Endoscopic y-type cooperative operation device and fiber clamping-three-dimensional force sensing method

Abstract

The application provides a digestive endoscope Y-shaped cooperative operation device and a fiber clamping-three-dimensional force sensing method, relates to the technical field of optical fiber sensing and detection, and comprises a main endoscope arm; a Y-shaped expansion opening and closing component is fixedly connected with the tail end of the main endoscope arm and is used for expanding and opening and closing two second channels in a Y shape; two sub operation arms respectively pass through the two second channels corresponding thereto and extend to the outside of the Y-shaped expansion opening and closing component, and the sub operation arms are provided with a plurality of third channels arranged in a circumferential direction; a second driving guide wire is penetrated 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 the extension and retraction of the second driving guide wire; a clamping-three-dimensional force sensing operation component is fixedly connected with the tail end of the sub operation arm and is used for sensing three-dimensional force and / or clamping force generated when interacting with the digestive cavity tissue.

Description

Technical Field

[0001] This invention relates to the field of fiber optic sensing and detection technology, and in particular to a Y-shaped collaborative operation device for digestive endoscopy and a fiber optic clamping-three-dimensional force sensing method. Background Technology

[0002] In recent years, digestive endoscopy has become a core tool for the diagnosis and treatment of digestive tract diseases, playing a key role, especially in early screening and minimally invasive surgery.

[0003] However, the core bottleneck currently facing digestive endoscopy is the limitation of single-channel instruments and the lack of intraoperative force sensing. Traditional endoscopes can only deploy instruments through a single channel, with the surgical field and instruments moving accordingly, making it impossible to achieve multi-instrument coordination (such as simultaneous clamping and dissection), resulting in low surgical efficiency. For example, in ESD surgery, instruments need to be changed frequently, prolonging the operation time and increasing the risk of perforation. Existing instruments lack high-precision three-dimensional force sensing capabilities, and doctors can only rely on visual experience to judge tissue interaction forces, which can easily lead to bleeding or tissue damage due to improper force application. Fixed-view cameras have difficulty dynamically tracking surgical targets, requiring repeated adjustments to the endoscope position, which exacerbates the difficulty of hand-eye coordination. Summary of the Invention

[0004] The purpose of this invention is to provide a Y-shaped collaborative operation device for digestive endoscopy and a fiber optic clamping-three-dimensional force sensing method to solve the problems mentioned in the background art, such as the limitations of current digestive endoscopes with single-channel instruments and the lack of intraoperative force sensing.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a Y-shaped collaborative operation device for digestive endoscopy, comprising: a main endoscope arm having a plurality of first channels arranged circumferentially, and a plurality of second channels disposed inside the main endoscope arm; a plurality of first drive guidewires, each corresponding to one of the first channels, the first drive guidewire passing through the first channel from the front end of the main endoscope arm and fixedly connected to the end end of the main endoscope arm, the bending direction of the main endoscope arm being adjusted by controlling the extension and retraction of the first drive guidewires; and a Y-shaped expansion and opening assembly fixedly connected to the end end of the main endoscope arm for expanding two corresponding second channels into a Y-shaped opening and closing configuration. Y-shaped opening and closing; two sub-operating arms, each passing through one-to-one corresponding second channels and extending to the outside of the Y-shaped expansion opening and closing assembly, each sub-operating arm having several third channels arranged circumferentially; several second driving guidewires, each corresponding to one of the third channels, the second driving guidewires passing through the third channels from the front end of the sub-operating arm and fixedly connected to the end end of the sub-operating arm, the bending direction of the sub-operating arm being adjusted by controlling the extension and retraction of the second driving guidewires; a clamping-three-dimensional force sensing operating assembly, fixedly connected to the end end of the sub-operating arm, used to sense the three-dimensional force and / or clamping force generated when interacting with digestive cavity tissue.

[0006] Optionally, the main endoscope arm includes: a front hinge joint, several intermediate hinge joints, and an end hinge joint arranged orthogonally and connected in series; the hinged portions of two adjacent hinge joints converge on a curved surface, while the unhinged portions of two adjacent hinge joints expand on a curved surface; each hinge joint is fixedly connected to a guide wire disk, which has several first through holes arranged circumferentially and several second through holes arranged circumferentially, thereby forming several first channels and several second channels. The first driving guide wire passes through the first channels of the front hinge joint and the several intermediate hinge joints in sequence, and is fixedly connected to the end hinge joint. By controlling the extension and retraction 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.

[0007] Optionally, the Y-shaped expansion opening and closing assembly includes: a base, fixedly connected to the end of the main endoscope arm; two opening and closing connectors, the bottoms of which are hinged to the base, and the tops of which open and close in a V-shape to adjust the opening and closing angle between the two sub-operating arms; a T-shaped rod, the two sides of which are rotatably connected to the opening and closing ends of the two opening and closing connectors via movable connecting rods; and a push rod, which extends from the front end of the main endoscope arm through the corresponding second channel to the side of the base away from the main endoscope arm, and is fixedly connected to the bottom of the T-shaped rod. The push rod drives the T-shaped rod to move closer to or away from the opening and closing connectors, thereby driving the two opening and closing connectors to rotate and open / close.

[0008] Optionally, the Y-shaped expansion and opening assembly further includes: an endoscope probe, rotatably connected to the base on the side facing away from the probe's illumination direction; a torsion spring, located at the rotatable connection 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 the endoscope probe is in a pre-tilted state when the torsion spring is not under force; and a pull guide wire, extending from the front end of the main endoscope arm through the corresponding second channel to the end of the main endoscope arm, and fixedly connected to one side of the endoscope probe, wherein the tilt angle of the endoscope probe is adjusted by pulling back or releasing the pull guide wire.

[0009] Optionally, there are four first through holes and four second through holes arranged in an alternating pattern, wherein two centrally symmetrical second through holes are used for the sub-operating arm to pass through, and the other two centrally symmetrical second through holes are used for the push rod or pull guide wire to pass through.

[0010] Optionally, the sub-operating arm includes: a front ball joint arranged orthogonally and connected in series with clearance fit, a number of intermediate ball joints hinged together, and an end ball joint; adjacent ball joints rotate through a clearance fit between a ball head and a ball socket arranged coaxially, the circumferential surface of the ball head is provided with at least one limiting protrusion, the ball socket is provided with a limiting groove corresponding to the limiting protrusion, the limiting protrusion and the limiting groove are slidably engaged to limit the in-situ torsion between adjacent ball joints.

