Operating forceps clamping force monitoring and feedback system

Abstract

The invention discloses an operating forceps clamping force monitoring and feedback system which comprises a connecting assembly, a clamping assembly, a sensing assembly, a handle assembly, a power assembly, a circuit assembly and a terminal assembly, the handle assembly is connected with the clamping assembly through the connecting assembly, the handle assembly is used for being held by an operator, and the clamping assembly is used for clamping target tissue. The sensing assembly is arranged on the clamping assembly and used for sensing clamping force and transmitting the clamping force to the circuit assembly, the circuit assembly is arranged on the handle assembly and used for emitting optical signals to the sensing assembly, receiving and processing optical signals returned by the sensing assembly, controlling the power assembly and transmitting data to the terminal assembly, and the terminal assembly processes the received data. And the clamping force is displayed in real time, so that an operator obtains clamping force feedback information, the clamping force is monitored and fed back, and the timeliness and the flexibility of operation of the operating forceps are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical forceps clamping force monitoring and feedback system. Background Technology

[0002] Laparoscopic surgery, as a typical minimally invasive surgical technique, has advantages over traditional open surgery, such as smaller incisions, less intraoperative bleeding, lower risk of infection, and faster postoperative recovery, and has been widely used in clinical practice. In laparoscopic surgery, surgical forceps are the core tool; their flexibility, reliability, and operational precision directly determine the quality and safety of the surgery.

[0003] There are existing technologies that improve the performance of surgical forceps, for example: (1) Patent CN116269656A, entitled "Multi-degree-of-freedom minimally invasive laparoscopic surgical forceps", which achieves flexible movement of the forceps head in pitch, yaw and clamping directions by coordinating the design of the anterior joint, extension joint, posterior joint, universal joint and bevel gear in the surgical forceps, thereby improving the degree of freedom of operation and reducing mechanical disturbance to the wound. However, this device still relies on the surgeon's experience for manual control, does not integrate force sensing and feedback functions, cannot obtain the contact force information between the forceps jaw and the tissue in real time, and has the risk of tissue damage or slippage, and requires high operator skills. (2) Patent CN118593069A, entitled "A multifunctional laparoscopic surgical forceps", or by using a built-in light source and probe arm to achieve non-contact identification of blood vessels under the tissue, it helps to avoid accidental damage to blood vessels during operation. However, it can only achieve vascular imaging function and cannot achieve quantitative perception and feedback of clamping force; moreover, signal processing depends on an external host, and key components such as demodulation circuit and photoelectric detection unit are located outside or in the main control device, not integrated into the surgical forceps body, resulting in a large system size, high response delay, easy feedback delay problem, and difficulty in portability, affecting the timeliness and flexibility of operation. Summary of the Invention

[0004] This application aims to at least solve one of the aforementioned technical problems existing in the prior art. Therefore, the purpose of this application is to provide a surgical forceps clamping force monitoring and feedback system, which can solve the problem that existing surgical forceps lack a feedback and monitoring device for clamping force, resulting in low timeliness and flexibility in surgical forceps operation.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A surgical forceps clamping force monitoring and feedback system includes: Clamping components for clamping target tissue; A connecting component, one end of which is connected to a clamping component; A power component, the output end of which is connected to the clamping component via the connecting component, is used to drive the clamping component to open and close; A sensing component, disposed on the connecting component and the clamping component, is used to sense the magnitude of the clamping force applied by the clamping component to the target tissue; A handle assembly, which is connected to the other end of the connecting assembly, is used to house the power assembly and to be held by the operator; A circuit assembly, disposed on the handle assembly and connected to the power assembly and the sensing assembly, is used to emit light signals to the sensing assembly, receive and process the light signals returned by it, and also to control the power assembly. The terminal component, connected to the circuit component, is used to process the data collected by the circuit component and display the clamping force in real time, so that the operator can obtain clamping force feedback information.

[0006] According to some embodiments of this application, the sensing component includes an optical sensor and an optical fiber connector. The optical sensor is disposed on the clamping component, and one end of the optical fiber connector is connected to the optical sensor, while the other end passes through the inside of the connector and is connected to the circuit component.

[0007] According to some embodiments of this application, the optical sensor is an optical fiber pressure sensor or an optical waveguide pressure sensor.

[0008] According to some embodiments of this application, the fiber optic pressure sensor includes a polymer optical fiber, which is used to sense external pressure and generate corresponding optical signal changes.

[0009] According to some embodiments of this application, the clamping assembly includes a first clamping body, a second clamping body, and a transmission assembly. The inner surfaces of the first clamping body and the second clamping body are clamping surfaces. The ends of the first clamping body and the second clamping body near the handle assembly are respectively connected to the connecting assembly through the transmission assembly, and then connected to the power assembly to achieve relative opening and closing. A first groove is formed on the clamping surface of the second clamping body along its own length direction. The first groove is used to place the sensing assembly. The end of the connecting assembly near the first clamping body is provided with an opening, which is used to accommodate the transmission assembly.

[0010] According to some embodiments of this application, the transmission assembly includes a first connecting rod, a second connecting rod, a first rotating shaft, a second rotating shaft, a push column, and a sliding column. One end of the first clamp is provided with a first connecting portion, and one end of the second clamp is provided with a second connecting portion. The first connecting portion and the second connecting portion are arranged crosswise, and the crosswise portion is pivotally connected by the first rotating shaft. There are two second rotating shafts. The end of the first connecting portion away from the first clamp is connected to one end of the first connecting rod through one of the second rotating shafts, and the end of the second connecting portion away from the second clamp is connected to one end of the second connecting rod through the other second rotating shaft. The end of the first connecting rod away from the first connecting portion and the end of the second connecting rod away from the second connecting portion are pivotally connected by the sliding column. A limiting groove is formed along the axial direction at the opening, and the sliding column is slidably disposed in the limiting groove. One end of the push column is connected to the sliding column, and the other end is connected to the output end of the power assembly.

[0011] According to some embodiments of this application, the power assembly includes a transmission rod and a drive assembly, wherein the output end of the power assembly is the transmission rod, the drive assembly is disposed inside the handle assembly, the transmission rod passes through the connection assembly, and one end is connected to the drive assembly and the other end is connected to the push column.

