Tail end anastomat for microsurgery robot and replacement control method

Abstract

The invention provides a tail end anastomat for a microsurgery robot and a replacement control method, and belongs to the technical field of surgery robotics.The tail end anastomat comprises a control handle end installed on a mechanical arm and a plurality of anastomat bodies used for surgery; the anastomat body comprises a butt-joint rod body and a nail cutting board connected with the butt-joint rod body through a joint head, a nail box carrying a nail bin is arranged on the nail cutting board, an operating rod body is arranged at the end of the control handle, and a semi-fixed assembly connected with the butt-joint rod body in a combined mode is arranged at the end of the operating rod body. And the semi-fixed assembly processes the real-time pose data of the tail end of the control rod body and the preset disassembly pose data of the anastomat body to be replaced so as to control the locking state and complete the replacement of the anastomat body. The time interval between two times of anastomosis operation is shortened, automatic replacement is controlled through the robotic arm, operation pause caused by manual instrument replacement is avoided, and the efficiency of complex and multi-vessel anastomosis microsurgery is improved.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to an end anastomosis device for a microsurgical robot and a replacement control method. Background Technology

[0002] Microsurgical robots are high-end medical devices that assist doctors in performing precise operations at the millimeter or even micrometer scale. By filtering out physiological tremors of the human hand and achieving motion scaling, they significantly improve the precision and stability of surgery.

[0003] An anastomosis device is a medical device used in surgery to replace traditional manual suturing, quickly closing tissues and connecting tubular organs (such as intestines and blood vessels). In manual surgery, after completing a suture, the doctor discards the entire anastomosis unit (including the device body and the fastened rings) as medical waste. If the next blood vessel needs to be anastomosed, the doctor will open a brand new, independent anastomosis device package. This method is not applicable in the process of microsurgical robot surgery. Microsurgical robots control the anastomosis device through an end effector. The connection between the end effector and the anastomosis device is controlled by a pneumatic control valve. When changing the device, both the connection and control end need to be replaced, which is very troublesome. Directly replacing the anastomosis device would seriously affect the progress of the surgery. Summary of the Invention

[0004] The technical problem to be solved by this invention is to propose an end anastomosis device for a microsurgical robot and a replacement control method, which realizes "target replacement", greatly shortens the interval between two anastomosis operations, and improves surgical efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An end-effector for a microsurgical robot includes a control handle mounted on a robotic arm and multiple stapler bodies for surgery. Each stapler body includes a docking rod and a staple anvil connected to the docking rod via an articulated head. The staple anvil is provided with a staple cartridge. The control handle is provided with an operating lever, and the end of the operating lever is provided with a semi-fixed assembly that is combined and connected to the docking rod.

[0007] The control lever is equipped with an equipment rack for installing a spare stapler body, and the control lever is equipped with an installation control end for clamping and replacing the stapler body.

[0008] The installation control end consists of a translation component, a lifting component, and a twisting clamping component, and is used to install the spare anastomosis device body onto the control lever.

[0009] The stapler is replaced through the following process:

[0010] Acquire real-time pose data of the end of the control stick and preset disassembly pose data of the anastomosis device body to be replaced;

[0011] Based on the real-time pose data and the preset disassembly pose data, determine the pose compensation data;

[0012] Based on the pose compensation data, a first drive signal is determined. This first drive signal is used to control the installation and control terminal to perform pose adjustment.

[0013] Obtain the first clamping parameters of the torsion clamping assembly;

[0014] Based on the first clamping parameter, a second driving signal is determined. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever.

[0015] Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack;

[0016] Based on the preset grasping pose data, a third driving signal is determined, which is used to control the installation control terminal to move to the preset grasping pose.

[0017] Obtain the second clamping parameters of the torsion clamping assembly;

[0018] Based on the second clamping parameters, a fourth driving signal is determined. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body, and to obtain the installation position data of the spare anastomosis device body.

[0019] Based on the installation posture data, a locking drive command is determined. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain locking state parameters. When the locking state parameters reach a preset threshold, a release drive command is generated. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

[0020] Optionally, the semi-fixed assembly includes a combination seat fixedly disposed at the end of the control lever body, the control lever body located at the combination seat having an insertion interface, and the end of the docking lever body being provided with an insertion sleeve adapted to the insertion interface.

[0021] Optionally, a locking motor is provided at the end of the combination seat, and a locking worm is connected to the output end of the locking motor. Two counter-rotating semi-rings are slidably arranged on the inner wall of the combination seat, and a worm wheel semi-ring that meshes with the locking worm is provided on the back of the counter-rotating semi-ring.