[0011] Optionally, the clamping-three-dimensional force sensing operation component includes: a force-sensitive elastomer array formed by four hollow elastic support beams arranged circumferentially along the sub-operating arm and inclined clockwise or counterclockwise; one end of the force-sensitive elastomer array is connected to the end of the sub-operating arm, and the other end is connected to a force-sensing clamp or scraper; four nickel-plated first fiber gratings are respectively located inside the four elastic support beams and fixedly connected at both ends to the corresponding elastic support beams; 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 gratings; the three-dimensional force is obtained by decoupling the wavelength change of the first fiber gratings.

[0012] Optionally, the force-sensing clamp includes: a clamp support, one end of which is fixedly connected to the force-sensitive elastomer array, and the other end of which has a strip-shaped through hole; two opposing clamping parts, which are rotatably connected to the clamp support near the strip-shaped through hole via a shaft pin, and the bottom of the clamping part has a strip-shaped oblique hole; a push-pull guide wire, which passes through the front end of the sub-operating arm into the clamp support along the axial direction and is fixedly connected to a limiting rod, the limiting rod passing through the strip-shaped oblique hole at the bottom of the clamping part and slidingly disposed inside the strip-shaped through hole, and in the state where the push-pull guide wire pushes and pulls the limiting rod to slide inside the strip-shaped through hole, the strip-shaped oblique holes at the bottom of the two clamping parts slide with the limiting rod to drive the clamping parts to rotate along the shaft pin to clamp or release; two nickel-plated second fiber gratings, which are respectively located inside the two clamping parts, and transmit the strain generated at the clamping end face to the second fiber gratings when the clamping parts clamp the cavity tissue, and obtain the clamping force by decoupling the wavelength change of the second fiber gratings.

[0013] On the other hand, the present invention also provides a fiber optic clamping-three-dimensional force sensing method, applied to the aforementioned Y-shaped collaborative operation device for digestive endoscopy. The steps include: constructing a main endoscope arm through orthogonally arranged and series-connected hinge joints, with adjacent hinge joints connected to form a modular combination of N / 2 pitch units and N / 2 yaw units; establishing a three-layer mapping model from the drive space to the joint space and then to the operation space, wherein the forward kinematics model calculates the end pose of the main endoscope arm through the change in the length of the drive wire, and the inverse kinematics model solves the change in the length of the drive wire through the end coordinates of the main endoscope arm; integrating two openable sub-operating arms at the end of the main endoscope arm, and establishing the pose mapping relationship between the end coordinate system of the main endoscope arm, the base coordinate system of the sub-operating arms, and the end coordinate system of the sub-operating arms through a homogeneous transformation matrix; using a force-sensitive elastomer array embedded with a first fiber grating and a force-sensing clamp embedded with a second fiber grating to measure the three-dimensional interactive force and clamping force in real time, and solving the triaxial forces Fx, Fy, and Fz through strain analysis of four elastic support beams.

[0014] Optionally, the deployment control steps of the sub-operating arm include: adjusting the angle between the sub-operating arm and the main endoscope arm to form a triangular operating area using a Y-shaped extension and opening assembly; calculating the bending angle of each ball joint using the constant curvature assumption, and inversely solving the total bending angle and deflection angle by driving the change in guidewire length; iteratively calculating the transformation matrix of each local coordinate system based on the geometric constraint that the distance between adjacent ball joints remains unchanged to achieve precise positioning of the sub-operating arm end; the three-dimensional force sensing steps include: arranging fiber gratings in the four elastic support beams of the force-sensitive elastic body array, and constructing a sensitivity matrix by wavelength drift; calculating the strain for the force Fx using the geometric relationship between the lateral and axial displacements of the elastic support beams; reusing the force analysis model of Fx for the force Fy and adjusting the corresponding relationship of the elastic support beams; and achieving decoupling of the vertical force through the coupling analysis of the axial force component and bending moment under the action of Fz.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] (1) In this application, two sub-operating arms pass through the inside of the main endoscope arm. The two corresponding second channels are expanded in a Y-shape by the Y-shaped expansion and opening component, thereby driving the two sub-operating arms to open and close in a Y-shape, thus constructing a surgical triangle area with dynamically adjustable expansion angle, realizing the "Y"-shaped dual-arm collaborative operation mode, and improving the flexibility of the operating arms.

[0017] (2) The main endoscope arm of this application adopts a hinge structure with sequential orthogonal arrangement and series hinge, which enables the main endoscope arm to obtain a larger bending angle and a smaller bending radius, and restricts the in-situ torsion of the main endoscope arm; through the hollow setting of the hinge structure, sufficient space is provided for the sub-operating arm and the drive push rod and / or guide wire of the extension opening and closing assembly, making it possible to realize the coordinated operation of the two sub-arms and the endoscope pitch adjustment.

[0018] (3) The clamping-three-dimensional force sensing operation component proposed in this application embeds a fiber optic grating into the clamp handle to measure the tissue clamping force in real time. The force-sensitive elastomer array at the end of the clamp support adopts an oblique arrangement, which not only significantly reduces the overall size of the clamp, but also transforms the external three-dimensional force into differential strain through geometric asymmetry to achieve three-dimensional force decoupling enhancement. The oblique beam structure amplifies the strain caused by the external force through the lever principle, thereby producing a strain amplification effect and improving the force sensing sensitivity. Integrating clamping force sensing and three-dimensional force sensing into the clamp structure allows for real-time and accurate measurement of tissue clamping and three-dimensional interaction forces, enhancing the sense of control during surgery, improving operational safety and accuracy, and providing strong support for reducing the incidence of intraoperative and postoperative complications and improving surgical efficacy. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention.

[0020] Figure 2 This is a schematic diagram of the main endoscope arm structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the guide wire disc structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the Y-shaped expansion and opening / closing component structure of the present invention.

[0023] Figure 5 This is a schematic diagram of the base structure in the Y-shaped expansion and opening assembly of the present invention.

[0024] Figure 6 This is a schematic diagram of the endoscope probe structure in the Y-shaped expansion and opening assembly of the present invention.

[0025] Figure 7 This is a structural diagram of the opening and closing component in the Y-shaped extended opening and closing component of the present invention.

[0026] Figure 8 This is a schematic diagram of the surgical triangle of the present invention.

[0027] Figure 9 This is a schematic diagram of the sub-operating arm structure of the present invention.

[0028] Figure 10 This is a schematic diagram of the clamping-three-dimensional force sensing operation component of the present invention.

[0029] Figure 11 This is a schematic diagram of the theoretical model of the main endoscope arm of the present invention.

[0030] Figure 12 This is a schematic diagram of the theoretical model of the sub-operating arm of the present invention.

[0031] Figure 13 This is a simplified diagram of the force-sensitive component structure of the present invention.

[0032] Figure 14 This is a diagram showing the force-sensitive component under the action of Fx in this invention.

[0033] Figure 15 This is a diagram showing the force-sensitive component under the action of Fy in this invention.