[0012] According to some embodiments of this application, the drive assembly includes a power source, a base, a transmission connection assembly, and a pusher. The base is disposed inside the handle assembly, the power source is disposed on one side of the base, and the output end of the power source is connected to the transmission connection assembly. The transmission connection assembly cooperates with the pusher to drive the pusher to perform reciprocating linear motion on the base. The pusher is connected to the transmission rod, and the reciprocating linear motion of the pusher drives the transmission rod to move, so that the first clamp and the second clamp can open and close.

[0013] According to some embodiments of this application, the handle assembly includes a handle housing and a grip portion. One end of the handle housing is connected to the connecting assembly, and the other end is connected to the grip portion. The handle housing is hollow inside to house the drive assembly, and the circuit assembly is disposed on the surface of the handle housing.

[0014] According to some embodiments of this application, the circuit assembly includes a circuit board on which a laser emitting module, a laser receiving module, a laser processing module, a driving module, a communication module, and a power supply module are provided. The laser emitting module is connected to the sensing component to provide a light source. The laser receiving module is used to receive the light signal output by the sensing component and convert it into an electrical signal, and is connected to the laser processing module. The laser processing module is used to process the converted electrical signal and send it to the terminal component through the communication module. The driving module is used to control the power component. The power supply module is used to provide power to the entire circuit board.

[0015] The beneficial effects of this application are: This application comprises a connecting component, a clamping component, a sensing component, a handle component, a power component, a circuit component, and a terminal component. The handle component is connected to the clamping component via the connecting component and is used by the operator to grip it. The clamping component is used to clamp the target tissue. The sensing component, located on the clamping component, senses the clamping force and transmits it to the circuit component. The circuit component, located on the handle component, emits light signals to the sensing component, receives and processes the returned light signals, controls the power component's operation, and transmits the data to the terminal component. The terminal component processes the received data and displays the clamping force in real time, providing the operator with clamping force feedback information. This enables clamping force monitoring and feedback, improving the timeliness and flexibility of surgical forceps operation. Furthermore, by monitoring changes in the pressure of the clamping component against the target tissue during clamping, the presence and location of a tumor mass beneath the target tissue can be determined, thereby improving the surgical forceps' lesion identification capability.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the surgical forceps structure of this application.

[0018] Figure 2 This is a cross-sectional view of the surgical forceps structure in this application.

[0019] Figure 3 This is a schematic diagram of the clamping assembly and the first connector. Figure 1 .

[0020] Figure 4 This is a schematic diagram of the clamping assembly and the first connector. Figure 2 .

[0021] Figure 5 yes Figure 4 Enlarged diagram of point A in the middle.

[0022] Figure 6 This is a schematic diagram of the transmission component structure.

[0023] Figure 7 This is a cross-sectional view of the first connector.

[0024] Figure 8 This is a schematic diagram of the drive mechanism.

[0025] Figure 9 This is a schematic diagram of the connection principle of the surgical forceps clamping force monitoring and feedback system of this application.

[0026] Figure 10 This is a schematic diagram showing the sensor component located on the clamping component.

[0027] Figure 11 This is a schematic diagram of the sensing component in Embodiment 1 of this application.

[0028] Figure 12 This is a schematic diagram of the sensing component in Embodiment 2 of this application.

[0029] Figure 13 This is a schematic diagram of the sensing component in Embodiment 3 of this application.

[0030] Figure 14 This is a schematic diagram of the sensing component in Embodiment 4 of this application.

[0031] Figure 15 This is a schematic diagram of the sensing component in Embodiment 5 of this application.

[0032] Figure 16 This is a schematic diagram of the sensing component in Embodiment 6 of this application.

[0033] Figure 17 This is a waveform diagram of the raw pulse data collected by the circuit board.

[0034] Figure 18 It is a waveform diagram of pulse data after being processed by the preprocessing algorithm of the terminal component.

[0035] Figure label: 100. Clamping assembly; 110. First clamping body; 111. First connecting part; 120. Second clamping body; 121. First groove; 122. Fiber optic placement slot; 123. Second connecting part; 130. First connecting rod; 140. Second connecting rod; 150. First rotating shaft; 160. Second rotating shaft; 170. Pushing column; 180. Sliding column; 200. Connecting component; 210. First connector; 211. Opening; 212. Limiting groove; 220. Second connector; 300. Power assembly; 310. Transmission rod; 320. Motor; 321. Power supply and drive interface; 330. Gearbox; 331. Mounting base; 340. Base; 341. Pushing component; 342. First connecting plate; 343. Second connecting plate; 344. Connecting block; 345. Connecting threaded hole; 346. First bottom threaded hole; 347. Second bottom threaded hole; 350. Connecting rod; 360. First guide rod; 370. Second guide rod; 380. Lead screw; 400. Sensing component; 410. Optical sensor; 411. Fiber optic housing; 412. Sensing head; 420. Fiber optic connector; 421. First single-mode fiber; 422. Second single-mode fiber; 423. Small-diameter fiber; 424. First single-mode fiber core; 425. Second single-mode fiber core; 426. Small-diameter fiber core; 427. First tapered transition section; 428. Tapered waist section; 429. Second tapered transition section; 430. First fiber Bragg grating; 440. Second fiber Bragg grating; 450. First input coupling fiber; 460. First output coupling fiber; 470. Second input coupling fiber; 480. Second output coupling fiber; 490. Hydrogel core layer; 500. Handle assembly; 510. Handle housing; 511. Handle interface; 520. Grip; 521. First button; 522. Second button; 600. Circuit components; 610. Circuit boards. Detailed Implementation The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0036] In the description of this application, it should be understood that if directional descriptions are involved, such as up, down, front, back, left, right, etc., indicating the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] In the description of this application, if words such as several, greater than, less than, exceeding, above, below, or within appear, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, and "above," "below," "within," etc. are understood to include the number itself.

[0038] In the description of this application, the use of terms such as "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0039] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0040] Depend on Figures 1 to 18 The diagram shows an embodiment of this application.