[0022] Optionally, the translation assembly includes a fixed ring seat fixedly mounted on the control lever, a translation frame mounted on the fixed ring seat, a translation push cylinder mounted on the translation frame, a translation plate connected to the output end of the translation push cylinder, and the translation plate being slidably connected to the translation frame.

[0023] Optionally, the lifting assembly includes a lifting electric push rod disposed on the translation plate, the output end of the lifting electric push rod is connected to a clamping panel, both ends of the clamping panel are provided with U-shaped rotary clamps through a rotating shaft, and the docking rod body is provided with a clamping port adapted to the U-shaped rotary clamps.

[0024] Optionally, the torsion clamping assembly includes a fixed helical gear ring disposed on the outer side wall of the rotating shaft, and a spin motor is disposed on the output end of the lifting electric push rod, and a spin gear that meshes with the fixed helical gear ring is fixedly connected to the output end of the spin motor.

[0025] Optionally, the outer wall of the insertion sleeve is provided with an annular notch that matches the counter-rotating semi-ring.

[0026] Optionally, the equipment rack has an installation port, and the installation port is provided with a magnetic suction layer for adsorbing the anastomosis device body.

[0027] This invention also provides a method for controlling the replacement of an end anastomosis device for a microsurgical robot, applied to the aforementioned end anastomosis device for a microsurgical robot, comprising:

[0028] Acquire real-time pose data of the end of the control stick and preset disassembly pose data of the anastomosis device body to be replaced;

[0029] Based on the real-time pose data and the preset disassembly pose data, determine the pose compensation data;

[0030] Based on the pose compensation data, a first drive signal is determined. This first drive signal is used to control the installation and control terminal to perform pose adjustment.

[0031] Obtain the first clamping parameters of the torsion clamping assembly;

[0032] Based on the first clamping parameter, a second driving signal is determined. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever.

[0033] Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack;

[0034] Based on the preset grasping pose data, a third driving signal is determined, which is used to control the installation control terminal to move to the preset grasping pose.

[0035] Obtain the second clamping parameters of the torsion clamping assembly;

[0036] Based on the second clamping parameters, a fourth driving signal is determined. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body, and to obtain the installation position data of the spare anastomosis device body.

[0037] Based on the installation posture data, a locking drive command is determined. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain locking state parameters. When the locking state parameters reach a preset threshold, a release drive command is generated. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

[0038] Optionally, pose compensation data is determined based on the real-time pose data and the preset disassembly pose data, including:

[0039] Based on the deviation between the real-time pose data and the preset disassembly pose data, pose compensation data is determined, which includes a position compensation vector and an attitude compensation rotation matrix.

[0040] Wherein, the position compensation vector The formula is:

[0041] ;

[0042] In the formula, The positional deviation vector between the real-time pose data and the preset disassembly pose data in Cartesian space; The preset proportional gain matrix; The integral gain matrix is ​​a preset value; t is the time variable.

[0043] The attitude compensation rotation matrix The formula is:

[0044] ;

[0045] In the formula, The attitude deviation vector between the real-time pose data and the preset disassembly pose data. This is the preset attitude gain matrix.

[0046] The above-described technical solution of the present invention has at least the following technical effects:

[0047] 1. In response to the problem that traditional methods require replacing the entire anastomosis unit, including the control unit, which is cumbersome and significantly slows down the surgical pace, this solution only requires replacing a lightweight "body" part, achieving "target point replacement". This greatly shortens the interval between two anastomosis operations. The automatic replacement controlled by the robotic arm avoids the interruption of the operation caused by manual instrument replacement, enabling complex microsurgery with multiple blood vessels to be completed in one go, thus improving the overall surgical efficiency.

[0048] 2. This solution adopts a mechanical locking method of "reverse-rotation semi-ring and annular notch", which is precisely driven by a locking motor through a worm gear-worm wheel system. This structure has self-locking characteristics, which can effectively prevent accidental loosening caused by vibration or external force during surgical operation, ensuring the connection rigidity and stability during the operation. The control end integrates translation, lifting and twisting clamping functions. Through the cooperation of U-shaped rotating clamp and clamping port, it can accurately and firmly grasp and transfer the anastomosis device body and achieve accurate docking with the control lever body. It has a high degree of automation and good reliability. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the main structure of the end anastomosis device for a microsurgical robot according to an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the combined structure of the end anastomosis device for microsurgical robots proposed in this invention;

[0051] Figure 3 This is a schematic diagram of the structure of the control lever in the end anastomosis device for a microsurgical robot proposed in this invention.

