the base 21, and the tops of which are V-shaped to adjust an unfolding and folding angle between the two sub-operation arms 3, a T-shaped rod 231, the two sides of the head of which are rotatably connected to the unfolding and folding ends of the two unfolding and folding connectors 233 through movable connecting rods 232, and a push rod, which is extended from the first through channel corresponding to the main endoscope arm 1 to a side of the base 21 away from the main endoscope arm 1 and fixedly connected to the bottom of the T-shaped rod 231. The push rod drives the T-shaped rod 231 to approach or move away from the unfolding and folding connectors 233 to drive the two unfolding and folding connectors 233 to rotate and unfold and fold.

[0042] Specifically, the Y-shaped unfolding and folding assembly 2 comprises a split base 21 and an unfolding and folding assembly 23 formed by two unfolding and folding connectors 233. The base 21 is provided with buckles 212 below to connect a distal end of the main endoscope arm 1. The unfolding and folding assembly comprises a push rod, movable connecting rods 232, and an unfolding channel to form a crank slider mechanism with a common slider. The crank slider mechanism is fixed on the split base 21 through a pin shaft. When the push rod is pushed and pulled, the push rod drives the T-shaped rod 231 to approach or move away from the unfolding and folding connectors 233 to drive the two unfolding and folding connectors 233 to rotate and unfold and fold.

[0043] In some embodiments, the Y-shaped expansion opening and closing assembly 2 further comprises: an endoscope probe 22 rotationally connected to the base 21 on the side away from the probe irradiation direction; a torsion spring 222 located at the rotationally connected part of the endoscope probe 22 and the base 21, and fixedly connected to one end of the endoscope probe 22 and the other end of the base 21, and in the state that the torsion spring 222 is not stressed, the endoscope probe 22 is in a pre-tilted state; and a pulling guide wire extending from the front end of the main endoscope arm 1 through the second channel corresponding thereto to the end of the main endoscope arm 1, and fixedly connected to one side of the endoscope probe 22, and the pitch angle of the endoscope probe 22 is adjusted by pulling or loosening the pulling guide wire.

[0044] Specifically, the Y-shaped expansion opening and closing assembly 2 further comprises a pitch endoscope assembly, and torsion springs are arranged on both sides of the endoscope probe 22, and the torsion springs are embedded in the torsion spring grooves 211 of the split base 21. The endoscope probe 22 can be tilted down by driving the pulling guide wire, and the endoscope probe 22 can be tilted up by springing back under the action of the torsion spring when the pulling guide wire is loosened. The pitch of the camera is controlled in this way, so as to cover a wider area during the operation and make it easier to follow the operation target and ensure the hand-eye coordination during the operation.

[0045] In some embodiments, the first through hole and the second through hole are both four and staggered, and two of the second through holes which are centrally symmetric are used for the sub-operation arm 3 to pass through, and the other two of the second through holes which are centrally symmetric are used for the push rod or the pulling guide wire to pass through.

[0046] Specifically, by arranging the first through hole and the second through hole on the guide wire disc 14, sufficient space is provided for the sub-operation arm 3 and the driving push rod and / or guide wire of the expansion opening and closing assembly, so that the coordinated operation of the double sub-arms and the realization of the endoscope pitch adjustment become possible.

[0047] In some embodiments, the sub-operation arm 3 comprises: a front end spherical hinge joint 31, a plurality of intermediate spherical hinge joints 32 and a terminal spherical hinge joint 33 which are arranged in series and orthogonal to each other and are gap-fitted; adjacent two spherical hinge joints are rotationally connected through coaxially arranged spherical heads and spherical sockets gap-fitted, the circumferential surface of the spherical head is provided with at least one limiting protrusion, the spherical socket is provided with a limiting groove corresponding to the limiting protrusion, and the limiting protrusion and the limiting groove are slidingly fitted to limit the in-place torsion between adjacent spherical hinge joints.