[0041] Depend on Figures 1 to 8 As shown, this application provides a surgical forceps clamping force monitoring and feedback system, including a clamping assembly 100, a connecting assembly 200, a power assembly 300, a sensing assembly 400, a handle assembly 500, a circuit assembly 600, and a terminal assembly. The clamping assembly 100 is used to clamp target tissue. One end of the connecting assembly 200 is connected to the clamping assembly 100, and the other end is connected to the handle assembly 500. The output end of the power assembly 300 is connected to the clamping assembly 100 through the connecting assembly 200. The power source of the power assembly 300 is located inside the handle assembly 500, and the power assembly 300 is used to drive the clamping assembly 100 to open and close. The sensing assembly 400 is located on the clamping assembly 100 and is used to sense the magnitude of the clamping force applied by the clamping assembly 100 to the target tissue. The handle assembly 500 is for the operator to grip; the circuit assembly 600 is located on the handle assembly 500 and is connected to the power assembly 300 and the sensing assembly 400 respectively. It is used to transmit light signals to the sensing assembly 400, receive and process the returned light signals, and also to control the power assembly 300. The terminal assembly is connected to the circuit assembly 600 and is used to process the data collected by the circuit assembly 600 and display the clamping force in real time, so that the operator can obtain clamping force feedback information.

[0042] Furthermore, the sensing components include an optical sensor 410 and an optical fiber connector 420. The optical sensor 410 is disposed on the clamping assembly 100, and one end of the optical fiber connector 420 is connected to the optical sensor 410, while the other end passes through the connection assembly 200 and is connected to the circuit assembly 600.

[0043] More specifically, the optical sensor 410 is a fiber optic pressure sensor or an optical waveguide pressure sensor.

[0044] More specifically, fiber optic pressure sensors include polymer optical fibers that are used to sense external pressure and generate corresponding changes in optical signals.

[0045] Furthermore, the connection assembly 200 includes a first connector 210 and a second connector 220. One end of the first connector 210 is connected to the clamping assembly 100, and the other end is connected to one end of the second connector 220. The other end of the second connector 220 is connected to the handle assembly 500. The interiors of both the first connector 210 and the second connector 220 are hollow, through which the output end of the power assembly 300 passes and is connected to the clamping assembly 100. The optical fiber connection part 420 passes through the interiors of the first connector 210 and the second connector 220.

[0046] Furthermore, the clamping assembly 100 includes a first clamping body 110, a second clamping body 120, and a transmission assembly. The inner surfaces of the first clamping body 110 and the second clamping body 120 are clamping surfaces. The ends of the first clamping body 110 and the second clamping body 120 near the handle assembly 500 are respectively connected to the first connector 210 through the transmission assembly to achieve relative opening and closing. The clamping surface of the second clamping body 120 has a first groove 121 along its own length direction. The first groove 121 is used to place the optical sensor 410. The end of the first connector 210 near the first clamping body 110 has an opening 211 for placing the transmission assembly.

[0047] The transmission assembly includes a first connecting rod 130, a second connecting rod 140, a first rotating shaft 150, a second rotating shaft 160, a push column 170, and a sliding column 180. One end of the first clamp body 110 is provided with a first connecting part 111, and one end of the second clamp body 120 is provided with a second connecting part 123. The first connecting part 111 and the second connecting part 123 are arranged crosswise, and the crosswise part is pivotally connected by the first rotating shaft 150. Specifically, the first rotating shaft 150 passes through the pre-set through holes on the second connecting part 123 and the first connecting part 111 in a vertical direction and connects to the opening 211, thereby connecting the first clamp body 110 and the second clamp body 120 with the first connecting member 210 to form a stable clamp structure frame.

[0048] There are two second rotating shafts 160. The end of the first connecting part 111 away from the first clamp 110 is connected to one end of the first connecting rod 130 through one of the second rotating shafts 160. The end of the second connecting part 123 away from the second clamp 120 is connected to one end of the second connecting rod 140 through the other second rotating shaft 160. The end of the first connecting rod 130 away from the first connecting part 111 and the end of the second connecting rod 140 away from the second connecting part 123 are pivotally connected by a sliding column 180. A limiting groove 212 is provided axially at the opening 211. The sliding column 180 is slidably disposed in the limiting groove 212. One end of the pushing column 170 is connected to the sliding column 182, and the other end is connected to the output end of the power assembly 300.

[0049] Furthermore, the first rotating shaft 150 and the second rotating shaft 160 are arranged in parallel, with the length of the first rotating shaft 150 being greater than the length of the second rotating shaft 160. Both the first connecting rod 130 and the second connecting rod 140 have threaded holes at their ends where they connect to the second rotating shaft 160, and the second rotating shaft 160 is connected to the first connecting rod 130 and the second connecting rod 140 through these threaded holes.

[0050] Specifically, when the output end of the power assembly 300 drives the push column 170 to move axially along the first clamp body 110, it causes the sliding column 180 to move within the limiting groove 212, thereby causing the first connecting rod 130 and the second connecting rod 140 to swing around the second rotating shaft 160, so that the first clamp body 110 and the second clamp body 120 rotate relative to each other around the second rotating shaft 160, thereby realizing the opening and closing of the jaws formed between the first clamp body 110 and the second clamp body 120.

[0051] Furthermore, the inner surface of the opening 211 is provided with an internal thread, and the end of the first rotating shaft 150 connected to the opening 211 is provided with an external thread that engages with the internal thread. The length of the first rotating shaft 150 is greater than the length of the second rotating shaft 160.

[0052] Furthermore, the outer surface of the end where the first connector 210 connects to the second connector 220 is provided with an annular internal thread, and the end where the second connector connects to the first connector 210 is provided with a thread that engages with the annular internal thread. The second connector 220 is a hollow sleeve. The first connector 210 is detachably connected to the second connector 220, facilitating the disassembly, replacement, and maintenance of the first clamp 110 and the second clamp 120 after surgery. In addition, the hollow interior of the first connector 210 provides a channel for the arrangement of the optical fiber connector 420, which can pass through this hollow structure to enter the demodulation circuit, thus achieving both mechanical connection and optical transmission functions.

[0053] Furthermore, the power assembly 300 includes a transmission rod 310 and a drive assembly, wherein the output end of the power assembly 300 is the transmission rod 310, the drive assembly is located inside the handle assembly 500, the transmission rod 310 passes through the first connector 210 and the second connector 220, and one end is connected to the drive assembly, and the other end is connected to the push column 170.