[0034] Figure 16 This is a diagram showing the force-sensitive component under the action of Fz in this invention.

[0035] Figure 17 This is a flowchart of the method steps of the present invention.

[0036] In the diagram: 1-Main endoscope arm, 11-End hinge joint, 12-Intermediate hinge joint, 13-Front hinge joint, 14-Guide wire disc, 141-First channel, 142-Sub-arm channel, 143-Pull-out guide wire channel, 144-Push rod channel, 2-Y-type expansion opening and closing assembly, 21-Base, 211-Torsion spring groove, 212-Snap fastener, 213-Fixing hole, 22-Endoscope probe, 221-Probe body, 222-Torsion spring, 223-Rotating shaft, 23-Opening and closing assembly, 231-T-shaped rod, 232- 233-Opening and closing connector, 3-Sub-operating arm, 31-Front end ball joint, 32-Middle ball joint, 33-End end ball joint, 4-Clamping-three-dimensional force sensing operating component, 41-Force sensing component, 42-Force sensing clamp, 421-First clamping part, 422-Second clamping part, 423-Clamping bracket, 424-Shaft pin, 425-Limiting rod, 426-Clamping force sensing second fiber optic grating, 427-Temperature sensing second fiber optic grating, 428-Cover plate, 429-First fiber optic grating. Detailed Implementation

[0037] The present invention will now be clearly and completely described in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0038] Please refer to Figures 1-10 The present invention discloses a Y-shaped collaborative operation device for digestive endoscopy, comprising: a main endoscope arm 1 having a plurality of first channels 141 arranged circumferentially, and a plurality of second channels disposed inside the main endoscope arm 1; a plurality of first drive guidewires, each corresponding to one of the first channels 141, the first drive guidewire passing through the first channel 141 from the front end of the main endoscope arm 1 and fixedly connected to the end end of the main endoscope arm 1, the bending direction of the main endoscope arm 1 being adjusted by controlling the extension and retraction of the first drive guidewires; and a Y-shaped expansion and opening assembly 2, fixedly connected to the end end of the main endoscope arm 1, for expanding two corresponding second channels to open and close in a Y-shape. Two sub-operating arms 3 pass through two corresponding second channels and extend to the outside of the Y-shaped expansion and opening assembly 2. Each sub-operating arm 3 has several third channels arranged circumferentially. Several second driving guide wires are provided, each corresponding to one of the third channels. The second driving guide wire passes through the third channel from the front end of the sub-operating arm 3 and is fixedly connected to the end of the sub-operating arm 3. The bending direction of the sub-operating arm 3 is adjusted by controlling the extension and retraction of the second driving guide wires. A clamping-three-dimensional force sensing operating assembly 4 is fixedly connected to the end of the sub-operating arm 3 and is used to sense the three-dimensional force and / or clamping force generated when interacting with digestive cavity tissue.

[0039] Specifically, the main endoscope arm 1 obtains two degrees of bending freedom through four first drive guidewires arranged circumferentially. The bending direction of the main endoscope arm 1 is adjusted by controlling the extension and retraction of the first drive guidewires. The main endoscope arm 1 has four second channels inside, two of which are for the passage of the two sub-operating arms 3. One of the second channels is for the passage of the pull guidewire that drives the pitch adjustment of the endoscope probe 22, and the other second channel is for the passage of the push rod that drives the opening and closing of the Y-shaped expansion opening and closing assembly 2. The main endoscope arm 1 of this application adopts a hinge structure with sequentially orthogonal arrangement and series hinges, which enables the main endoscope arm 1 to obtain a larger bending angle and a smaller bending radius, and restricts the in-situ torsion of the main endoscope arm 1. The hollow setting of the hinge structure provides sufficient space for the drive push rod and / or guidewire of the sub-operating arms 3 and the Y-shaped expansion opening and closing assembly 2, making it possible to realize the coordinated operation of the two sub-arms and the pitch adjustment of the endoscope. The Y-shaped expansion and opening component 2 is connected to the two second channels. By adjusting the opening and closing angle of the Y-shaped expansion and opening component 2, the opening and closing angle between the two sub-operating arms 3 can be adjusted, thereby forming a surgical triangle to obtain a larger surgical operating space and realizing a "Y"-shaped dual-arm collaborative operation mode, which improves the flexibility of the operating arms. The clamping-three-dimensional force sensing operating component 4 proposed in this application embeds a fiber optic grating into the clamp handle to measure the tissue clamping force in real time. 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 transforms the external three-dimensional force into differential strain through geometric asymmetry to achieve three-dimensional force decoupling enhancement. The oblique beam structure amplifies the strain caused by the external force through the lever principle, producing a strain amplification effect and improving the force sensing sensitivity. Integrating clamping force sensing and three-dimensional force sensing into the clamp structure, the real-time and accurate measurement of tissue clamping and three-dimensional interaction forces enhances the sense of control during surgery, improves the safety and accuracy of operation, and provides strong support for reducing the incidence of intraoperative and postoperative complications and improving surgical efficacy.

[0040] In some embodiments, the main endoscope arm 1 includes: a front hinge joint 13, a plurality of intermediate hinge joints 12, and an end hinge joint 11, which are arranged orthogonally and connected in series; the hinged portions of two adjacent hinge joints converge on a curved surface, and the unhinged portions of two adjacent hinge joints expand on a curved surface; a guide wire disk 14 is fixedly connected inside each hinge joint, and the guide wire disk 14 has a plurality of first through holes arranged circumferentially and a plurality of second through holes arranged circumferentially, thereby forming a plurality of first channels 141 and a plurality of second channels. The first drive guide wire passes through the first channel 141 of the front hinge joint 13 and the plurality of intermediate hinge joints 12 in sequence, and is fixedly connected to the end hinge joint 11. By controlling the extension and retraction of the first drive guide wire, each hinge joint is driven to rotate around the hinge axis, thereby adjusting the bending direction of the main endoscope arm 1.

[0041] Specifically, the hinge joints, arranged orthogonally and connected in series, are machined from aluminum alloy. A guide wire disc 14 is positioned in the center of each hinge joint. The guide wire disc 14 has four through holes along its circumference for the passage of the first drive guide wire. Four second through holes are also provided on the guide wire disc 14, arranged 90° apart and centrally symmetrically, for the passage of the pull-out guide wires from the two sub-operating arms 3, a Y-shaped expansion and opening assembly 2 push rod, and an endoscope probe 22, respectively. The main endoscope arm 1 uses four drive guide wires to control its bending. The four drive guide wires are arranged 90° apart and centrally symmetrically, with each pair of drive guide wires spaced 180° apart forming a group, used to control the bending freedom of the main endoscope arm 1.