[0048] Specifically, the spherical hinge joint is machined from an aluminum alloy, an axial cavity of the spherical hinge joint is provided for accommodating the clamp driving guide wire, and four through holes are provided in the circumferential direction of the spherical hinge joint for accommodating four second driving guide wires. This integrated manner makes the circumferential direction of the sub-operation arm 3 have more accommodation space to embed more sensing modules. The fiber Bragg grating arranged in the sub-operation arm 3 is arranged outside the spherical head and the spherical socket in the form of rotation connection of the spherical head and the spherical socket, so that the fiber Bragg grating arranged in the sub-operation arm 3 does not interfere with the spherical head and the spherical socket when deformation occurs. Four center-symmetrically arranged limiting protrusions are distributed on the circumferential surface of the spherical head, limiting grooves corresponding to the limiting protrusions are provided in the spherical socket, the limiting protrusions and the limiting grooves are arranged at an interval of 90 degrees in the circumferential direction, and the limiting protrusions and the limiting grooves are in sliding fit to limit the in-situ torsion between adjacent spherical hinge joints, thereby improving the torsional strength. The modular design can realize timely replacement of the damaged spherical hinge joint without affecting the overall function. The end of the sub-operation arm 3 adopts a universal joint design, which can be connected to various required surgical actuators.

[0049] In some embodiments, the clamp-three-dimensional force sensing operation assembly 4 includes a force-sensitive elastomer array formed by four hollow elastic support beams arranged in the circumferential direction of the sub-operation arm 3 and inclined clockwise or counterclockwise. One end of the force-sensitive elastomer array is connected to the end of the sub-operation arm 3, and the other end is connected to the force sensing clamp 42 or the curet. Four first fiber Bragg gratings 429 are respectively located inside the four elastic support beams and are fixedly connected to the corresponding elastic support beams at both ends. The elastic support beams amplify the strain generated by the three-dimensional force when they interact with the digestive tract tissue and transmit it to the first fiber Bragg gratings 429. The three-dimensional force is obtained by decoupling the wavelength change of the first fiber Bragg gratings 429.

[0050] Specifically, the clamp-three-dimensional force sensing operation assembly 4 includes a force-sensitive sensing assembly 41 and a force sensing clamp 42. The force-sensitive sensing assembly 41 includes a force-sensitive elastomer array formed by four hollow elastic support beams arranged in the circumferential direction of the sub-operation arm 3 and inclined clockwise or counterclockwise. Four first fiber Bragg gratings 429 are respectively welded in the cavities of the four elastic support beams to decouple the three-dimensional force generated when they interact with the digestive tract tissue. The force-sensitive elastomer array at the end of the clamp support 423 adopts an oblique arrangement structure, which not only significantly reduces the overall size of the clamp, but also converts external three-dimensional force into differential strain through geometric asymmetry to enhance three-dimensional force decoupling. The oblique beam structure amplifies the strain caused by external force through the lever principle to produce a strain amplification effect and improve the force sensing sensitivity.

[0051] In some embodiments, the force sensing clamp 42 comprises: a clamp support 423, one end of which is fixedly connected with the force sensitive elastomer array, and the other end of which is provided with a strip-shaped through hole; two oppositely arranged clamping portions, which are rotationally connected to one end of the clamp support 423 close to the strip-shaped through hole through a shaft pin 424, and the bottom of the clamping portion is provided with a strip-shaped inclined hole; a push-pull guide wire, which is penetrated into the inside of the clamp support 423 along the axial direction of the sub-operation arm 3 from the front end and is fixedly connected with a limiting rod 425, the limiting rod 425 penetrates through the strip-shaped inclined hole in the bottom of the clamping portion and is slidingly arranged in the strip-shaped through hole, and in the sliding state of the limiting rod 425 in the strip-shaped through hole under the push-pull of the push-pull guide wire, the strip-shaped inclined holes in the bottoms of the two clamping portions slidingly drive the limiting rod 425 to rotate the clamping portions along the shaft pin 424 to clamp or release; two second fiber Bragg gratings plated with nickel, which are respectively arranged in the interiors of the two clamping portions, and the strain generated by the clamping end face when the clamping portion clamps the cavity tissue is transmitted to the second fiber Bragg gratings, and the clamping force is obtained by decoupling the wavelength change of the second fiber Bragg gratings.

[0052] Specifically, the force sensing clamp 42 is a double-open type clamp, which comprises two oppositely arranged clamping portions, a shaft pin, a clamp support 423, a second fiber Bragg grating, a cover plate 428 and a push-pull guide wire, and the bottom of the clamping portion is provided with a strip-shaped inclined hole; the push-pull guide wire is penetrated into the inside of the clamp support 423 along the axial direction of the sub-operation arm 3 from the front end and is fixedly connected with a limiting rod 425, the limiting rod 425 penetrates through the strip-shaped inclined hole in the bottom of the clamping portion and is slidingly arranged in the strip-shaped through hole, and in the sliding state of the limiting rod 425 in the strip-shaped through hole under the push-pull of the push-pull guide wire, the strip-shaped inclined holes in the bottoms of the two clamping portions slidingly cooperate with the limiting rod 425 to drive the clamping portions to rotate along the shaft pin 424 to clamp or release. The fiber Bragg grating comprises two fiber Bragg gratings plated with nickel, one of which is used for measuring the clamping force, and the other of which is used for temperature decoupling, and the two fiber Bragg gratings are fixed on the welding grooves in the interiors of the clamping portions by laser welding, the strain generated by the clamping end face is transmitted to the second fiber Bragg gratings when the clamping portion interacts with the cavity tissue, and the clamping force on the clamp is obtained by decoupling the wavelength change of the fiber Bragg grating and temperature decoupling.