[0054] The drive assembly includes a power source, a base 340, a transmission connection assembly, and a pusher 341. The base 340 is located inside the handle assembly 500, and the power source is located on the base 340. The output end of the power source is connected to the transmission connection assembly. Specifically, the pusher 341 is connected to the transmission rod 310. The reciprocating linear motion of the pusher 341 drives the transmission rod 310 to move, so that the first clamp 110 and the second clamp 120 can open and close.

[0055] Furthermore, the base 340 is provided with a first connecting plate 342 and a second connecting plate 343. The pusher 341 is located between the first connecting plate 342 and the second connecting plate 343. The power source is a motor 320 and a gearbox 330. A mounting seat 331 is provided on the side of the first connecting plate 342 away from the pusher 341. The first connecting plate 342 has symmetrically opened connecting threaded holes 345. The mounting seat 331 is connected to the first connecting plate 342 through the connecting threaded holes 345. The gearbox 330 is provided on the mounting seat. The output end of the motor 320 is fixedly connected to one end of the gearbox 330. The other end of the gearbox 330 passes through the first connecting plate 342. The pusher 341 is provided with a connecting block 344. The connecting block 344 has an internal threaded hole. One end of the transmission rod 310 has an external thread that mates with the internal threaded hole, thereby realizing the detachable connection between the connecting block 344 and the transmission rod 310.

[0056] The transmission connection assembly includes a connecting rod 350 and a lead screw 380. One end of the connecting rod 350 is connected to the other end of the gearbox 330 (i.e., the end with the rotating rod), and the other end of the connecting rod 350 is connected to the lead screw 380. The lead screw 380 passes through the pusher 341 and is connected to the second connecting plate 343. The motor 320 drives the lead screw 380 to rotate through the gearbox 330, thereby controlling the pusher 341 to reciprocate on the base 340. The transmission rod 310 connected to the pusher 341 reciprocates, thereby driving the opening and closing of the first clamp 110 and the second clamp 120.

[0057] Furthermore, the motor 320 is equipped with a power supply and drive interface 321, which is a rectangular groove for electrical connection with an external motor drive module. The motor 320 is a two-phase four-wire stepper motor. The base 340 has a first bottom threaded hole 346 and a second bottom threaded hole 347 at its bottom, and the base 340 is fixedly connected to the handle assembly internally through the first bottom threaded hole 346 and the second bottom threaded hole 347. Simultaneously using a motor to drive the first and second clamps to achieve opening and closing improves the control precision of the surgical forceps and reduces the difficulty of surgery.

[0058] Furthermore, the pusher 341 is symmetrically provided with a first guide rod 360 and a second guide rod 370 on both sides. The first guide rod 360 and the second guide rod 370 are embedded in the grooves (not shown) provided in the first connecting plate 342 and the second connecting plate 343 to ensure that the pusher 341 does not deviate during movement.

[0059] The handle assembly 500 includes a handle housing 510 and a grip portion 520. One end of the handle housing 510 is connected to the second connector 220, and the other end is connected to the grip portion 520. The handle housing 510 is hollow inside and is used to house the drive assembly. The circuit assembly 600 is disposed on a substrate provided on the lower surface of the handle housing 510. The grip portion 520 is used for the operator to hold.

[0060] Furthermore, the handle housing 510 is a hollow cylinder, with a handle interface 511 at one end. The second connector 220 is connected to the handle housing 510 through the handle interface 511. The grip portion 520 is provided with a first button 521 and a second button 522, which are connected to the circuit assembly 600 to control the opening and closing actions of the first clamp 110 and the second clamp 120.

[0061] The circuit assembly 600 includes a circuit board 610, on which are provided a laser emitting module, a laser receiving module, a laser processing module, a driving module, a communication module, and a power supply module. The laser emitting module is connected to the sensing component to provide a light source. The laser receiving module is used to receive the light signal output by the sensing component and convert it into an electrical signal, and is connected to the laser processing module. The laser processing module is used to process the converted electrical signal and send it to the terminal component through the communication module. The driving module is used to control the motor 320, and the power supply module is used to provide power to the entire circuit board 610.

[0062] Furthermore, the laser emitting module consists of a laser diode and its driving circuit, which emit incident light into the optical sensor 410. The laser receiving module is a photodiode, which receives the optical signal output from the optical sensor 410 and converts it into a current signal. The laser processing module includes a current-to-voltage conversion circuit, a data acquisition circuit, and a microprocessor connected in sequence. The current-to-voltage conversion circuit and the data acquisition circuit are used for signal demodulation, amplification, and analog-to-digital conversion. The microprocessor receives the demodulated data and sends it to the communication module via a Bluetooth virtual serial port, and sends signals to the drive module to control the speed and direction of the motor 320. The drive module is a motor drive module, and the communication module is a wireless Bluetooth module, which sends data to the terminal component.

[0063] More often, the laser diode is a DFB single-mode coaxial laser diode with a center wavelength of 1550nm.

[0064] Furthermore, the laser diode and its driving circuit can provide a stable narrowband laser source at 1550nm, and the emitted laser source is coupled into the optical sensor 410 arranged on the second clamp 120. When external pressure is applied to the second clamp 120, the refractive index or interference conditions inside the optical sensor 410 change, thereby causing a change in the output light intensity.

[0065] The terminal component includes a Bluetooth data receiving module, a raw data preprocessing and force prediction module, a data waveform display module, and a Bluetooth data transmitting module. The terminal component can search for and pair with wireless Bluetooth modules on circuit board 610, and then receive data through the Bluetooth data receiving module. The raw data preprocessing and force prediction module can further process the raw data according to the preprocessing algorithm and calibration matrix. The data waveform display module is used to plot the preprocessed data as a waveform for intuitive display, and also displays the predicted force response curve. The Bluetooth data transmitting module can send the preprocessed data to the cloud for further processing; the cloud can be a remote server or cloud computing platform connected to the terminal component.

[0066] The calibration matrix is ​​a linear relationship between force and light intensity changes obtained through experiments. It is established by collecting a large amount of load-voltage corresponding data for calibration. Then, the demodulated voltage signal is converted into corresponding clamping force information through current-to-voltage conversion circuit and data acquisition circuit for real-time clamping force response curve display.

[0067] More commonly, the wireless Bluetooth module is the HC-05 model.

[0068] More often, the terminal component is a mobile terminal device with Bluetooth communication capabilities, such as a smartphone or tablet.