[0052] Figure 4 This is a schematic diagram showing the structural combination of the translation component, the lifting component, and the torsion clamping component in the end anastomosis device for microsurgical robots proposed in this invention.

[0053] Figure 5 This is a schematic diagram of the installation state structure of the anastomosis device body in the microsurgical robot anastomosis device proposed in this invention;

[0054] Figure 6 This is a schematic diagram of the equipment rack in the end-effector of the microsurgical robot proposed in this invention.

[0055] Figure 7 This is a schematic diagram of the combined seat in the end anastomosis device for microsurgical robots proposed in this invention;

[0056] Figure 8 This is a schematic diagram of the assembly structure of the combined seat in the end anastomosis device for microsurgical robots proposed in this invention;

[0057] Figure 9This is a flowchart of the end-effector replacement control method for microsurgical robots proposed in this invention.

[0058] Explanation of reference numerals in the attached drawings: 1. Anastomosing device body; 101. Connecting rod body; 102. Joint head; 103. Nail anvil; 104. Nail box; 2. Control handle end; 3. Operating lever body; 4. Equipment frame; 5. Combination seat; 6. Insertion sleeve; 7. Locking motor; 8. Locking worm gear; 9. Reverse rotation semi-ring; 10. Worm gear semi-ring; 11. Fixed ring seat; 12. Translation frame; 13. Translation push cylinder; 14. Translation plate; 15. Lifting electric push rod; 16. Clamping panel; 17. Clamping port; 18. U-shaped rotating clamp; 19. Fixed helical gear ring; 20. Spinning motor; 21. Spinning gear; 22. Annular notch. Detailed Implementation

[0059] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0060] Reference Figures 1 to 8 An embodiment of the present invention provides an end anastomosis device for a microsurgical robot, comprising: a control handle end 2 mounted on a robotic arm and a plurality of anastomosis device bodies 1 for surgery. The anastomosis device body 1 includes a docking rod body 101 and a staple anvil 103 connected to the docking rod body 101 via an articulated head 102. The staple anvil 103 is provided with a staple cartridge 104 for carrying staples.

[0061] The docking rod 101 is used to connect to the control rod 3 and transmit control force; the joint head 102 is used to adjust the angle of the anvil plate 103; the anvil plate 103 is used to press against the tissue and cooperate with the staple cartridge 104 to complete the suturing; the staple cartridge 104 is used to hold the staples and push them out when fired.

[0062] The control handle end 2 is provided with a control lever body 3, and the end of the control lever body 3 is provided with a semi-fixed assembly that is combined and connected with the docking lever body 101;

[0063] The control lever body 3 is provided with an equipment rack 4 for installing a spare anastomosis device body 1, and the control lever body 3 is provided with an installation control end for clamping and replacing the anastomosis device body 1.

[0064] The installation control end consists of a translation component, a lifting component, and a twisting clamping component, and is used to install the spare anastomosis device body 1 on the control lever body 3;

[0065] The stapler body is replaced through the following process:

[0066] Acquire real-time pose data of the end of the control stick 3 and preset disassembly pose data of the anastomosis device body to be replaced;

[0067] Based on the real-time pose data and the preset disassembly pose data, determine the pose compensation data;

[0068] Based on the pose compensation data, a first drive signal is determined. This first drive signal is used to control the installation and control terminal to perform pose adjustment.

[0069] Obtain the first clamping parameters of the torsion clamping assembly;

[0070] Based on the first clamping parameters, a second driving signal is determined. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever body 3.

[0071] Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack 4;

[0072] Based on the preset grasping pose data, a third driving signal is determined, which is used to control the installation control terminal to move to the preset grasping pose.

[0073] Obtain the second clamping parameters of the torsion clamping assembly;

[0074] Based on the second clamping parameters, a fourth driving signal is determined. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body 3, and to obtain the installation position data of the spare anastomosis device body.