[0053] Please refer to Figures 11-17In another aspect, the application also provides a fiber clamping-three-dimensional force sensing method applied to the above-mentioned Y-shaped collaborative operation device of a digestive endoscope, and the steps include: constructing a main endoscope arm 1 through orthogonally arranged and serially connected hinge joints to form a modular combination of N / 2 pitch units and N / 2 yaw units; establishing a three-layer mapping model from a driving space to a joint space and then to an operation space, wherein a forward kinematics model calculates the end position of the main endoscope arm 1 through driving wire length changes, and an inverse kinematics model inversely solves the driving wire length change amount through the end coordinates of the main endoscope arm 1; integrating two openable sub-operation arms 3 at the end of the main endoscope arm 1, and establishing a position mapping relationship among the end coordinate system of the main endoscope arm 1, the base coordinate system of the sub-operation arm 3 and the end coordinate system of the sub-operation arm 3 through a homogeneous transformation matrix; using a force sensing elastic body array embedded with a first fiber grating 429 and a force sensing clamp 42 embedded with a second fiber grating to measure three-dimensional interactive force and clamping force in real time, and solving Fx, Fy and Fz three-directional forces through strain analysis of four elastic support beams.

[0054] In some embodiments, the unfolding control step of the sub-operation arm 3 includes: adjusting the included angle of the sub-operation arm 3 and the main endoscope arm 1 through the Y-shaped expansion opening and closing assembly 2 to form a triangular operation area; calculating the bending angle of each spherical hinge joint through a constant curvature assumption, inversely solving the total bending angle and the deflection angle through the driving guide wire length change amount; based on the geometric constraint that the distance between adjacent spherical hinge joints is constant, iteratively calculating each local coordinate system transformation matrix to achieve accurate positioning of the end of the sub-operation arm 3; and the three-dimensional force sensing step includes: arranging fiber gratings in the four elastic support beams of the force sensing elastic body array, and constructing a sensitivity matrix through the wavelength shift amount; solving the strain through the geometric relationship between the lateral displacement and the axial displacement of the elastic support beam for the Fx force; for the Fy force, reusing the stress analysis model of the Fx and adjusting the corresponding relationship of the elastic support beam; and realizing vertical force decoupling through the coupling analysis of the axial force component and the bending moment under the Fz force.

[0055] Specifically, in embodiment one, a mapping model from a driving space to a joint space and then to an operation space is constructed 、 called forward kinematics model, the process refers to the change of the bending angle of the continuum caused by the change of the driving wire length, the process refers to the change of the end position and the change of the attitude caused by the change of the bending angle of the continuum, and vice versa 、 called inverse kinematics.

[0056] The main endoscope arm 1 has N units, including N / 2 pitch units and N / 2 yaw units, which move in the pitch plane YOZ and the yaw plane XOZ, respectively. The overall bending angle of the main endoscope arm 1 is Θ, and the angle between the bending plane and the y-axis is Φ. In the case of known coordinates (xp, yp, zp) of the end point P, Θ and Φ can be obtained according to the constant curvature assumption, as follows: (1); (2); according to the constant curvature assumption and the principle of vector composition, the bending movement of the main endoscope arm 1 can be regarded as the vector superposition of the rotation of N / 2 pitch joints around the x-axis and N / 2 yaw joints around the y-axis, so that: (3); through the above formula, the known pitch angle and the yaw angle can be obtained. In the pitch plane and the bending plane, the bending mode of the orthogonally arranged hinge joints is similar, and can be derived in the same way. Taking the pitch plane as an example, in the pitch plane YOZ, the guide wire undergoes active bending and passive bending. The active bending is the deformation of the pitch guide wire between the pitch units, and the passive bending is the passive bending of the pitch guide wire between the yaw units due to the deformation of the yaw units. Then, according to the geometric relationship, the active bending and passive bending are superimposed, and the elongation and contraction of a pair of guide wires in this plane can be calculated, as follows: (4); where: is the change in the length of the right guide wire, is the change in the length of the left guide wire, h is the pitch of the hinge unit, and r is the radius of the circle in which the four driving guide wires are located.