[0069] Depend on Figure 9 As can be seen, the surgical forceps clamping force monitoring and feedback system of this application is based on an optical sensing system. The circuit board 610 is a demodulation circuit board, and the optical sensor 410 and the optical fiber connector 420 constitute an optical sensing unit. The optical sensing unit transmits the optical signal to the demodulation circuit board for preprocessing, and the demodulation circuit board transmits the data to the mobile terminal, thereby realizing real-time monitoring and feedback of the clamping force. At the same time, the power component is directly controlled according to the force feedback information to change the clamping state of the surgical forceps, thus forming a closed-loop feedback.

[0070] This application also provides a surgical forceps clamping force monitoring and feedback system, the specific working process of which is as follows: The operator operates the first clamp 110 and the second clamp 120 by pressing the first button 521 and the second button 522 respectively. The first button 521 and the second button 522 are respectively connected to the motor drive module.

[0071] When the first button 521 is pressed, the microprocessor receives a trigger signal and outputs a control signal for reverse rotation to the motor 320 through the motor drive module. The control signal includes a PWM signal for step or speed control and a control signal for the corresponding direction. The PWM signal is a pulse width modulation signal. The motor 320 drives the lead screw 380 to rotate in the reverse direction through the gearbox 330, causing the pusher 341 to move backward along the base 340, thereby driving the transmission rod 310 to move backward, and driving the first clamp 110 and the second clamp 120 to gradually close through the push column 170, thereby achieving the clamping of the target tissue.

[0072] When the second button 522 is pressed, the microprocessor receives a trigger signal and outputs a control signal for forward rotation to the motor 320 through the motor drive module. The control signal includes a PWM signal for step or speed control and a control signal for the corresponding direction. The PWM signal is a pulse width modulation signal. The motor 320 drives the lead screw 380 to rotate forward through the gearbox 330, causing the pusher 341 to move forward along the base 340, thereby driving the transmission rod 310 to move forward, and driving the first clamp 110 and the second clamp 120 to gradually open through the push column 170, thereby releasing the target tissue.

[0073] A laser diode and its driving circuit emit a light source, which is then transmitted to an optical sensor 410 via an optical fiber connector 420. When the optical sensor 410 senses a change in external pressure, its internal refractive index or interference conditions change, causing a change in the output light intensity. The light signal from the optical sensor 410 is transmitted to a photodiode via the optical fiber connector 420. The photodiode converts the light signal into a current signal. A current-to-voltage conversion circuit converts the current signal output by the photodiode into a voltage signal and amplifies and filters the voltage signal. A data acquisition circuit is used to acquire the voltage signal output from the current-to-voltage conversion circuit in real time. A microprocessor and a wireless Bluetooth module are connected via a serial port to package the acquired voltage signal and wirelessly transmit it to the terminal component.

[0074] The terminal component first pairs and communicates with the wireless Bluetooth module, then receives the optical demodulated signal (voltage signal) transmitted from the circuit board in real time via Bluetooth data reception. The raw data preprocessing and force prediction module performs wavelet denoising, high-pass filtering, normalization, and smoothing filtering on the received data, and maps the demodulated voltage signal to the corresponding clamping and shearing forces based on the experimentally calibrated matrix. The data waveform display module visually displays the preprocessed voltage signal waveform as a curve, which can be used to determine whether a tumor mass exists under the currently clamped tissue. Simultaneously, the data waveform display module visualizes the mapped force response curve, providing real-time force feedback information to the surgeon. The microprocessor can also dynamically adjust the output PWM signal based on the force feedback information, thereby regulating the direction and speed of the motor 320, controlling the opening and closing of the first clamp 110 and the second clamp 120, and preventing further damage to the target tissue by the surgical forceps in emergencies. The Bluetooth data transmission module can further upload the processed and predicted data to the cloud for postoperative reference by doctors or for intelligent analysis.

[0075] Depend on Figure 10 As shown, in this embodiment, the optical sensor 410 includes an optical fiber housing 411, which encapsulates an optical fiber connector 420. The optical fiber connector 420 is an optical fiber that passes through both ends of the optical fiber housing 411 and is sequentially inserted into the first connector 210 and the second connector 220 near the handle assembly 500, ultimately connecting to the circuit board 610. The optical fiber housing 411 is embedded in the first groove 121. The second clamp 120 also has an optical fiber placement slot 122 communicating with the first groove for placing the optical fiber. A sensing head 412 is provided on the top of the optical fiber housing 411 for transmitting external pressure to the optical fiber.

[0076] Depend on Figure 11 As shown, this is Embodiment 1 of the present application.

[0077] Based on the embodiments of this application, the optical sensor 410 is a flexible fiber optic sensor, the fiber optic housing 411 is a flexible substrate made of polydimethylsiloxane (PDMS), and a sensing head 412 is provided on the top of the flexible substrate to transmit external pressure to the optical sensor 410, which can improve the uniformity of force distribution.

[0078] Depend on Figure 12 As shown, this is Embodiment 2 of this application.

[0079] Based on Embodiment 1, the optical sensor 410 in this embodiment is a spliced ​​optical fiber. The spliced ​​optical fiber includes a first single-mode fiber 421, a second single-mode fiber 422, and a small-diameter fiber 423. One end of the small-diameter fiber 423 is connected to the first single-mode fiber 421, and the other end is connected to the second single-mode fiber 422. The first single-mode fiber 421 contains a first single-mode fiber core 424, the second single-mode fiber 422 contains a second single-mode fiber core 425, and the small-diameter fiber 423 contains a small-diameter fiber core 426. The two ends of the small-diameter fiber core 426 are respectively connected to the first single-mode fiber core 424 and the second single-mode fiber core 425 through an optical fiber fusion splicing process to align and fuse the fiber core ends, thereby achieving optical continuity. During the fusion splicing process, a high-precision fusion splicer is used to manually align the fiber core, and an electric arc discharge is used to locally melt the fiber end face. Then, under axial pressure, a fusion point without a clear interface is formed to ensure that the optical signal can be smoothly coupled from the first single-mode fiber 421 into the small-diameter fiber 423. This type of manually aligned fusion splicing method is suitable for two optical fibers with different core / cladding diameters.

