A method for measuring and controlling the displacement of the actuator of a surgical instrument

Abstract

This invention discloses a method for measuring and controlling the displacement of a surgical instrument actuator. A magnetic detection device is installed on the transmission link of the actuator, comprising a acquisition end and a acquisition end. A drive mechanism is activated, driving the actuator to perform linear displacement via a rotating drive component included in the transmission link. The acquisition end acquires the magnetic field changes generated by the acquisition end as the rotating drive component rotates, outputs a linear voltage signal based on the segment signal generated by the magnetic field change, and converts it into a pulse signal. The linear displacement stroke of the actuator is obtained based on pulse counting. In this method for measuring the displacement of the surgical instrument actuator, a magnet is mounted on a transmission gear. The characteristics of a Hall sensor are used to acquire the segment signal changes generated by the rotation of the magnet. The segment signal is converted into a linear voltage signal, then into a pulse signal. The transmission gear angle is precisely located using pulse counting to obtain the linear displacement stroke of the actuator. The displacement stroke of the actuator is controlled based on this measurement method.

Description

Technical Field

[0001] This invention belongs to the field of surgical instrument technology, and in particular to a method for measuring and controlling the displacement of the actuator of a surgical instrument. Background Technology

[0002] Electric laparoscopic staplers, as a type of surgical instrument, are widely used in surgery. Currently, the position detection of the actuator in mainstream electric laparoscopic staplers is mainly achieved through an incremental encoder at the motor tail and a microswitch for initial zero-position detection, and this encoder generally uses a Hall effect device. Therefore, the existing technology still has the following problems:

[0003] The current incremental encoder, when detecting motor rotation, only outputs one pulse signal on the Hall device for each rotation of the motor output shaft because the magnet and the incremental encoder are coaxial. Therefore, the Hall device can only detect the number of complete rotations of the motor output shaft. This setting results in insufficient accuracy of the incremental encoder in measuring motor rotation, meaning that the incremental encoder's count cannot accurately reflect the displacement stroke of the actuator of the electric endoscopic stapler. Summary of the Invention

[0004] Purpose of the invention: To provide a method for measuring and controlling the displacement of the actuator of a surgical instrument, in order to solve the problem that the displacement measurement and control of the actuator of the electric laparoscopic stapler is not accurate enough in the process of obtaining the displacement of the actuator by detecting the rotation of the drive mechanism in the existing technology.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, a method for measuring the displacement of the actuator of a surgical instrument is provided, the method comprising the following steps:

[0007] S1: The magnetic detection device is installed on the transmission link of the actuator, and the magnetic detection device includes a data acquisition end and a data acquisition end;

[0008] S2: Start the drive mechanism so that the drive mechanism drives the actuator to perform linear displacement through the transmission link;

[0009] The transmission link includes a rotary drive component, the sampled end is coaxially mounted on the rotary drive component and rotates integrally with the rotary drive component around the rotation axis, the geometric center line of the acquisition end is parallel to and offset relative to the rotation axis, and the acquisition end remains stationary during the rotation of the sampled end;

[0010] S3: The acquisition end acquires the magnetic field change generated by the acquisition end as the rotating drive component rotates, outputs a linear voltage signal, and converts the linear voltage signal into a pulse signal. The linear displacement stroke of the actuator is obtained based on the pulse count.

[0011] The acquisition end is divided into several magnetic induction sections, which are used to output linear voltage signals and convert them into corresponding pulse signals according to the section signals when the acquisition end rotates.

[0012] The sampled end is used to generate the segment signal.

[0013] In some possible embodiments, the acquisition end includes a magnetic detection chip, the acquisition end includes a magnet, the magnet is fixedly connected to an extension rod, and the extension rod is coaxially arranged with the rotation axis of the rotary drive component.

[0014] In a further embodiment, the transmission link further includes a rack that meshes with the rotary drive member, the rack being rigidly connected to the actuator, and the rotary drive member including a transmission gear.

[0015] In a further embodiment, the segment signal is the position change signal of the magnetic field segment detected by the acquisition end in each magnetic field segment when the sampled end rotates relative to the acquisition end, where the average magnetic field strength of the magnetic field segment reaches a threshold due to the change in magnetic field. The acquisition end outputs a corresponding linear voltage signal based on the position change signal and converts it into a pulse signal.