[0075] Based on the installation posture data, a locking drive command is determined. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain locking state parameters. When the locking state parameters reach a preset threshold, a release drive command is generated. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

[0076] This invention disassembles the anastomosis device into a quickly replaceable device body and a control lever body with control functions. By integrating an equipment rack and mounting control terminal into the control lever body, localized storage and automated replacement of the device body are achieved. During the control process, a closed-loop series of data processing steps, including posture compensation, clamping parameter calculation, motion trajectory planning, compliant docking, and locking status verification, transforms the entire process of disassembly, grasping, installation, and locking into quantifiable control logic. This technical solution significantly reduces manual intervention, shortens the interval between two anastomosis operations, and improves the automation, positioning accuracy, and operational stability of end-device replacement. Simultaneously, doctors no longer need to repeatedly perform tedious steps such as "disassembly-removal-installation-calibration," as the entire process is completed automatically or assisted by the robotic system. Doctors can focus solely on surgical planning and decision-making, reducing operational complexity and physical and mental exertion.

[0077] Furthermore, the semi-fixed assembly includes a combination seat 5 fixedly disposed at the end of the control lever body 3. The control lever body 3 located at the combination seat 5 has an insertion interface. The end of the connecting rod body 101 is provided with an insertion sleeve 6 adapted to the insertion interface. The outer wall of the insertion sleeve 6 has an annular notch 22 adapted to the counter-rotating semi-ring 9.

[0078] It should be noted that this structure achieves quick insertion and removal through the matching of the insertion sleeve and the insertion interface, and uses the cooperation of the annular notch and the counter-rotating half ring to form a mechanical lock, which not only ensures the convenience of connection, but also ensures the stability and reliability of the connection during the operation.

[0079] Furthermore, a locking motor 7 is provided at the end of the combination seat 5. The locking motor 7 controls the locking worm 8 to rotate, thereby causing the worm wheel half ring 10 that meshes with it to rotate. The output end of the locking motor 7 is connected to the locking worm 8. Two counter-rotating half rings 9 are slidably arranged on the inner wall of the combination seat 5. The back of the counter-rotating half ring 9 is provided with a worm wheel half ring 10 that meshes with the locking worm 8.

[0080] It should be noted that this structure drives the locking worm gear through a locking motor, which in turn drives the two worm wheel half-rings and the counter-rotating half-ring to rotate in opposite directions. It utilizes the self-locking characteristic of the worm gear transmission to achieve reliable locking and unlocking. The structure is compact and the transmission is stable, ensuring the reliability of the connection between the anastomosis device body and the operating lever body and the controllability of the operation.

[0081] Meanwhile, the two counter-rotating semi-rings 9 are connected to the worm wheel semi-ring 10 and the locking worm 8 in opposite configurations. This configuration enables the two sets of counter-rotating semi-rings 9 to rotate in opposite directions when rotating, so that they can be inserted into the annular notch 22 on the outer wall of the insertion sleeve 6 respectively, thus achieving a tight connection.

[0082] The control lever body 3 is equipped with an equipment rack 4 for installing spare stapler bodies 1. The equipment rack 4 is used to store unused stapler bodies 1 so that they can be replaced in time when needed. The equipment rack 4 has an installation port with a magnetic material for attracting the stapler body 1. The control lever body 3 is equipped with an installation control end for clamping and replacing the stapler body 1.

[0083] The design of the equipment rack 4 is equivalent to integrating a "spare instrument library" into the robotic arm, which can pre-load multiple anastomosis device bodies 1. This not only saves external space on the operating table, but also enables centralized management and rapid access to instruments. After use, the device bodies are directly moved to a designated "disposal point" for disposal. The process is clear, helps to keep the surgical area clean, and may facilitate subsequent medical waste sorting and disposal.

[0084] The installation control end consists of a translation component, a lifting component, and a twisting clamping component, used to install the spare anastomosis device body 1 onto the control lever body 3.

[0085] Furthermore, the translation assembly includes a fixed ring seat 11 fixedly mounted on the control lever body 3, a translation frame 12 mounted on the fixed ring seat 11, a translation push cylinder 13 mounted on the translation frame 12, and a translation plate 14 connected to the output end of the translation push cylinder 13. The translation plate 14 is slidably connected to the translation frame 12.

[0086] It should be noted that the structure provides stable support through a fixed ring seat, and the translational push cylinder drives the translational plate to slide along the translational frame to form a linear motion unit. The movement is smooth and the guidance is reliable, providing a stable motion basis for the precise displacement of the clamping assembly in the horizontal direction.

[0087] The lifting assembly includes a lifting electric push rod 15 mounted on a translation plate 14. The output end of the lifting electric push rod 15 is connected to a clamping panel 16. Both ends of the clamping panel 16 are equipped with U-shaped rotating clamps 18 via rotating shafts. The docking rod body 101 is provided with a clamping port 17 that is adapted to the U-shaped rotating clamps 18.