[0042] In some embodiments, the Y-shaped expansion opening and closing assembly 2 includes: a base 21, fixedly connected to the end of the main endoscope arm 1; two opening and closing connectors 233, the bottoms of the two opening and closing connectors 233 being hinged to the base 21, and the tops of the two opening and closing connectors 233 opening and closing in a V-shape to adjust the opening and closing angle between the two sub-operating arms 3; a T-shaped rod 231, the two sides of the head of which are rotatably connected to the opening and closing ends of the two opening and closing connectors 233 via movable connecting rods 232; and a push rod, extending from the front end of the main endoscope arm 1 through the corresponding second channel to the 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 driving the T-shaped rod 231 to move closer to or away from the opening and closing connectors 233, so as to drive the two opening and closing connectors 233 to rotate and open and close.

[0043] Specifically, the Y-shaped expansion opening and closing assembly 2 includes a split base 21 and an opening and closing assembly 23 formed by two opening and closing connectors 233. A buckle 212 is provided below the base 21 to connect to the end of the main endoscope arm 1. The opening and closing assembly consists of a push rod, a movable connecting rod 232, and an expansion channel forming a crank-slider mechanism with a shared slider. It is fixed to the split base 21 by a pin. When the push rod is pushed or pulled, the push rod drives the T-shaped rod 231 to move closer to or away from the opening and closing connector 233, thereby driving the two opening and closing connectors 233 to rotate and open and close.

[0044] In some embodiments, the Y-shaped expansion and opening assembly 2 further includes: an endoscope probe 22, the side of which facing away from the probe illumination direction is rotatably connected to the base 21; a torsion spring 222, located at the rotatable connection between the endoscope probe 22 and the base 21, with one end fixedly connected to the endoscope probe 22 and the other end fixedly connected to the base 21, wherein the endoscope probe 22 is in a pre-tilted state when the torsion spring 222 is not under force; and a pull guide wire, which extends from the front end of the main endoscope arm 1 through the corresponding second channel to the end of the main endoscope arm 1 and is fixedly connected to one side of the endoscope probe 22, wherein the pitch angle of the endoscope probe 22 is adjusted by pulling back or releasing the pull guide wire.

[0045] Specifically, the Y-shaped expansion and opening assembly 2 also includes a tilting endoscope assembly. Torsion springs are provided on both sides of the endoscope probe 22, embedded in the torsion spring grooves 211 of the split base 21. Driving the pull guidewire pulls the endoscope probe 22, causing it to tilt downwards; releasing the pull guidewire causes it to spring back under the action of the torsion springs, tilting the endoscope probe 22 upwards. This controls the camera's tilt, allowing for wider coverage during surgery, easier tracking of the surgical target, and improved hand-eye coordination during the procedure.

[0046] In some embodiments, there are four first through holes and four second through holes arranged in an alternating pattern, wherein two centrally symmetrical second through holes are used for the sub-operating arm 3 to pass through, and the other two centrally symmetrical second through holes are used for the push rod or pull guide wire to pass through.

[0047] Specifically, by arranging the first and second through holes on the guide wire disc 14, sufficient space is provided for the sub-operating arm 3 and the drive push rod and / or guide wire of the extension opening and closing assembly, making it possible to achieve dual-arm collaborative operation and endoscope pitch adjustment.

[0048] In some embodiments, the sub-operating arm 3 includes: a front ball joint 31 arranged orthogonally and connected in series with a gap fit, a plurality of intermediate ball joints 32 hinged together, and an end ball joint 33; adjacent ball joints rotate through a gap fit between a ball head and a ball socket arranged coaxially, the circumferential surface of the ball head is provided with at least one limiting protrusion, the ball socket is provided with a limiting groove corresponding to the limiting protrusion, the limiting protrusion and the limiting groove are slidably engaged to limit the in-situ torsion between adjacent ball joints.

[0049] Specifically, the ball joint is machined from aluminum alloy. The ball joint has an axial cavity to accommodate the clamp drive guidewire, and four through holes circumferentially to accommodate four second drive guidewires. This integration method allows the sub-operating arm 3 to have more circumferential space to embed more sensing modules. Furthermore, by using a ball-head and ball-socket rotational connection, the fiber grating arranged in the sub-operating arm 3 is positioned outside the ball head and ball-socket, ensuring that the fiber grating in the sub-operating arm 3 will not deform with the ball head and ball-socket. The ball joint head generates interference, and four centrally symmetrically arranged limiting protrusions are distributed on the circumferential surface of the ball joint head. The ball joint head has a limiting groove corresponding to each limiting protrusion. The limiting protrusions and the limiting grooves are arranged at 90-degree intervals along the circumference. The limiting protrusions and the limiting grooves slide together to limit the in-situ torsion between adjacent ball joints, thereby improving the torsional strength. The modular design allows for timely replacement of the ball joint when it is damaged without affecting the overall function. The end of the sub-operating arm 3 adopts a universal connector design, which can be connected to a variety of surgical actuators.

[0050] In some embodiments, the clamping-three-dimensional force sensing operation component 4 includes: a force-sensitive elastomer array formed by four hollow elastic support beams arranged circumferentially along the sub-operating arm 3 and inclined clockwise or counterclockwise; one end of the force-sensitive elastomer array is connected to the end of the sub-operating arm 3, and the other end is connected to a force-sensing clamp 42 or a scraper; four nickel-plated first fiber gratings 429, respectively located inside the four elastic support beams and fixedly connected at both ends to the corresponding elastic support beams; 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 gratings 429; and the three-dimensional force is obtained by decoupling the wavelength change of the first fiber gratings 429.

[0051] Specifically, the clamping-three-dimensional force sensing operation component 4 includes a force-sensitive component 41 and a force-sensitive clamp 42. The force-sensitive component 41 includes a force-sensitive elastomer array formed by four hollow elastic support beams arranged circumferentially along the sub-operating arm 3 and inclined clockwise or counterclockwise. Four nickel-plated first fiber gratings 429 are respectively welded into the cavities of the four elastic support beams to decouple the three-dimensional force generated when digestive tract tissues interact. 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 transforms the external three-dimensional force into differentiated strain through geometric asymmetry to achieve three-dimensional force decoupling enhancement. The oblique beam structure amplifies the strain caused by the external force through the lever principle, producing a strain amplification effect and improving the force sensing sensitivity.