[0057] Similarly, the elongation and contraction of a pair of guide wires in the yaw plane XOZ are as follows: (5); then, in order to reach the target point P(x, y, z), the length change of the four guide wires is: (6); through the analysis of formula (6), it can be seen that and two variables can determine the length of the four driving guide wires. and are a pair of antagonistic driving wires, and are a pair of antagonistic driving wires. Taking the equation of a pair of non-antagonistic driving guide wires in the formula, the joint angle can be inversely solved, and then the lengths of the other two groups of driving guide wires can be determined. Taking and to perform inverse solution, the joint angle can be expressed as (7); the end pose of the main endoscope arm 1 can be represented as: (8); The mapping from the driving space to the working space is realized by formula (7) and formula (8), which constitutes the forward kinematics of the main endoscope arm 1. The mapping from the operation space to the driving space is realized by formula (3) and formula (6), which constitutes the inverse kinematics of the main endoscope arm 1, to complete the kinematics derivation of the main endoscope arm 1.

[0058] Embodiment two

[0059] The surgical triangle is composed of the Y-shaped expansion opening and closing assembly 2 and the two sub-operation arms 3. By integrating the two sub-operation arms 3 with the Y-shaped expansion opening and closing assembly 2, a dynamically adjustable surgical triangle area is constructed.

[0060] In order to increase the motion control accuracy, the surgical triangle proposed in the application is kinematically modeled.

[0061] In order to describe the relationship between the operation space and the joint space, the following three coordinate systems are established: 1) Main endoscope arm 1 end coordinate system Fixed on the end hinge joint 11, wherein The plane coincides with the plane on the end hinge joint 11, Coincides with the central axis of the end hinge joint 11 of the main endoscope arm 1. The axis points to one of the driving guide wires of the main endoscope arm 1.

[0062] 2) Sub-operation arm 3 base coordinate system Fixed on the lower plane of the front end spherical hinge joint 31 of the sub-operation arm 3, wherein The plane coincides with the lower surface of the front end spherical hinge joint 31, Coincides with the central axis of the lowermost spherical hinge joint. The axis points to one of the driving guide wires of the sub-operation arm 3 from the center of the base vertebra, The axis is parallel to The axis.

[0063] 3) Sub-operation arm 3 end coordinate system Fixed on the end spherical hinge joint 33 of the sub-operation arm 3, wherein The plane coincides with the upper surface of the end spherical hinge joint 33, Coincides with the central axis of the end spherical hinge joint 33. The axis points to one of the driving guide wires of the sub-operation arm 3.

[0064] The distance from To the axis, The distance, The distance, to the distance of the axis. is the deflection angle of the deployment channel. Then the homogeneous transformation matrix from the base coordinate system of the sub operating arm 3 to the end coordinate system of the main endoscope arm 1 is: (9) By geometric analysis, it can be known that the distance from the center of the socket to the center of the ball of the adjacent intermediate spherical hinge joint 32 remains unchanged when the deformation of the adjacent intermediate spherical hinge joint 32 occurs. Since the bending of the sub operating arm 3 is approximately a constant curvature bending, it is assumed that the bending angle of all the spherical hinge joints is . Then the homogeneous transformation matrix from the base coordinate system of the sub operating arm 3 to the end coordinate system is: which can be expressed as: (10) In the formula: is the rotation matrix from the base coordinate system to the end coordinate system , and is the translation matrix from the base coordinate system to the end coordinate system .

[0065] (11) (12) (13) In the formula: represents the total bending angle of the flexible operating arm 2, is the total number of units.

[0066] The mapping from the joint space to the driving space is established for the sub operating arm 3. Pulling any adjacent driving guide wire of the sub operating arm 3 can make the sub operating arm 3 bend at any angle in space. The change of the length of the guide wire after bending is proportional to the distance between the guide wire and the neutral plane. The lengths of the four driving guide wires after bending are as follows: In order to reach the target point Q(x, y, z), the rope length of the four guide wires is: (14) In the formula: , , is the center distance of the two guide wire holes with an included angle of 180°.

[0067] According to the length of the driving guide wire, the bending angle and the deflection angle of the sub operating arm 3 can be obtained, as follows: (15) (16) The above completes the mapping from the driving space to the joint space.