[0088] It should be noted that this structure achieves precise positioning of the U-shaped rotary clamp in the height direction by lifting the electric push rod to drive the clamping panel to rise and fall vertically; the U-shaped rotary clamp can rotate in opposite directions through the rotating shaft to form a stable clamp with the clamping port, and the operation is reliable, providing vertical displacement control and a stable clamping foundation for the grasping and transfer of the anastomosis device body.

[0089] The torsion clamping assembly includes a fixed helical ring 19 disposed on the outer wall of the rotating shaft, a spin motor 20 disposed on the output end of the lifting electric push rod 15, and a spin gear 21 fixedly connected to the output end of the spin motor 20 and meshing with the fixed helical ring 19. A transmission port is opened in the clamping panel 16, and the torsion clamping assembly is disposed in the transmission port. One side of the spin gear 21 is meshed with the fixed helical ring 19 through an intermediate gear, thereby realizing that the rotation directions of the two rotating shafts are opposite.

[0090] It should be noted that this structure uses a spin motor to drive a spin gear, which in turn drives the two fixed helical rings to rotate in opposite directions via an intermediate gear. This causes the U-shaped rotary clamp to rotate synchronously in opposite directions, thus achieving clamping or releasing of the clamping port. The transmission components are integrated inside the clamping panel, ensuring smooth transmission and providing precise power control for the stable clamping and reliable release of the anastomosis device.

[0091] In the process of performing surgery with a microsurgical robot, after the microsurgical robot completes a tissue suturing with a stapler, the microsurgical robot controls the used end stapler to move to the disposal point. By controlling the locking motor 7 to open, the locking worm 8 connected to its output end will rotate, driving the two worm wheel half rings 10 meshing with it to rotate in the opposite direction. During the reverse rotation, the counter-rotating half ring 9 will rotate, thereby releasing the used stapler connected to the counter-rotating half ring 9. The stapler body 1 will automatically fall to the disposal point.

[0092] The control unit replaces the anastomosis device body 1 mounted on the equipment rack 4. Through the combined action of the translation and lifting components, the U-shaped rotary clamp 18 used to transfer the anastomosis device body 1 is moved to the control lever body 3 where the anastomosis device body 1 is located. At this time, the control unit controls the spin motor 20 located at the lifting electric push rod 15. Under the action of the spin motor 20, the fixed helical ring 19, which meshes with the spin gear 21 at its output end, rotates in opposite directions. During this relative opposite rotation, the U-shaped rotary clamp 18, connected at both ends by a rotating shaft, applies a torque force in opposite directions to the control lever body 3. Under this force, the U-shaped clamp... The rotating clamp 18 effectively clamps the control lever body 3. At this time, through the cooperation of the translation component and the lifting component, the new stapler body 1 is moved to the installation position. At this time, the insertion interface on the combination seat 5 and the insertion sleeve 6 are in a docking state. At this time, the control locking motor 7 is turned on, and the locking worm 8 connected to its output end will rotate, driving the two meshing worm wheel half rings 10 to rotate in the opposite direction. The new stapler body 1 is fastened by the counter-rotating half ring 9, and the installation is completed. Thus, during the operation, only the stapler body 1 needs to be replaced to complete the repeated suturing operation, which is more suitable for surgical robots to perform surgical operations.

[0093] like Figure 9As shown, embodiments of the present invention also provide a method for controlling the replacement of an end anastomosis device for a microsurgical robot, applied to the aforementioned end anastomosis device for a microsurgical robot, the method comprising:

[0094] Step 91: Obtain the real-time pose data of the end of the control stick 3 and the preset disassembly pose data of the anastomosis device body to be replaced;

[0095] Step 92: Determine pose compensation data based on the real-time pose data and the preset disassembly pose data;

[0096] Step 93: Based on the pose compensation data, determine a first driving signal. The first driving signal is used to control the installation and control terminal to perform pose adjustment.

[0097] Step 94: Obtain the first clamping parameters of the torsion clamping assembly;

[0098] Step 95: Based on the first clamping parameters, determine the second driving signal. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever body 3.

[0099] Step 96: Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack 4;

[0100] Step 97: Determine a third driving signal based on the preset grasping pose data. The third driving signal is used to control the installation control terminal to move to the preset grasping pose.

[0101] Step 98: Obtain the second clamping parameters of the torsion clamping assembly;

[0102] Step 99: Based on the second clamping parameters, determine the fourth driving signal. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body 3, and to obtain the installation position data of the spare anastomosis device body.