[0052] In some embodiments, the force-sensing clamp 42 includes: a clamp support 423, one end of which is fixedly connected to the force-sensitive elastomer array, and the other end of which has a strip-shaped through hole; two opposing clamping portions, which are rotatably connected to the clamp support 423 near the strip-shaped through hole via a shaft pin 424, and the bottom of the clamping portions has a strip-shaped oblique hole; and a push-pull guide wire, which passes through the clamp support 423 from the front end along the axial direction of the sub-operating arm 3 and is fixedly connected to a limiting rod 425, the limiting rod 425 passing through the strip-shaped oblique hole at the bottom of the clamping portion. The hole is slidably disposed inside the strip-shaped through hole. When the push-pull guide wire slides the limiting rod 425 inside the strip-shaped through hole, the strip-shaped oblique holes at the bottom of the two clamping parts slide with the limiting rod 425, causing the clamping parts to rotate along the shaft pin 424 to clamp or release. Two nickel-plated second fiber gratings are respectively located inside the two clamping parts. When the clamping parts clamp the cavity tissue, the strain generated at the clamping end face is transmitted to the second fiber gratings. The clamping force is obtained by decoupling the wavelength change of the second fiber gratings.

[0053] Specifically, the force-sensing clamp 42 is a double-opening clamp, including two opposing clamping parts, a pin, a clamp bracket 423, a second fiber optic grating, a cover plate 428, and a push-pull guide wire. The bottom of the clamping part has a strip-shaped oblique hole. The push-pull guide wire passes through the front end of the sub-operating arm 3 into the clamp bracket 423 along the axial direction and is fixedly connected to the limiting rod 425. The limiting rod 425 passes through the strip-shaped oblique hole at the bottom of the clamping part and is slidably disposed inside the strip-shaped through hole. When the push-pull guide wire pushes and pulls the limiting rod 425 to slide inside the strip-shaped through hole, the strip-shaped oblique holes at the bottom of the two clamping parts slide in cooperation with the limiting rod 425, causing the clamping part to rotate along the shaft pin 424 to clamp or release. The fiber grating consists of two nickel-plated fiber gratings, one for measuring clamping force and the other for temperature decoupling. They are fixed to the welding groove inside the clamping part by laser welding. When interacting with the cavity tissue, the strain generated at the clamping end face is transferred to the second fiber grating. By decoupling the wavelength change of the fiber grating and temperature decoupling, the clamping force on the clamp is obtained.

[0054] Please refer to Figures 11-17On the other hand, the present invention also provides a fiber optic clamping-three-dimensional force sensing method, applied to the aforementioned Y-shaped collaborative operation device for digestive endoscopy. The steps include: constructing a main endoscope arm 1 using orthogonally arranged and series-connected hinge joints; connecting adjacent hinge joints to form a modular combination of N / 2 pitch units and N / 2 yaw units; establishing a three-layer mapping model from the drive space to the joint space and then to the operation space, wherein the forward kinematics model calculates the end-effector pose of the main endoscope arm 1 through changes in the length of the drive wire, and the inverse kinematics model calculates the end-effector pose of the main endoscope arm 1 through changes in the length of the drive wire. The change in the length of the drive wire is determined by inverse kinematics of the end-effector arm 1. Two openable sub-operating arms 3 are integrated at the end of the main endoscope arm 1. The pose mapping relationship between the end coordinate system of the main endoscope arm 1, the base coordinate system of the sub-operating arm 3, and the end coordinate system of the sub-operating arm 3 is established through homogeneous transformation matrix. A force-sensitive elastic body array embedded with the first fiber grating 429 and a force-sensing clamp 42 embedded with the second fiber grating are used to measure the three-dimensional interactive force and clamping force in real time. The three-dimensional forces Fx, Fy, and Fz are calculated by strain analysis of the four elastic support beams.

[0055] In some embodiments, the deployment control steps of the sub-operating arm 3 include: adjusting the angle between the sub-operating arm 3 and the main endoscope arm 1 through the Y-shaped extension and opening assembly 2 to form a triangular operating area; calculating the bending angle of each ball joint using the constant curvature assumption, and inversely solving the total bending angle and deflection angle by the change in the length of the driving guidewire; and iteratively calculating the transformation matrix of each local coordinate system based on the geometric constraint that the distance between adjacent ball joints remains unchanged to achieve precise positioning of the end of the sub-operating arm 3. The three-dimensional force sensing steps include: arranging fiber gratings in the four elastic support beams of the force-sensitive elastic body array, and constructing a sensitivity matrix by wavelength drift; calculating the strain for the force Fx using the geometric relationship between the lateral and axial displacements of the elastic support beams; reusing the force analysis model of Fx for the force Fy and adjusting the corresponding relationship of the elastic support beams; and achieving decoupling of the vertical force through the coupling analysis of the axial force component and bending moment under the action of Fz.

[0056] Specifically, in Implementation Example 1, a mapping model is constructed from the drive space to the joint space and then to the operation space. , This is called the forward kinematics model. The process refers to the change in the bending angle of the continuum caused by the change in the length of the driving wire. The process refers to the changes in end-effector position and attitude caused by the change in the bending angle of a continuum, and conversely, the mapping from the operating space to the joint space and then to the driving space. , This is called inverse kinematics.

[0057] The main endoscope arm 1 has N units, including N / 2 pitch units and N / 2 offset units, which move in the pitch plane YOZ and 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. Given the coordinates (xp, yp, zp) of the end point P, the values ​​of Θ and Φ can be obtained based on the constant curvature assumption, as follows:

[0058] (1); (2); Based on the constant curvature assumption and the principle of vector composition, the bending motion of the master 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, then:

[0059] (3); The known pitch angle can be obtained through the above formula. and yaw angle In both the pitch and yaw planes, the bending patterns of orthogonally arranged hinge joints are similar and can be derived in the same way. Taking the pitch plane as an example, within the YOZ plane, the guidewire undergoes both active and passive bending deformations. Active bending refers to the deformation of the pitch guidewire between pitch units, while passive bending refers to the passive bending of the pitch guidewire between yaw units due to their deformation. By superimposing the active and passive bending based on geometric relationships, the elongation and contraction of a pair of guidewires in this plane can be calculated, as follows:

[0060] (4); where: This represents the change in the length of the guidewire on the right side. denoted as , where h is the change in length of the left guidewire, h is the spacing between the hinge units, and r is the radius of the circle containing the four drive guidewires.

[0061] Similarly, the elongation and contraction of a pair of guidewires within the yaw plane XOZ are as follows:

[0062] (5); then, in order to reach the target point P(x,y,z), the change in the length of the four guide wires is:

[0063] (6); Through the analysis of equation (6), it can be seen that, and Two variables determine the length of the four drive guidewires. and It is a pair of antagonistic driving wires. and These are a pair of antagonistic drive wires. Taking the equations for a pair of non-antagonistic drive wires in the formula, we can inversely solve for the joint angle, and then determine the lengths of the other two sets of drive wires. and By inverse kinematics, the joint angles can be expressed as:

[0064] (7); The distal pose of the master endoscope arm 1 can be represented as:

[0065] (8);

[0066] The mapping from the drive space to the work space is achieved by formulas (7) and (8), forming the forward kinematics of the main endoscope arm 1. The mapping from the operating space to the drive space is achieved by formulas (3) and (6), forming the inverse kinematics of the main endoscope arm 1, thus completing the kinematic derivation of the main endoscope arm 1.