[0068] The mapping from the joint space to the operating space is obtained by iteration of the homogeneous transformation matrix. The homogeneous transformation matrix of the local coordinate system of the i-th and i+1-th joints is: ​ (17); among them .

[0069] The homogeneous transformation matrix from the base coordinate system to the lowest hinge joint is: (18); then the total homogeneous transformation matrix from the end coordinate system of the main endoscope arm 1 to the end ball joint 33 of the sub-manipulator arm 3 can be expressed as: (19);

[0070] Example 3

[0071] The clamping-three-dimensional force sensing operating component 4 realizes clamping force and three-dimensional force sensing through fiber Bragg grating. This example derives the theoretical model of the clamping-three-dimensional force sensing operating component 4: A fiber Bragg grating is arranged in the clamping portion of the force sensing clamp 42 to analyze the strain generated when a load is applied perpendicular to the clamp surface.

[0072] Apply a vertical force F to the rod, and the actual load and actual bending moment on the rod are: (20); A unit force in the vertical direction is applied to the rod. Under the action of the unit load, the force and bending moment of the rod are: (21); The displacement of the rod in the vertical direction is: (22) When a unit couple is applied to the rod, the angle of rotation of the rod in the vertical direction is: (23) Analyze the strain on the optical fiber. According to the geometric relationship, the strain of the fiber grating (FBG) can be obtained: (24); then we can get FBG wavelength drift under the action of: (25) The force-sensitive elastic body array consists of four branches, each of which has a fiber Bragg grating (FBG) suspended in it. The strain generated by the force-sensitive elastic body array when subjected to forces in different directions is analyzed.

[0073] When Fx acts, the upper cover of the sensor is analyzed, and the equilibrium condition shows that: (26); where θ is the angle between the projection of the rod on the xOy plane and the x-axis, is the angle between the rod and the xOy plane, R is the distance from the end point of the rod to the center of the optical fiber array, l is the length of the rod, h is the distance between the two end faces of the rod, When Fx acts, rod a is subjected to the force component in the Z direction. is the component force in the X direction, When Fx acts, rod b is subjected to the force in the Z direction. is the component force in the X direction, For Fx, the bar c receives the component force in Z direction, For X direction, For Fx, the bar d receives the component force in Z direction, For X direction, For Y direction, For Y direction, For Y direction, For Y direction.

[0074] When Fx acts, the actual load and actual bending moment on the bar a are respectively: (27); wherein , M are respectively the axial force on the bar a, the bending moment along the bar perpendicular to the xy plane.

[0075] When a unit force in x direction is applied at the contact point of the bar a and the upper end cover, under the action of the unit load, the axial force and the bending moment equation of the bar a are: (28); the displacement of the bar a in the transverse direction is: (29); wherein, E is the Young's modulus of the bar, A is the cross-sectional area of the bar, I is the moment of inertia of the bar.

[0076] When a unit couple along the bar perpendicular to the xy plane is applied at the contact point of the bar a and the upper end cover, under the action of the unit couple, the axial force and the bending moment equation of the bar a are: (30); The rotation angle of the bar a in the transverse direction is: (31); when a unit force along the bar is applied at the contact point of the bar a and the upper end cover, under the action of the unit load, the axial force and the bending moment equation of the bar a are: (32); the displacement of the bar a along the bar is: (33); when Fx acts, the actual load and actual bending moment on the bar b are respectively: (34); wherein , M are respectively the axial force on the bar b, the bending moment along the bar perpendicular to the bar projection plane.

[0077] When a unit force in x direction is applied at the contact point of the bar b and the upper end cover, under the action of the unit load, the axial force and the bending moment equation of the bar b are: (35); the displacement of the bar b in the transverse direction is: (36); A unit force couple along the bar b in the direction perpendicular to the xy plane is applied at the contact point between the bar b and the upper end cover, under the action of the unit force couple, the axial force and bending moment equation of the bar a is: (37) The rotation angle of the bar b in the transverse direction is: (38) A unit force in the direction of the bar b is applied at the contact point between the bar b and the upper end cover, under the action of the unit load, the axial force and bending moment equation of the bar b is: (39) The displacement of the bar b in the direction of the bar b is: (40) When Fx acts, the actual load and actual bending moment on the bar c are respectively: (41) In the formula: , M are the axial force, bending moment along the bar perpendicular to the xy plane on the bar c respectively.