[0103] Step 100: Based on the installation posture data, determine the locking drive command. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain the locking state parameters. When the locking state parameters reach a preset threshold, generate a release drive command. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

[0104] In step 91 of this embodiment, in response to the replacement command, the actual spatial coordinate data of the end of the control stick is obtained through the built-in sensor at the robot's end. and actual attitude angle data This serves as real-time pose data. Simultaneously, preset disassembly pose data corresponding to the old anastomosis device body to be replaced is retrieved from a preset parameter library. This preset disassembly pose data includes the theoretical disassembly point coordinates. and theoretical disassembly attitude angle .

[0105] In step 92, pose compensation data is calculated based on the deviation between real-time pose data and preset disassembly pose data. Specifically, the position deviation vector in Cartesian space is first calculated. and attitude deviation vector Then, determine the position compensation vector. and attitude compensation rotation matrix Position compensation vector The calculation formula is:

[0106] ;

[0107] in, This is a preset proportional gain matrix used to quickly respond to the current deviation; This is a preset integral gain matrix used to eliminate accumulated static errors, where t is the time variable. Attitude compensation rotation matrix. The calculation formula is:

[0108] ;

[0109] in, This is a preset attitude gain matrix used to linearly adjust attitude deviations.

[0110] In step 93, the pose compensation data is converted into a first drive signal recognizable by the robot control. This first drive signal includes position compensation and attitude compensation, which is used to control the translation and lifting components of the control end to make precise pose adjustments, so that the U-shaped rotary clamp of the torsion clamping component is precisely aligned with the clamping opening of the old stapler body.

[0111] In step 94, the first clamping parameters of the torsion clamping assembly are obtained. These first clamping parameters include a preset safety clamping force. The safety clamping force is pre-calibrated based on the structural strength of the anastomosis device body, and is used to avoid damage to the device body while ensuring reliable clamping. It also obtains the maximum safe output torque of the spin motor. The meshing efficiency coefficient between the spin gear and the fixed helical ring. and the equivalent diameter of the fixed spiral ring. The inherent parameters of the equipment.

[0112] In step 95, the clamping torque is determined based on the first clamping parameter. The formula for calculating the clamping torque is:

[0113] ;

[0114] This formula compares the theoretically required torque with the motor's maximum safe torque, selecting the smaller value as the actual output torque to ensure that the clamping force does not exceed the safety threshold. Based on the calculated clamping torque... A second drive signal is generated, which integrates multiple control commands: firstly, it controls the spin motor of the torsional clamping assembly to output clamping torque. The drive U-shaped rotary clamp rotates in opposite directions to grip the clamping port of the old anastomosis device; then the locking motor of the semi-fixed assembly is controlled to move according to a preset angular displacement. Rotation drives the locking worm gear to rotate the counter-rotating half-ring in the opposite direction, causing the counter-rotating half-ring to exit the annular notch of the insertion sleeve and unlock it; finally, the translation push cylinder of the control translation component drives the translation plate to move horizontally backward, causing the clamped old anastomosis device body to be pulled out from the insertion interface of the control lever body.

[0115] In step 96, the preset grasping pose data of the new anastomosis device body on the equipment rack is retrieved from the preset parameter library. This preset grasping pose data includes the spatial coordinate position and attitude angle of the new device body on the equipment rack, and this data is precisely calibrated and stored during the installation of the equipment rack.

[0116] In step 97, the current position data of the installed control terminal is obtained, and based on the current position data and preset grasping pose data, the motion trajectory data of the installed control terminal in the joint space is planned: for any joint angle Its trajectory satisfies:

[0117] ;

[0118] in, For time variables, coefficients to Based on the starting position Target location The boundary conditions, where the velocity and acceleration are both zero at the start and end points, are uniquely determined. A third drive signal is generated based on the calculated motion trajectory data. This drive signal controls the installation and control end to move along the planned smooth trajectory to the preset grasping posture, ensuring a smooth and shock-free motion.

[0119] In step 98, the second clamping parameters of the torsion clamping assembly are obtained. Similar to the first clamping parameters, the second clamping parameters also include a preset safety clamping force. The maximum safe output torque of the spin motor Meshing efficiency coefficient and the equivalent diameter of the fixed helical ring It is used to configure parameters for gripping the new anastomosis device body.