[0067] Example 2

[0068] The surgical triangle consists of a Y-shaped expansion and opening component 2 and two sub-operating arms 3. By integrating the two sub-operating arms 3 with the Y-shaped expansion and opening component 2, a dynamically adjustable surgical triangle area is constructed.

[0069] To increase the accuracy of motion control, kinematic modeling was performed on the surgical triangle proposed in this invention.

[0070] To describe the relationship between the operation space and the joint space, the following three coordinate systems are established:

[0071] 1) Coordinate system at the end of the main endoscope arm 1 Fixed to the end hinge joint 11, wherein The plane coincides with the upper plane of the end hinge joint 11. It coincides with the central axis of the end hinge joint 11 of the main endoscope arm 1. The axis points in one of the drive guidewire directions of the main endoscope arm 1.

[0072] 2) Sub-operating arm 3-base coordinate system It is fixed to the lower plane of the ball joint 31 at the front end of the sub-operating arm 3, wherein The plane coincides with the lower surface of the front ball joint 31. It coincides with the central axis of the lowest ball joint. The axis points from the center of the basal vertebral body to one of the drive guidewire directions of the sub-operating arm 3. shaft and The axes are parallel.

[0073] 3) Coordinate system of sub-operating arm 3 end position It is fixed to the ball joint 33 at the end of the sub-operating arm 3, wherein... The plane coincides with the upper surface of the end ball joint 33. It coincides with the central axis of the end ball joint 33. The axis points to one of the drive guide wire directions of the sub-operating arm 3.

[0074] for arrive Distance between axes for arrive Distance between axes. To determine the deflection angle of the expansion channel, the homogeneous transformation matrix between the base coordinate system of sub-operating arm 3 and the end-effector coordinate system of main endoscope arm 1 is:

[0075] (9); Through geometric analysis, it can be seen that when the adjacent intermediate ball joint 32 deforms, the distance from the center of the socket to the center of the ball is... The bending angle remains unchanged. Since the bending of sub-operating arm 3 is approximately constant curvature bending, it is assumed that the bending angle of all ball joints is constant. Then the homogeneous transformation matrix from the base coordinate system to the end-effector coordinate system of the sub-operating arm is... It can be represented as:

[0076] (10); where: From the base coordinate system To the end coordinate system The rotation matrix, From the base coordinate system To the end coordinate system The translation matrix.

[0077] (11); (12); (13); where: This indicates the total bending angle of the flexible manipulator 2. This represents the total number of units.

[0078] A mapping from joint space to drive space is established for sub-manipulator 3. Pulling any adjacent drive guidewire of sub-manipulator 3 will cause sub-manipulator 3 to bend at any angle in space. The change in guidewire length after bending is proportional to the distance between the guidewire and the neutral plane. The lengths of the four drive guidewires after bending are as follows: To reach the target point Q(x,y,z), the rope lengths of the four guidewires are:

[0079] (14); where: , , The center distance between the two guide wire holes with an included angle of 180°.

[0080] The bending angle and deflection angle of the sub-operating arm 3 can be obtained based on the length of the drive guide wire, as follows:

[0081] (15); (16);

[0082] The above completes the mapping from the drive space to the joint space.

[0083] The mapping from joint space to operand space is obtained iteratively using the homogeneous transformation matrix. The homogeneous transformation matrices for the local coordinate systems of the i-th and (i+1)-th joints are:

[0084] (17); among them .

[0085] The homogeneous transformation matrix from the base coordinate system to the lowest hinge joint is: (18); The total homogeneous transformation matrix from the coordinate system at the end of the main endoscope arm 1 to the ball joint 33 at the end of the sub-operating arm 3 can be expressed as: (19);

[0086] Example 3

[0087] The clamping-3D force sensing operation component 4 realizes clamping force and 3D force sensing through fiber optic gratings. This example derives the theoretical model of the clamping-3D force sensing operation component 4:

[0088] A fiber optic grating is arranged inside the clamping part of the force-sensing clamp 42 to analyze the strain generated when subjected to a load perpendicular to the clamp surface.

[0089] A vertical force F is applied to the rod. The actual load and actual bending moment on the rod are: (20); When a unit force is applied vertically to the rod, the force and bending moment on the rod under a unit load are as follows: (21); The magnitude of the displacement of the rod in the vertical direction is:

[0090] (22); A unit couple is applied to the rod. Under the action of the unit couple, the angle of rotation of the rod in the vertical direction is: (23); By analyzing the strain on the optical fiber and based on geometric relationships, the strain of the fiber grating (FBG) can be obtained: (24); then we can obtain Wavelength drift of fiber Bragg grating (FBG) under the influence of: (25); The force-sensitive elastomer array consists of four branches, each with a fiber Bragg grating (FBG) suspended within its branch. The strain generated by the force-sensitive elastomer array under forces applied in different directions is analyzed.

[0091] When Fx is applied, analyzing the upper cover of the sensor, we can see from the equilibrium condition that:

[0092] (26); where θ is the angle between the projection of the rod onto the xOy plane and the x-axis. Let be the angle between the rod and the xOy plane, R be the distance from the end point of the rod to the center of the fiber array, l be the length of the rod, and h be the distance between the two end faces of the rod. When Fx is applied, rod a experiences a component force in the Z direction. Let X be the component of the force in the X direction. When Fx is applied, rod b experiences a component force in the Z direction. Let X be the component of the force in the X direction. When Fx is applied, rod c experiences a force component in the Z direction. The component of the force in the X direction, When Fx acts, rod d experiences a force in the Z direction. The component of the force in the X direction, Let be the torque in the Y direction acting on the rod. Let be the torque in the Y direction acting on the rod. Let be the torque in the Y direction acting on the rod. Let be the torque in the Y direction acting on the rod.

[0093] When Fx is applied, the actual load and actual bending moment on rod a are respectively:

[0094] (27); among them M and M are the axial force on rod a and the bending moment along the rod perpendicular to the xy plane, respectively.

[0095] A unit force in the x-direction is applied at the contact point between rod a and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod a are as follows: (28); The magnitude of the transverse displacement of rod a is:

[0096] (29); where E is the Young's modulus of the rod, A is the cross-sectional area of ​​the rod, and I is the moment of inertia of the rod.