[0080] An optical fiber consists of a core and a cladding, with the cladding wrapping around the outer surface of the core. The optical signal propagates in the core in the core mode and in the cladding in the cladding mode. When incident light couples from the first single-mode fiber 421 into the small-diameter fiber 423, some of the light energy remains in the core mode, while the remaining energy is excited into the cladding mode. The core mode and the cladding mode propagate together within the small-diameter fiber 423, and a phase difference gradually develops due to the difference in their effective refractive indices. When the light continues to propagate to the splice point between the small-diameter fiber 423 and the second single-mode fiber 422, the core mode and the cladding mode couple again into the second single-mode fiber 422, forming a superimposed output of two coherent optical fields. Due to the difference in propagation constants between the core mode and the cladding mode, this output optical field exhibits an interference spectrum that varies periodically with wavelength.

[0081] When external pressure is applied to the second clamp 120 and transmitted to the optical sensor 410, it causes a slight change in the refractive index or geometric dimensions of the small-diameter optical fiber 423. The effective refractive index difference between the core mode and the cladding mode changes accordingly, resulting in a shift in the position of the interference fringes. This displacement, or the corresponding change in light intensity, corresponds to an external physical quantity. By demodulating the change in light intensity of the output light signal after the narrowband laser passes through the optical sensor 410, the corresponding pressure information can be obtained.

[0082] The fiber optic sensor in this embodiment has higher response sensitivity to changes in external pressure, enabling precise detection of tumor location under target tissue and minute stresses during surgery. It is suitable for high-precision medical monitoring and minimally invasive surgery scenarios.

[0083] Furthermore, in this embodiment, both the first single-mode fiber 421 and the second single-mode fiber 422 are polymer single-mode fibers, primarily made of cyclic olefin polymers (COP, Cyclo Olefin Polymer). The core material of the first single-mode fiber 424 and the core material of the second single-mode fiber 425 are ZEONEX E48R (a cyclic olefin copolymer produced by Zeon Corporation of Japan), with an optical refractive index of 1.531 and a diameter of 8 μm; the cladding material is ZEONEX 480R (also a cyclic olefin copolymer produced by Zeon Corporation of Japan), with an optical refractive index of 1.525 and a diameter of 125 μm. The small-diameter fiber 423 is a high-refractive-index fiber, with a core diameter of 4.2 μm and a cladding diameter of 50 μm.

[0084] Depend on Figure 13 As shown, this is Embodiment 3 of this application.

[0085] Based on Example 1, the optical sensor 410 in this example is a tapered optical fiber, belonging to the interferometric sensor type. The two ends of the tapered optical fiber are sequentially connected by a first tapered transition section 427, a tapered waist section 428, and a second tapered transition section 429. The tapered optical fiber is a polymer single-mode fiber, fabricated through a fiber heating and tapering process, such that the two ends of the tapered optical fiber gradually decrease in diameter to the tapered waist section 428 via the first tapered transition section 427 and the second tapered transition section 429, respectively. The first tapered transition section 427 and the second tapered transition section 429 are symmetrically arranged with respect to the tapered waist section 428.

[0086] Furthermore, the materials used in tapered optical fibers are primarily cyclic olefin polymers (COP), with the core material being ZEONEX E48R (optical refractive index 1.531) and the cladding material being ZEONEX 480R (optical refractive index 1.525). The cladding diameter is 125 μm. At the waist section (428), the diameter of the tapered fiber is significantly smaller than that of conventional single-mode fiber, altering the effective refractive index distribution of the optical field.

[0087] In operation, the transmitted optical signal enters the waist section 428 after passing through the first tapered transition section 427. Due to the gradual reduction in fiber geometry, some of the optical energy from the core mode leaks into the cladding and forms a cladding mode, thus achieving intermode coupling. The core mode and the cladding mode propagate simultaneously within the waist section 428 and accumulate a phase difference due to their different effective refractive indices. Subsequently, the light continues to propagate to the second tapered transition section 429, where the two modes couple again and are combined into the single-mode fiber section with a cladding diameter of 125 μm. Because the phase difference between the core mode and the cladding mode varies with wavelength, the output spectrum exhibits a typical interference fringe structure.

[0088] Therefore, by monitoring the spectral interference fringes at the output end of a tapered optical fiber, sensitive detection of external physical quantities can be achieved. When external environmental factors (such as strain, pressure, or temperature changes) act on the waist section 428, they cause changes in its refractive index and geometric dimensions, thereby altering the phase difference between the core mode and the cladding mode, leading to a drift in the interference spectral fringes. The amount of fringe drift is proportional to the external disturbance. Using a narrowband laser as the light source, the fringe shift can be converted into a change in output light intensity, thus establishing the relationship between the change in output light intensity and the external disturbance, thereby realizing the sensing function.

[0089] Depend on Figure 14 As shown, this is Embodiment 4 of this application.

[0090] Based on Embodiment 1, the optical sensor 410 is an interferometric sensor based on a fiber grating. The optical fiber connector 420 is a photosensitive optical fiber, which includes a first fiber Bragg grating 430 and a second fiber Bragg grating 440 etched in the fiber core. Both the first fiber Bragg grating 430 and the second fiber Bragg grating 440 are formed by etching in the fiber core using an ultraviolet phase mask method and have specific Bragg reflection wavelengths.

[0091] Furthermore, the first fiber Bragg grating 430 and the second fiber Bragg grating 440 are spaced apart along the same photosensitive fiber axis and arranged opposite each other. The fiber segment between them forms an optical resonant cavity, which is a Fabry-Perot interference structure. When the optical signal is transmitted along the photosensitive fiber to the first fiber Bragg grating 430, part of the light is reflected, and part of the light is transmitted into the cavity region between the two gratings. Within the cavity region, the transmitted light undergoes multiple reflections and superpositions between the two gratings, resulting in a phase difference due to the propagation path difference, ultimately forming an interference spectrum at the output port. The optical path difference of the cavity region varies with wavelength, thus exhibiting a typical interference fringe structure at the output end.

[0092] When external disturbances (such as strain, pressure, or temperature) act on the optical resonant cavity in this embodiment, they cause changes in the refractive index or physical length of the optical fiber, thereby altering the optical path length of the cavity region and causing interference fringes to drift. Using a narrowband laser as the light source converts the fringe shift into a change in output light intensity. By detecting this change in light intensity, sensitive measurement of external physical quantities can be achieved.