[0016] In a further embodiment, the number of magnetic field segments divided in the acquisition end is positively correlated with the number of times the position of the magnetic field segment whose average magnetic field strength generated by the rotation stroke of the acquisition end reaches a threshold.

[0017] In a further embodiment, the linear voltage signal output by the magnetic detection chip caused by the rotation of the magnet is represented as V. H The linear voltage signal V H The periodic change is defined as one revolution of the magnet.

[0018] The magnet is configured as follows:

[0019] At the start of its rotation cycle, the linear voltage signal V output by the magnetic detection chip H It is the lowest value within the period;

[0020] Within the angular range at the end of its rotation cycle, the linear voltage signal V output by the magnetic detection chip H This is the highest value within the period.

[0021] In a further embodiment, the magnetic detection chip includes an integrated circuit and a first Hall sensor and a second Hall sensor integrated on the integrated circuit;

[0022] The first Hall sensor and the second Hall sensor are set at a predetermined angular interval to obtain corresponding pulse signals, namely phase A and phase B. Based on the phase difference between phase A and phase B, the magnetic detection chip uses the i-th pulse of phase A and phase B to determine the rotation direction and detect faults in sequence.

[0023] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase A appears before the i-th pulse of phase B, then the direction of motion of the actuator is determined to be the first direction.

[0024] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase B appears before the i-th pulse of phase A, then it is determined that the direction of motion of the actuator is the second direction opposite to the first direction.

[0025] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B exceeds the phase difference threshold, then a fault is determined to have occurred.

[0026] i represents the valid pulse sequence number triggered by the first Hall sensor and the second Hall sensor.

[0027] In a further embodiment, the number of rotations is represented as M, the pulse count corresponding to one full rotation of the transmission gear is G, and each pulse count corresponds to a subdivision angle, thus dividing the process of one rotation of the transmission gear into G subdivision angles.

[0028] When the transmission gear has not completed one revolution or reached the next integer revolution, the pulse count P for the less than one revolution is obtained according to the actual number of pulses generated in that revolution;

[0029] Based on the number of rotations M, the pulse count G corresponding to one full rotation, and the pulse count P for less than one full rotation, the total pulse count N during the rotation of the transmission gear is expressed as follows:

[0030] N = M × G + P;

[0031] Therefore, the linear displacement stroke L of the actuator is expressed as follows:

[0032] L = N / G × 2πR;

[0033] Where R is the radius of the transmission gear.

[0034] Secondly, a method for controlling the displacement of a surgical instrument actuator is provided, wherein the displacement control of the actuator is achieved based on a method for measuring the displacement of the surgical instrument actuator.

[0035] In a further embodiment, the control method includes the following steps:

[0036] A): Set the target displacement stroke of the actuator, and calculate the target pulse count of the target displacement stroke based on the target displacement stroke;

[0037] B): Place the actuator in a suitable position, start the drive mechanism to drive the rotary drive component to rotate, and then drive the actuator to perform linear displacement;

[0038] C): The magnetic detection device detects the rotation parameters of the rotary drive component and records the current pulse count in real time;

[0039] D): Compare the current pulse count with the target pulse count;

[0040] If the current pulse count matches the target pulse count, it indicates that the actuator has reached the target displacement stroke, and the drive mechanism is shut down;

[0041] If the current pulse count is inconsistent with the target pulse count, then return to repeat step C) until the current pulse count is consistent with the target pulse count, so that the execution unit completes the target displacement stroke.

[0042] In a further embodiment, in step A), the set target displacement stroke S of the actuator is represented as follows:

[0043] S = X / G × 2πR;

[0044] Where X is the target stroke pulse count, G is the number of subdivision angles corresponding to one revolution of the rotary drive, and R is the radius of the rotary drive.