[0097] A unit moment perpendicular to the xy plane is applied along the rod at the contact point between rod a and the upper end cap. Under the action of the unit moment, the equations for the axial force and bending moment of rod a are as follows: (30);

[0098] The angle of rotation of rod a in the transverse direction is:

[0099] (31); A unit force along the rod direction is applied at the contact point between rod a and the upper end cap. Under the action of a unit load, the equations for the axial force and bending moment of rod a are: (32); The magnitude of the displacement of rod a along the rod direction is:

[0100] (33); When Fx is applied, the actual load and actual bending moment on rod b are respectively:

[0101] (34); where: M and M are the axial force on rod b and the bending moment along the rod perpendicular to the projection plane of the rod, respectively.

[0102] A unit force in the x-direction is applied at the contact point between rod b and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod b are as follows: (35); The magnitude of the transverse displacement of rod b is:

[0103] (36);

[0104] A unit moment perpendicular to the xy plane is applied along the rod at the contact point between rod b and the upper end cap. Under the action of this unit moment, the equations for the axial force and bending moment of rod a are as follows: (37);

[0105] The angle of rotation of rod b in the transverse direction is:

[0106] (38); When a unit force in the rod direction is applied at the contact point between rod b and the upper end cap, the equations for the axial force and bending moment of rod b under the unit load are as follows:

[0107] (39); The magnitude of the displacement of rod b along the rod direction is:

[0108] (40);

[0109] When Fx is applied, the actual load and actual bending moment on rod c are respectively:

[0110] (41); where: M and M represent the axial force on rod c and the bending moment along the rod perpendicular to the xy plane, respectively.

[0111] A unit force in the x-direction is applied at the contact point between rod c and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod c are as follows: (42);

[0112] The magnitude of the lateral displacement of rod c is:

[0113] (43);

[0114] A unit moment perpendicular to the xy plane is applied along the rod at the contact point between rod c and the upper end cap. Under the action of the unit moment, the equations for the axial force and bending moment of rod c are as follows: (44);

[0115] The lateral rotation angle of rod c is:

[0116] (45); A unit force along the rod direction is applied at the contact point between rod c and the upper end cap. Under the action of a unit load, the equations for the axial force and bending moment of rod c are:

[0117] (46); The magnitude of the displacement of rod c along the rod direction is:

[0118] (47);

[0119] When Fx is applied, the actual load and actual bending moment on rod d are respectively:

[0120] (48); where: M and M represent the axial force on rod d and the bending moment along the rod perpendicular to the xy plane, respectively.

[0121] A unit force in the x-direction is applied at the contact point between rod d and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod a are as follows: (49);

[0122] The magnitude of the transverse displacement of rod d is:

[0123] (50);

[0124] A unit moment perpendicular to the xy plane is applied along the rod at the contact point between rod d and the upper end cap. Under the action of the unit moment, the equations for the axial force and bending moment of rod a are as follows: (51);

[0125] The angle of rotation of rod d in the transverse direction is:

[0126] (52);

[0127] A unit force along the rod direction is applied at the contact point between rod d and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod a are as follows: (53);

[0128] The magnitude of the displacement of rod d along the rod direction is:

[0129] (54);

[0130] Based on this, by solving the equilibrium equations, we can obtain... , , , , , , , Eight unknowns are used to calculate all the deformation parameters:

[0131] (55);

[0132] Analyzing the strain on the optical fiber, for rod a, the strain of FBG-1 can be obtained based on geometric relationships:

[0133] (56); Similarly, the strain of FBG-2 is obtained:

[0134] (57); The strain of FBG-3 is:

[0135] (58); The strain of FBG-4 is:

[0136] (59); then the wavelength shift matrix of FBG under the action of Fx can be obtained:

[0137] (60); Fiber sensitivity during Fx operation:

[0138] (61); When Fy is applied, the force conditions of rods a and c are the same as those of rods b and d when Fx is applied, and the force conditions of rods b and d are the same as those of rods c and a when Fx is applied. See [link to relevant documentation]. Figure 15 .

[0139] Therefore, the strain of FBG-1 can be obtained: (62);

[0140] Similarly, the strain of FBG-2 is obtained: (63);

[0141] Strain of FBG-3:

[0142] (64); The strain of FBG-4 is:

[0143] (65); then the FBG wavelength drift matrix under the action of Fy can be obtained:

[0144] (66); Fiber optic sensitivity during Fy action:

[0145] (67) When Fz is applied, the forces on all four rods are the same, so only the force analysis of rod a needs to be performed.

[0146] Analyzing the upper cover of the sensor, we can see from the equilibrium condition that: (68); among them Let Fz be the x-direction displacement of rod a under the action of Fz. Let Fx be the angle of rotation of rod a. Let Fz be the vertical displacement of rod a under the action of Fz.

[0147] When Fz is applied, the actual load and actual bending moment on rod a are respectively: (69); among them M and M represent the axial force on rod a and the bending moment along the rod perpendicular to the projection plane, respectively.

[0148] A unit transverse force is applied at the contact point between rod a and the upper end cap. Under this unit load, the equations for the axial force and bending moment of rod a are as follows: (70); The magnitude of the displacement of rod a along the x-direction is:

[0149] (71); A unit moment perpendicular to the projection plane is applied along the rod at the contact point between rod a and the upper end cap. Under the action of the unit moment, the equations for the axial force and bending moment of rod a are: (72); The angle of rotation of rod a along the x direction is:

[0150] (73); When a unit force in the rod direction is applied at the contact point between rod a and the upper end cap, the equations for the axial force and bending moment of rod a under the unit load are as follows:

[0151] (74); The magnitude of the displacement of rod a along the rod direction is:

[0152] (75); Analyzing the strain on the optical fiber, for rod a, based on geometric relationships, the strain of FBG-1 can be obtained:

[0153] (76); then the wavelength shift matrix of FBG under the action of Fz can be obtained:

[0154] (77); Fiber sensitivity under Fz action:

[0155] (78)

[0156] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention's specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A Y-shaped collaborative operation device for digestive endoscopy, characterized in that, include: The main endoscope arm has several first channels arranged circumferentially, and the interior of the main endoscope arm has several second channels. Several first drive guide wires, each corresponding to a first channel, the first drive guide wire passes through the first channel from the front end of the main endoscope arm and is fixedly connected to the end of the main endoscope arm, the bending direction of the main endoscope arm is adjusted by controlling the extension and retraction of the first drive guide wires; The Y-shaped expansion and opening assembly is fixedly connected to the end of the main endoscope arm and is used to expand the two corresponding second channels into a Y-shaped opening and closing position. Two sub-operating arms pass through two corresponding second channels and extend to the outside of the Y-shaped expansion and opening assembly. Each sub-operating arm has several third channels arranged circumferentially. Several second drive guide wires are provided, each corresponding to one of the third channels. The second drive guide wire passes through the third channel from the front end of the sub-operating arm and is fixedly connected to the end of the sub-operating arm. The bending direction of the sub-operating arm is adjusted by controlling the extension and retraction of the second drive guide wire. A clamping-three-dimensional force sensing operation component is fixedly connected to the end of the sub-operating arm for sensing three-dimensional forces and / or clamping forces generated during interaction with digestive cavity tissues; The Y-shaped expansion and opening assembly includes: The base is fixedly connected to the end of the main endoscope arm; Two opening and closing connectors, the bottom of both opening and closing connectors are hinged 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-operating arms; The T-shaped rod has its head sides rotatably connected to the opening and closing ends of the two opening and closing connectors via movable connecting rods. The push rod extends from the front end of the main endoscope arm through the second channel corresponding to it to the side of the base away from the main endoscope arm, and is fixedly connected to the bottom of the T-shaped rod. The push rod drives the T-shaped rod to move closer to or away from the opening and closing connector, so as to drive the two opening and closing connectors to rotate and open and close.