[0093] Depend on Figure 15 As shown, this is Embodiment 5 of this application.

[0094] Based on the embodiments of this application, the optical sensor 410 is a U-shaped hydrogel optical waveguide sensor. The structure of the first groove 121 is a rectangular groove suitable for the U-shaped hydrogel optical waveguide sensor. The structure of the optical fiber placement groove 122 is adapted to the U-shaped hydrogel optical waveguide sensor. The optical fiber connection part 420 is a coupling optical fiber that only penetrates the side of the optical fiber housing 411 near the handle assembly 500. The coupling optical fiber enters the first connector 210 through the optical fiber placement groove 122, and then passes through the second connector 220 and the handle housing 510 to connect to the circuit board 610.

[0095] Furthermore, the optical fiber connector 420 includes a first input coupling fiber 450 and a first output coupling fiber 460 arranged in parallel. The first input coupling fiber 450 is used to transmit the input optical signal, and the first output coupling fiber 460 is used to transmit the output optical signal.

[0096] Depend on Figure 16 As shown, this is Embodiment 6 of the present application.

[0097] Based on Embodiment 5 of this application, the optical sensor 410 is a U-shaped hydrogel optical waveguide sensor, the optical fiber housing 411 is a low-refractive-index cladding substrate, and a sensing head 412 is provided on the top. The optical fiber connector 420 includes a second input coupling fiber 470, a second output coupling fiber 480, and a hydrogel core layer 490. The second input coupling fiber 470 and the second output coupling fiber 480 are coupled to the hydrogel core layer 490 by insertion.

[0098] Furthermore, the hydrogel core layer 490 is made of polyethylene glycol diacrylate (PEGDA), which is cured with ultraviolet light using a photoinitiator to form a transparent polymer hydrogel material. Its refractive index is higher than that of the low refractive index cladding substrate to ensure the optical waveguide transmission conditions.

[0099] The hydrogel core layer 490 has a U-shaped structure, which causes light to bend in the propagation path, thereby enhancing its sensitivity to changes in the external environment. The low-refractive-index cladding substrate is made of polydimethylsiloxane (PDMS), with a refractive index lower than that of the hydrogel core layer 490, thus forming an effective total internal reflection waveguide structure. The second input coupling fiber 470 and the second output coupling fiber 480 are multimode fibers, which are inserted to connect to both ends of the hydrogel core layer 490 to realize the input of external light source signals and the output of transmission signals. The coupling ends are embedded and encapsulated, and fixed with epoxy resin at the end face to ensure stable optical connection.

[0100] During use, when external physical quantities (such as stress and pressure) are applied to the hydrogel core layer 490, its local refractive index and geometric deformation will change, especially in the bending region, causing a decrease in the bending radius and cross-sectional distortion, thereby increasing bending loss and scattering loss. This leads to energy leakage from the guided mode to the radiating mode, causing the output light intensity to decrease monotonically with external pressure. By detecting the change in output light intensity, sensitive measurement of external physical quantities can be achieved.

[0101] Figure 17 and Figure 18 As shown, the surgical forceps clamping force monitoring and feedback system of this application can detect the human pulse of the subject, thereby verifying the demodulation and data acquisition capabilities of the demodulation circuit board and the effectiveness of the preprocessing algorithm in the terminal component.

[0102] The optical sensor 410 is a spliced ​​polymer fiber optic sensor as described in Embodiment 2 of this application, which is attached to the radial artery of the subject for pulse measurement. A laser diode and its driving circuit provide stable incident light; a photodiode converts the light signal output by the sensor into current, which is then processed by a current-to-voltage conversion circuit and acquired by a data acquisition circuit before being transmitted to the terminal component via a wireless Bluetooth module.

[0103] Furthermore, the sampling rate is preferably set to f. s =1000Hz, quantization bit width not less than 12 bits; each acquisition is no less than 60 seconds of continuous data. After the Bluetooth receiving module in the terminal component completes data access, it calls the preprocessing algorithm module to process the data, and then uploads the processed data to the computer through the data sending module for further processing.

[0104] The specific processing steps are as follows: S100. Perform wavelet decomposition and thresholding on the original signal to filter out high-frequency noise: Select the Daubechies-9 (db9) wavelet basis and perform discrete wavelet decomposition on the input sequence x[n] to obtain the approximate coefficients c. A With detail coefficients c of each layer D1-D8 The noise standard deviation is estimated using the median absolute deviation of the first-level detail coefficients. Then, based on this, a general threshold is calculated:

[0105] in For signal length, The threshold scaling factor is preferred. =1.5. Apply soft thresholding to the detail coefficients of each layer, retaining the approximation coefficient c. A Without changing the order, the denoised sequence is finally obtained through wavelet reconstruction. .

[0106] S200. Baseline drift is removed using a high-pass filtering method: To suppress low-frequency terms caused by respiratory movements, the denoising sequence is... Apply a 4th-order Butterworth high-pass filter, with the preferred cutoff frequency f. c =0.9Hz. Zero-phase bidirectional filtering is used to avoid phase distortion, resulting in a high-pass filtered sequence. .

[0107] S300. Perform amplitude normalization on the filtered signal: Normalize the signal using the minimum-maximum normalization method. Mapping to the [0,1] interval:

[0108] This is the normalized sequence.

[0109] S400, uses a smoothing filter method to remove glitches and obtain a continuous waveform: for Savitzky-Golay smoothing was applied with a smoothing window size of 21 points and a smoothing polynomial order of 3, resulting in a smoothed sequence. This is to suppress high-frequency glitches and maintain the waveform shape without distortion to the greatest extent possible.

[0110] The waveforms before and after processing using the above preprocessing algorithm are as follows: Figure 17 and Figure 18 As shown, compared with the original curve, the preprocessed pulse wave noise is significantly reduced, the baseline is stable, and the peaks and valleys are clear, which facilitates peak detection and feature extraction.

[0111] It should be noted that the above description is a preferred embodiment of the present invention, and the description of the surgical forceps structure is not the only limitation. The db9 wavelet basis, threshold scaling factor of 1.5, and cutoff frequency f are also mentioned. c= 0.9Hz, a smoothing window size of 21 points, and a smoothing polynomial order of 3 are all preferred parameters and do not constitute a limitation of the present invention. Furthermore, the sensor structures in the embodiments, such as spliced ​​optical fibers, tapered optical fibers, interferometric sensors based on fiber gratings, and U-shaped hydrogel waveguide sensors, are all preferred solutions and also do not constitute a limitation of the present invention.