[0078] A unit force in the x direction is applied at the contact point between the bar c and the upper end cover, under the action of the unit load, the axial force and bending moment equation of the bar c is: (42) The displacement of the bar c in the transverse direction is: (43) A unit force couple along the bar c in the direction perpendicular to the xy plane is applied at the contact point between the bar c and the upper end cover, under the action of the unit force couple, the axial force and bending moment equation of the bar c is: (44) The rotation angle of the bar c in the transverse direction is: (45) A unit force in the direction of the bar c is applied at the contact point between the bar c and the upper end cover, under the action of the unit load, the axial force and bending moment equation of the bar c is: (46) The displacement of the bar c in the direction of the bar c is: (47) When Fx acts, the actual load and actual bending moment on the bar d are respectively: (48) In the formula: , M are the axial force, bending moment along the bar perpendicular to the xy plane on the bar d respectively.

[0079] A unit force in the x direction is applied at the contact point between the bar d and the upper end cover, under the action of the unit load, the axial force and bending moment equation of the bar a is: (49) The displacement of the bar d in the transverse direction is: (50) ; The unit force couple along the rod is applied to the rod d at the contact with the upper end cover, and under the action of the unit force couple, the axial force and bending moment equation of the rod a is: (51) ; The rotation angle of the rod d in the transverse direction is: (52) ; The unit force along the rod is applied to the rod d at the contact with the upper end cover, and under the action of the unit load, the axial force and bending moment equation of the rod a is: (53) ; The displacement of the rod d along the rod is: (54) ; Based on this, the balance equation is solved, and , , , , , , , Eight unknowns are solved, and all deformation parameters are calculated: (55) ; The strain on the optical fiber is analyzed, and for the rod a, the strain of FBG-1 can be obtained according to the geometric relationship: (56) ; Similarly, the strain of FBG-2 is: (57) ; The strain of FBG-3 is: (58) ; The strain of FBG-4 is: (59) ; Then the FBG wavelength drift matrix when Fx acts is obtained: (60) ; The fiber sensitivity when Fx acts: (61) ; When Fy acts, the stress conditions of the rods a and c are the same as those of the rods b and d when Fx acts, and the stress conditions of the rods b and d are the same as those of the rods c and a when Fx acts, see Figure 15 .

[0080] Therefore, the strain of FBG-1 is: (62) ; Similarly, the strain of FBG-2 is: (63) ; The strain of FBG-3 is: (64) ; The strain of FBG-4 is: (65); then the FBG wavelength drift matrix under the action of Fy can be obtained: (66); Fiber sensitivity when Fy acts: (67); When Fz acts, the forces acting on the four rods are the same, so only rod a needs to be subjected to force analysis.

[0081] Analyzing the upper cover of the sensor, we can know from the equilibrium condition that: (68); among them is the x-direction displacement of rod a under the action of Fz, is the rotation angle of rod a under the action of Fx, is the vertical displacement of rod a under the action of Fz.

[0082] When Fz acts, the actual load and actual bending moment on rod a are: (69); among them , M are the axial force on rod a and the bending moment along the rod perpendicular to the projection plane, respectively.

[0083] A transverse unit force is applied at the contact point between rod a and the upper end cover. Under the action of the unit load, the axial force and bending moment equations of rod a are: (70); the displacement of rod a along the x direction is: (71); A unit couple perpendicular to the projection plane is applied along the rod at the point where rod a contacts the upper end cap. Under the action of the unit couple, the axial force and bending moment equations of rod a are: (72); The rotation angle of rod a along the x direction is: (73); A unit force in the direction of the rod is applied at the point where the rod a contacts the upper end cover. Under the action of the unit load, the axial force and bending moment equations of the rod a are: (74); The displacement of rod a along the rod direction is: (75) Analyze the strain on the optical fiber. For rod a, according to the geometric relationship, the strain of FBG-1 can be obtained: (76); then the FBG wavelength drift matrix under the action of Fz can be obtained: (77); Fiber sensitivity when Fz acts: (78) The above merely illustrates the embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent transformation or direct or indirect application in the related technical field based on the content of the present application specification and drawings is also included in the patent protection scope of the present application.