2. The Y-shaped collaborative operation device for digestive endoscopy according to claim 1, characterized in that, The main endoscope arm includes: The front hinge joint, several intermediate hinge joints, and the end hinge joint are arranged orthogonally and connected in series. The hinged parts of two adjacent hinge joints converge on a curved surface, while the non-hinged parts of two adjacent hinge joints expand on a curved surface. Each hinge joint is fixedly connected to a guide wire disc. The guide wire disc has several first through holes arranged circumferentially and several second through holes arranged circumferentially, thereby forming several first channels and several second channels. The first drive 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 retraction of the first drive 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 collaborative operation device for digestive endoscopy according to claim 2, characterized in that, The Y-shaped expansion and opening assembly also includes: The endoscope probe is rotatably connected to the base on the side opposite to the probe's illumination direction; A torsion spring is located at the rotatable connection 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. When the torsion spring is not under force, the endoscope probe is in a pre-tilted state. The pull-out guide wire extends from the front end of the main endoscope arm through the corresponding second channel 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 releasing the pull-out guide wire.

4. The Y-shaped collaborative operation device for digestive endoscopy according to claim 3, characterized in that, There are four of each of the first and second through holes, arranged in an alternating pattern. Two of the second through holes are centrally symmetrical and are used for the sub-operating arm to pass through. The other two of the second through holes are centrally symmetrical and are used for the push rod or pull guide wire to pass through.

5. The Y-shaped collaborative operation device for digestive endoscopy according to claim 1, characterized in that, The sub-operating arm includes: The front ball joint, several intermediate ball joints, and the end ball joint are arranged orthogonally in series with gap fit. Two adjacent ball joints rotate through a clearance fit between a ball head and a ball socket arranged coaxially. The circumferential surface of the ball head has at least one limiting protrusion, and the ball socket has a limiting groove corresponding to the limiting protrusion. The limiting protrusion and the limiting groove slide to restrict the in-situ torsion between adjacent ball joints.

6. The Y-shaped collaborative operation device for digestive endoscopy according to claim 1, characterized in that, The clamping-three-dimensional force sensing operation component includes: A force-sensitive elastomer array is formed by four hollow elastic support beams arranged circumferentially along the sub-operating arm and inclined clockwise or counterclockwise. One end of the force-sensitive elastomer array is connected to the end of the sub-operating arm, and the other end is connected to a force-sensing clamp or scraper. Four nickel-plated first fiber gratings are located inside the four elastic support beams and are fixedly connected at both ends to the corresponding elastic support beams. 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 gratings. The three-dimensional force is obtained by decoupling the wavelength change of the first fiber gratings.

7. The Y-shaped collaborative operation device for digestive endoscopy according to claim 6, characterized in that, The force-sensing clamp includes: The clamp bracket has one end fixedly connected to the force-sensitive elastomer array and the other end has a strip-shaped through hole; Two opposing clamping parts are rotatably connected to one end of the clamp bracket near the strip-shaped through hole via a pivot pin. A strip-shaped oblique hole is provided at the bottom of the clamping part. The push-pull guide wire extends from the front end along the axial direction of the sub-operating arm into the inside of the clamp bracket and is fixedly connected to the limiting rod. The limiting rod passes through the strip-shaped oblique hole at the bottom of the clamping part and is slidably disposed inside the strip-shaped through hole. When the push-pull guide wire pushes and pulls the limiting rod to slide inside the strip-shaped through hole, the two strip-shaped oblique holes at the bottom of the clamping part slide with the limiting rod, causing the clamping part to rotate along the shaft pin to clamp or release. Two nickel-plated second fiber gratings are located inside the two clamping parts respectively. When the clamping parts clamp the cavity tissue, the strain generated at the clamping end face is transferred to the second fiber gratings. The clamping force is obtained by decoupling the wavelength change of the second fiber gratings.

8. A fiber optic clamping-three-dimensional force sensing method, applied to the Y-type collaborative operation device for digestive endoscopy as described in any one of claims 1-7, characterized in that the steps... include: The main endoscope arm is constructed by orthogonally arranged and series-connected 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. The forward kinematics model calculates the end pose of the main endoscope arm through the change in the length of the drive wire, and the inverse kinematics model solves the change in the length of the drive wire through the end coordinates of the main endoscope arm. Two openable sub-operating arms are integrated at the end of the main endoscope arm. The pose mapping relationship between the end coordinate system of the main endoscope arm, the base coordinate system of the sub-operating arms, and the end coordinate system of the sub-operating arms is established through a homogeneous transformation matrix. A force-sensitive elastomer array embedded with a first fiber grating and a force-sensing clamp embedded with a second fiber grating are used to measure the three-dimensional interactive force and clamping force in real time. The three-dimensional forces Fx, Fy, and Fz are calculated by strain analysis of four elastic support beams.

9. The fiber optic clamping-three-dimensional force sensing method according to claim 8, characterized in that, The deployment control steps of the sub-operating arm include: The triangular operating area is formed by adjusting the angle between the sub-operating arm and the main endoscope arm through the Y-shaped expansion and opening assembly; The bending angle of each ball joint is calculated using the constant curvature assumption, and the total bending angle and deflection angle are solved by the change in the length of the driving guide wire. Based on the geometric constraint that the distance between adjacent ball joints remains unchanged, the transformation matrix of each local coordinate system is iteratively calculated to achieve precise positioning of the sub-operating arm end effector. The three-dimensional force sensing steps include: Fiber gratings are arranged in the four elastic support beams of the force-sensitive elastomer array, and the sensitivity matrix is ​​constructed by the wavelength drift. The strain is calculated by using the geometric relationship between the lateral and axial displacements of the elastic support beam in response to the force Fx. The force analysis model of Fx is reused for the force Fy and the corresponding relationship of the elastic support beam is adjusted; Vertical force decoupling is achieved through coupling analysis of the axial force component and bending moment under the action of Fz.

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