[0112] This application discloses a surgical forceps clamping force monitoring and feedback system. It comprises a connecting component, a clamping component, a sensing component, a handle component, a power component, a circuit component, and a terminal component. The handle component is connected to the clamping component via the connecting component and is used by the operator to hold the force. The clamping component is used to clamp the target tissue. The sensing component, located on the clamping component, senses the clamping force and transmits it to the circuit component. The circuit component, located on the handle component, emits light signals to the sensing component, receives and processes the returned light signals, controls the power component's operation, and transmits the data to the terminal component. The terminal component processes the received data and displays the clamping force magnitude in real time, providing the operator with clamping force feedback information. Integrating multiple components onto the handle component results in a compact structure, optimized space layout, and miniaturized design. While achieving clamping force monitoring and feedback, it improves the timeliness and flexibility of surgical forceps operation and the level of intelligence in surgical instruments. Furthermore, it can determine the presence and precise location of tumor masses beneath the tissue by monitoring pressure changes, thereby improving the lesion identification capability of the surgical forceps. Using an electric motor to drive the opening and closing of the first and second clamps can improve the precision of the surgical forceps and reduce the difficulty of the surgery.

[0113] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0114] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A surgical forceps clamping force monitoring and feedback system, characterized in that, include: Clamping components for clamping target tissue; A connecting component, one end of which is connected to a clamping component; A power component, the output end of which is connected to the clamping component via the connecting component, is used to drive the clamping component to open and close; A sensing component, disposed on the connecting component and the clamping component, is used to sense the magnitude of the clamping force applied by the clamping component to the target tissue; A handle assembly, which is connected to the other end of the connecting assembly, is used to house the power assembly and to be held by the operator; A circuit assembly, disposed on the handle assembly and connected to the power assembly and the sensing assembly, is used to emit light signals to the sensing assembly, receive and process the light signals returned by it, and also to control the power assembly. The terminal component, connected to the circuit component, is used to process the data collected by the circuit component and display the clamping force in real time, so that the operator can obtain clamping force feedback information.

2. The surgical forceps clamping force monitoring and feedback system according to claim 1, characterized in that, The sensing component includes an optical sensor and an optical fiber connector. The optical sensor is mounted on the clamping component. One end of the optical fiber connector is connected to the optical sensor, and the other end passes through the inside of the connector and is connected to the circuit component.

3. The surgical forceps clamping force monitoring and feedback system according to claim 2, characterized in that, The optical sensor is a fiber optic pressure sensor or an optical waveguide pressure sensor.

4. The surgical forceps clamping force monitoring and feedback system according to claim 3, characterized in that, The fiber optic pressure sensor includes a polymer optical fiber, which is used to sense external pressure and generate corresponding optical signal changes.

5. The surgical forceps clamping force monitoring and feedback system according to claim 1, characterized in that, The clamping assembly includes a first clamping body, a second clamping body, and a transmission assembly. The inner surfaces of the first clamping body and the second clamping body are clamping surfaces. The ends of the first clamping body and the second clamping body near the handle assembly are respectively connected to the connecting assembly through the transmission assembly, and then connected to the power assembly to achieve relative opening and closing. A first groove is formed on the clamping surface of the second clamping body along its own length direction. The first groove is used to place the sensing assembly. The end of the connecting assembly near the first clamping body has an opening, which is used to accommodate the transmission assembly.

6. The surgical forceps clamping force monitoring and feedback system according to claim 5, characterized in that, The transmission assembly includes a first connecting rod, a second connecting rod, a first rotating shaft, a second rotating shaft, a push column, and a sliding column. One end of the first clamp has a first connecting portion, and one end of the second clamp has a second connecting portion. The first connecting portion and the second connecting portion are arranged crosswise, and the crosswise portion is pivotally connected by the first rotating shaft. There are two second rotating shafts. The end of the first connecting portion away from the first clamp is connected to one end of the first connecting rod through one of the second rotating shafts, and the end of the second connecting portion away from the second clamp is connected to one end of the second connecting rod through the other second rotating shaft. The ends of the first connecting rod away from the first connecting portion and the ends of the second connecting rod away from the second connecting portion are pivotally connected by the sliding column. A limiting groove is formed along the axial direction at the opening, and the sliding column is slidably disposed in the limiting groove. One end of the push column is connected to the sliding column, and the other end is connected to the output end of the power assembly.

7. The surgical forceps clamping force monitoring and feedback system according to claim 6, characterized in that, The power assembly includes a transmission rod and a drive assembly, wherein the output end of the power assembly is the transmission rod, the drive assembly is located inside the handle assembly, the transmission rod passes through the connection assembly, and one end is connected to the drive assembly and the other end is connected to the push column.

8. The surgical forceps clamping force monitoring and feedback system according to claim 7, characterized in that, The drive assembly includes a power source, a base, a transmission connection assembly, and a pusher. The base is located inside the handle assembly, and the power source is located on the base. The output end of the power source is connected to the transmission connection assembly. The transmission connection assembly cooperates with the pusher to drive the pusher to perform reciprocating linear motion on the base. The pusher is connected to the transmission rod, and the reciprocating linear motion of the pusher drives the transmission rod to move, thereby opening and closing the first clamp and the second clamp.

9. The surgical forceps clamping force monitoring and feedback system according to claim 7, characterized in that, The handle assembly includes a handle housing and a grip portion. One end of the handle housing is connected to the connecting assembly, and the other end is connected to the grip portion. The handle housing is hollow inside to house the drive assembly, and the circuit assembly is located on the lower surface of the handle housing.

10. The surgical forceps clamping force monitoring and feedback system according to claim 1, characterized in that, The circuit assembly includes a circuit board on which a laser emitting module, a laser receiving module, a laser processing module, a driving module, a communication module, and a power supply module are provided. The laser emitting module is connected to the sensing component to provide a light source. The laser receiving module receives the light signal output by the sensing component and converts it into an electrical signal, and is connected to the laser processing module. The laser processing module processes the converted electrical signal and sends it to the terminal component through the communication module. The driving module controls the power component. The power supply module provides power to the entire circuit board.

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