[0120] In step 99, the clamping torque is determined based on the second clamping parameter. The system generates a fourth drive signal. This fourth drive signal first controls the torsional clamping assembly to clamp the new anastomosis device body, and then controls the translation and lifting assemblies to move the new anastomosis device body to the preset installation position of the control lever. During the docking process of moving to the installation position, drive commands for controlling the docking process are generated based on the compliant force control model. Specifically, preset desired assembly path data is acquired. and the actual location data of the control terminal. The mating force in the assembly direction is determined based on the impedance control model. This ensures that the docking force and positional deviation satisfy a dynamic relationship:

[0121] ;

[0122] in, , , These are the preset desired inertia parameters, desired damping parameters, and desired stiffness parameters, respectively. Based on the coupling force... Adjust the position of the installation control end in real time to smoothly slide the insertion sleeve of the new anastomosis device body into the insertion interface of the control lever body until the insertion sleeve is fully in place. At this time, obtain the installation position data of the spare anastomosis device body to confirm that the docking is complete.

[0123] In step 100, a locking drive command is determined based on the confirmed installation position data. This locking drive command controls the locking motor of the semi-fixed assembly to perform a preset angular displacement. The forward rotation drives the counter-rotating semi-ring to close inward and embed into the annular notch of the insertion sleeve, achieving mechanical locking. During the locking process, real-time current data of the locking motor is acquired. The actual locking torque data is determined according to the following formula. :

[0124] ;

[0125] in, To lock the mechanical efficiency of the motor, This is the torque constant for locking the motor. When the actual locking torque data... When the preset locking torque threshold is reached and maintained for a period exceeding the preset duration, locking is deemed successful, and a release drive command is generated. This release drive command controls the spin motor of the torsional clamping assembly to output torque in the opposite direction, driving the U-shaped rotary clamp to rotate in the opposite direction to release the clamping of the new anastomosis device body, completing the entire replacement process.

[0126] The technical solution of this invention first corrects the deviation between the real-time pose and the preset pose; then, it quantifies and constrains the output torque through the clamping torque calculation formula, and integrates the clamping, unlocking, and pulling-out actions into a unified drive signal to ensure the safety and reliability of the disassembly process; in the docking stage, a compliant force control strategy based on an impedance control model is introduced, allowing the insertion sleeve to slide into the interface under the guidance of contact force, avoiding rigid collisions; a quantitative relationship between locking torque and motor current is established to achieve real-time monitoring of the locking state. Through the serial connection and closed-loop feedback of the above data processing flow, the entire process from disassembling the old instrument body to installing the new instrument body is automated, improving the positioning accuracy, motion stability, and state controllability of the replacement operation, and providing complete and reliable end-effector replacement support for microsurgical robots.

[0127] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A microsurgical robot end-effector, comprising a control handle end (2) mounted on a robotic arm and a plurality of stapler bodies (1) for surgery, wherein each stapler body (1) includes a docking rod body (101) and a staple anvil (103) connected to the docking rod body (101) via an articulated head (102), wherein the staple anvil (103) is provided with a staple cartridge (104) for carrying staples, characterized in that, The control handle end (2) is provided with a control lever body (3), and the end of the control lever body (3) is provided with a semi-fixed assembly that is combined and connected with the docking lever body (101); The control lever body (3) is provided with an equipment rack (4) for installing a spare stapler body (1), and the control lever body (3) is provided with an installation control end for clamping and replacing the stapler body (1). The installation control end consists of a translation component, a lifting component and a twisting clamping component, used to install the spare anastomosis device body (1) on the control lever body (3); The stapler body is replaced through the following process: Acquire real-time position data of the end of the control lever (3) and preset disassembly position data of the anastomosis device body to be replaced; Based on the real-time pose data and the preset disassembly pose data, determine the pose compensation data; Based on the pose compensation data, a first drive signal is determined. This first drive signal is used to control the installation and control terminal to perform pose adjustment. Obtain the first clamping parameters of the torsion clamping assembly; Based on the first clamping parameter, a second driving signal is determined. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever body (3). Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack (4); Based on the preset grasping pose data, a third driving signal is determined, which is used to control the installation control terminal to move to the preset grasping pose. Obtain the second clamping parameters of the torsion clamping assembly; According to the second clamping parameter, a fourth driving signal is determined. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body (3), and to obtain the installation position data of the spare anastomosis device body. Based on the installation posture data, a locking drive command is determined. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain locking state parameters. When the locking state parameters reach a preset threshold, a release drive command is generated. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

2. The end anastomosis device for microsurgical robots according to claim 1, characterized in that, The semi-fixed assembly includes a combination seat (5) fixedly installed at the end of the control lever body (3). The control lever body (3) located at the combination seat (5) has an insertion interface, and the end of the docking rod body (101) is provided with a plug sleeve (6) adapted to the insertion interface.