Claims

1. A Y-shaped collaborative operation device for digestive endoscope, characterized in that: include: A main endoscope arm is provided with a plurality of first channels arranged along a circumferential direction, and a plurality of second channels are provided inside the main endoscope arm; a plurality of first driving guidewires, each corresponding to each of the first channels; the first driving guidewires extending from the front end of the main endoscope arm through the first channels and fixedly connected to the rear end of the main endoscope arm; and the bending direction of the main endoscope arm is adjusted by controlling the extension and retraction of the first driving guidewires; A Y-shaped expansion and opening and closing component, fixedly connected to the end of the main endoscope arm, is used to expand the corresponding two second channels to form a Y-shaped opening and closing; Two sub-operating arms, respectively passing through two corresponding second channels and extending to the outside of the Y-shaped expansion opening and closing component, and the sub-operating arms are provided with a plurality of third channels arranged along the circumferential direction; a plurality of second actuating guidewires, each corresponding to the third channel; the second actuating guidewires extending from the front end of the sub-manipulator arm through the third channel and fixedly connected to the rear end of the sub-manipulator arm; and the bending direction of the sub-manipulator arm is adjusted by controlling the extension and retraction of the second actuating guidewires; The clamping-three-dimensional force sensing operation component is fixedly connected to the end of the sub-operation arm and is used to sense the three-dimensional force and / or clamping force generated when interacting with the digestive cavity tissue.

2. The Y-shaped cooperative operation device for digestive endoscope according to claim 1, characterized in that: The main endoscope arm comprises: A front hinge joint, a plurality of intermediate hinge joints and a terminal hinge joint that are arranged orthogonally and articulated in series; The parts where two adjacent hinge joints are connected are curved and converge, while the parts where two adjacent hinge joints are not connected are curved and expand. A guide wire disk is fixedly connected to the inside of each hinge joint, and the guide wire disk is provided with several first through holes arranged along the circumference and several second through holes arranged along the circumference, thereby forming several first channels and several second channels. The first driving guide wire passes through the first channels in the front hinge joint and several intermediate hinge joints in sequence, and is fixedly connected to the end hinge joint. By controlling the extension and contraction of the first driving guide wire, each hinge joint is driven to rotate around the hinge axis, thereby adjusting the bending direction of the main endoscope arm.

3. The Y-shaped cooperative operation device for digestive endoscope according to claim 2, characterized in that: The Y-shaped expansion opening and closing component includes: a base fixedly connected to the distal end of the main endoscope arm; Two opening and closing connecting members, the bottoms of the two opening and closing connecting members are hinged to the base, and the tops of the two opening and closing connecting members open and close in a V-shape to adjust the opening and closing angle between the two sub-operating arms; The T-shaped rod has two sides of the head that are rotatably connected to the opening and closing ends of the two opening and closing connectors through movable connecting rods; A push rod extends from the front end of the main endoscope arm through the second channel corresponding thereto to the side of the base facing away from the main endoscope arm, and is fixedly connected to the bottom of the T-bar. The push rod drives the T-bar to move closer to or away from the opening and closing connecting piece, thereby driving the two opening and closing connecting pieces to rotate and open.

4. The Y-shaped cooperative operation device for digestive endoscope according to claim 3, characterized in that: The Y-shaped expansion opening and closing component also includes: An endoscope probe, the side of which is away from the irradiation direction of the probe is rotatably connected to the base; a torsion spring located at the rotational connection portion between the endoscope probe and the base, with one end fixedly connected to the endoscope probe and the other end fixedly connected to the base, wherein when the torsion spring is not subjected to force, the endoscope probe is in a pre-raised state; A pulling guide wire extends from the front end of the main endoscope arm through the second channel corresponding thereto to the end of the main endoscope arm, and is fixedly connected to one side of the endoscope probe. The pitch angle of the endoscope probe can be adjusted by pulling back or loosening the pulling guide wire.

5. The Y-shaped cooperative operation device for digestive endoscope according to claim 4, characterized in that: There are four of each of the first through holes and the second through holes, which are arranged in a staggered manner. Two of the second through holes that are centrally symmetrical are used for the sub-operating arms to pass through, and the other two of the second through holes that are centrally symmetrical are used for the push rods or pulling guide wires to pass through.

6. The Y-shaped cooperative operation device for digestive endoscope according to claim 1, characterized in that: The sub-operating arm comprises: A front end ball joint, a plurality of intermediate ball joints and a terminal ball joint that are arranged orthogonally and have a series clearance fit; Two adjacent ball joints rotate through the clearance fit of the coaxially arranged ball head and ball socket. The circumferential surface of the ball head is provided with at least one limiting protrusion, and the ball socket is provided with a limiting groove corresponding to the limiting protrusion one by one. The limiting protrusion and the limiting groove are slidably fitted to limit the in-situ torsion between adjacent ball joints.