3. The end anastomosis device for microsurgical robots according to claim 2, characterized in that, The end of the combination seat (5) is provided with a locking motor (7), and the output end of the locking motor (7) is connected to a locking worm (8). Two counter-rotating semi-rings (9) are slidably arranged on the inner wall of the combination seat (5), and a worm wheel semi-ring (10) that meshes with the locking worm (8) is provided on the back of the counter-rotating semi-rings (9).

4. The end anastomosis device for microsurgical robots according to claim 1, characterized in that, The translation assembly includes a fixed ring seat (11) fixedly mounted on the control lever body (3), a translation frame (12) mounted on the fixed ring seat (11), a translation push cylinder (13) mounted on the translation frame (12), a translation plate (14) connected to the output end of the translation push cylinder (13), and the translation plate (14) slidably connected to the translation frame (12).

5. The end anastomosis device for microsurgical robots according to claim 4, characterized in that, The lifting assembly includes a lifting electric push rod (15) mounted on a translation plate (14). The output end of the lifting electric push rod (15) is connected to a clamping panel (16). Both ends of the clamping panel (16) are provided with U-shaped rotating clamps (18) via rotating shafts. The docking rod body (101) is provided with a clamping port (17) that is adapted to the U-shaped rotating clamps (18).

6. The end anastomosis device for microsurgical robots according to claim 5, characterized in that, The torsion clamping assembly includes a fixed helical ring (19) disposed on the outer side wall of the rotating shaft, and a spin motor (20) disposed on the output end of the lifting electric push rod (15). The output end of the spin motor (20) is fixedly connected to a spin gear (21) that meshes with the fixed helical ring (19).

7. The end anastomosis device for a microsurgical robot according to claim 3, characterized in that, The outer wall of the insertion sleeve (6) is provided with an annular notch (22) that is adapted to the anti-rotation half ring (9).

8. The end anastomosis device for microsurgical robots according to claim 1, characterized in that, The equipment rack (4) has an installation port, and the installation port is provided with a magnetic suction layer for adsorbing the anastomosis device body (1).

9. A control method for changing the end-effector of a microsurgical robot, characterized in that, The end anastomosis device for a microsurgical robot according to any one of claims 1 to 8 comprises: Acquire real-time position data of the end of the control lever (3) and preset disassembly position data of the anastomosis device body to be replaced; Based on the real-time pose data and the preset disassembly pose data, determine the pose compensation data; Based on the pose compensation data, a first drive signal is determined. This first drive signal is used to control the installation and control terminal to perform pose adjustment. Obtain the first clamping parameters of the torsion clamping assembly; Based on the first clamping parameter, a second driving signal is determined. The second driving signal is used to control the torsion clamping assembly to clamp the anastomosis device body to be replaced, control the semi-fixed assembly to unlock, and control the translation assembly to pull the anastomosis device body to be replaced out of the control lever body (3). Obtain the preset gripping pose data of the spare anastomosis device body on the equipment rack (4); Based on the preset grasping pose data, a third driving signal is determined, which is used to control the installation control terminal to move to the preset grasping pose. Obtain the second clamping parameters of the torsion clamping assembly; According to the second clamping parameter, a fourth driving signal is determined. The fourth driving signal is used to control the torsion clamping assembly to clamp the spare anastomosis device body and move it to the preset installation position of the control lever body (3), and to obtain the installation position data of the spare anastomosis device body. Based on the installation posture data, a locking drive command is determined. The locking drive command is used to control the semi-fixed assembly to lock the spare anastomosis device body and obtain locking state parameters. When the locking state parameters reach a preset threshold, a release drive command is generated. The release drive command is used to control the torsion clamping assembly to release the spare anastomosis device body.

10. The method for changing the end-effector of a microsurgical robot according to claim 9, characterized in that, Based on the real-time pose data and the preset disassembly pose data, pose compensation data is determined, including: Based on the deviation between the real-time pose data and the preset disassembly pose data, pose compensation data is determined, which includes a position compensation vector and an attitude compensation rotation matrix. Wherein, the position compensation vector The formula is: ； In the formula, The positional deviation vector between the real-time pose data and the preset disassembly pose data in Cartesian space; The preset proportional gain matrix; The integral gain matrix is ​​a preset value; t is the time variable. The attitude compensation rotation matrix The formula is: ； In the formula, The attitude deviation vector between the real-time pose data and the preset disassembly pose data. This is the preset attitude gain matrix.

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