7. The Y-shaped cooperative operation device for digestive endoscope according to claim 1, characterized in that: The clamping-three-dimensional force sensing operation component includes: A force-sensitive elastic body array formed by four hollow elastic support beams arranged circumferentially along the sub-manipulator arm and tilted clockwise or counterclockwise, one end of the force-sensitive elastic body array is connected to the end of the sub-manipulator arm, and the other end is connected to a force-sensing clamp or curette; Four first fiber gratings with nickel-plated surfaces are respectively located inside the four elastic support beams and fixedly connected to the corresponding elastic support beams at both ends. The elastic support beams amplify the strain generated by the three-dimensional force when interacting with the digestive cavity tissue and transmit it to the first fiber grating, and the three-dimensional force is obtained by decoupling the wavelength change of the first fiber grating.

8. The Y-shaped cooperative operation device for digestive endoscope according to claim 7, characterized in that: The force sensing clamp comprises: A clamp bracket, one end of which is fixedly connected to the force-sensitive elastic body array and the other end of which is provided with a strip-shaped through hole; Two clamping parts arranged opposite to each other are rotatably connected to one end of the clamp bracket close to the strip-shaped through hole through an axle pin, and a strip-shaped oblique hole is opened at the bottom of the clamping part; A push-pull guide wire is passed through the front end of the sub-operating arm along the axial direction to the inside of the clamp bracket and is fixedly connected to the limit rod. The limit rod passes through the strip-shaped oblique hole at the bottom of the clamping part and is slidably arranged inside the strip through hole. When the push-pull guide wire is pushed and pulled and the limit rod slides inside the strip through hole, the two strip-shaped oblique holes at the bottom of the clamping part and the limit rod slide to drive the clamping part to rotate along the axis pin to clamp or release; Two second fiber Bragg gratings with nickel-plated surfaces are respectively located inside the two clamping parts. When the clamping parts clamp the cavity tissue, the strain generated by the clamping end surface is transferred to the second fiber Bragg grating, and the clamping force is obtained by decoupling the wavelength change of the second fiber Bragg grating.

9. A fiber optic clamping and three-dimensional force sensing method, applied to the Y-shaped collaborative operation device for digestive endoscopy according to any one of claims 1 to 8, characterized in that the steps include: The main endoscope arm is constructed by orthogonally arranged and serially articulated hinge joints, and adjacent hinge joints are connected to form a modular combination of N / 2 pitch units and N / 2 yaw units; A three-layer mapping model is established from the drive space to the joint space and then to the operation space, wherein the forward kinematics model calculates the end position of the main endoscope arm by the change in the length of the drive wire, and the inverse kinematics model inversely solves the change in the length of the drive wire by the end coordinates of the main endoscope arm; Two retractable sub-manipulator arms are integrated at the end of the main endoscope arm, and the pose mapping relationship between the end coordinate system of the main endoscope arm, the base coordinate system of the sub-manipulator arm, and the end coordinate system of the sub-manipulator arm is established through the homogeneous transformation matrix; A force-sensitive elastomer array embedded in the first fiber Bragg grating and a force-sensing clamp embedded in the second fiber Bragg grating are used to measure the three-dimensional interaction force and clamping force in real time, and the three-dimensional forces Fx, Fy, and Fz are calculated through strain analysis of the four elastic support beams.

10. The optical fiber clamping and three-dimensional force sensing method according to claim 9, characterized in that: The deployment control steps of the sub-manipulator arm include: The included angle between the sub-operating arm and the main endoscope arm is adjusted by the Y-shaped expansion opening and closing component to form a triangular operating area; The bending angle of each ball joint is calculated using the constant curvature assumption, and the total bending angle and deflection angle are inversely solved by the change in the length of the driving guide wire. Based on the geometric constraint of the constant spacing between adjacent spherical joints, the transformation matrix of each local coordinate system is iteratively calculated to achieve precise positioning of the end of the sub-manipulator; The three-dimensional force sensing step includes: Fiber Bragg gratings are arranged in the four elastic support beams of the force-sensitive elastomer array, and a sensitivity matrix is ​​constructed through wavelength drift. The strain is calculated using the geometric relationship between the lateral and axial displacements of the elastic support beam for the force Fx; Reuse the force analysis model of Fx for the Fy force and adjust the corresponding relationship of the elastic support beam; The vertical force decoupling is achieved through the coupling analysis of the axial force component and the bending moment under the action of Fz.

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