[0045] The beneficial effects of this invention are:

[0046] By offsetting the center of the Hall sensor from the center of the magnet's rotation, the magnet's rotation causes a change in the magnetic field on the Hall sensor's surface. This allows for the acquisition of a signal indicating the positional change of a magnetic field segment where the average magnetic field strength reaches a threshold. A linear voltage is then output, and this linear voltage signal is converted into a pulse signal. Pulse counting is used to precisely locate the gear's rotation angle. Multiple Hall sensors are employed to determine the rotation direction of the transmission gear, thus obtaining the precise displacement of the actuator. Accurate displacement data acquisition improves the reliability of actuator displacement control; high resolution enables high-precision positioning of the actuator displacement, supporting closed-loop control. Attached Figure Description

[0047] Figure 1 This is a partial structural diagram of the surgical instrument of the present invention.

[0048] Figure 2 This is the invention Figure 1 Enlarged structural diagram at point A in the middle.

[0049] Figure 3 This is a schematic diagram of the linear voltage signal generated by the rotation of the magnet in this invention.

[0050] Figure 4 This is a schematic diagram of the discrete digital signal obtained by the linear voltage signal conversion of the present invention.

[0051] Figure 5 This is the timing diagram of the ABZ quadrature pulse of the present invention.

[0052] The attached figures are labeled as follows: 1. Motor reduction gearbox; 2. Actuator; 3. Transmission link; 301. Transmission gear; 302. Spur rack; 303. Extension rod; 4. Magnetic detection device; 401. Magnetic detection chip; 402. Magnet. Detailed Implementation

[0053] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0054] The present invention will be further described in detail below with reference to the accompanying drawings.

[0055] Example 1: This example discloses a method for measuring the displacement of the actuator of a surgical instrument, which includes the following steps:

[0056] S1: The magnetic detection device 4 is installed on the transmission link 3 of the execution unit 2. The magnetic detection device 4 includes a collection end and a collection end.

[0057] S2: Start the drive mechanism, which includes a motor, so that the transmission link 3 of the motor drives the actuator 2 to perform linear displacement through the motor reduction gearbox;

[0058] The transmission link 3 includes a rotary drive component. The sampled end is coaxially mounted on the rotary drive component and rotates integrally with the rotary drive component around the rotation axis. The geometric center line of the acquisition end is parallel to and offset relative to the rotation axis. The acquisition end remains stationary during the rotation of the sampled end.

[0059] Specifically, such as Figure 1and Figure 2 As shown, the acquisition end includes a magnetic detection chip 401, which is fixed in the surgical instrument. The acquisition end includes a magnet 402, which is fixedly connected to an extension rod 303. The extension rod 303 is coaxially arranged with the rotating shaft of the rotary drive component. The rotary drive component includes a transmission gear 301. The magnet 402 and the extension rod 303 are fixed by interference fit or bonding to ensure no relative rotation. Therefore, when the transmission gear 301 rotates, the magnet 402 will rotate synchronously with the same angular velocity and rotation direction—achieving the conversion of "motor output shaft rotation → gear rotation movement → synchronous magnet rotation → rack linear movement".

[0060] The transmission link 3 also includes a rack 302 that meshes with the transmission gear 301. The modules of the transmission gear 301 and the rack 302 are matched to ensure no slippage. The meshing transmission ratio is fixed, and the distance the rack 302 moves is equal to the length of the pitch circle corresponding to the rotation angle of the transmission gear 301. The rack 302 is rigidly connected to the actuator 2, which is a cutting blade. The rigid connection includes fixing the cutting blade and the rack 302 with bolts or forming the cutting blade and the rack 302 as a single piece. The rotational motion of the transmission gear 301 drives the linear displacement of the rack 302 through the meshing relationship of the gear tooth profiles, thereby driving the cutting blade to move forward / backward in a straight line.

[0061] S3: The acquisition end acquires the magnetic field change generated by the acquisition end as the rotating drive component rotates, outputs a linear voltage signal, and converts the linear voltage signal into a pulse signal. The linear displacement stroke of the execution unit 2 is obtained based on the pulse count.

[0062] The acquisition end is divided into several magnetic induction sections, which are used to output linear voltage signals and convert them into corresponding pulse signals according to the section signals when the acquisition end rotates.

[0063] The sampled end is used to generate the segment signal.

[0064] Specifically, the segment signal is the position change signal of the magnetic field segment detected by the acquisition end in each magnetic field segment when the sampled end rotates relative to the acquisition end, where the average magnetic field strength of the magnetic field segment reaches a threshold due to the change in magnetic field. The acquisition end outputs a corresponding linear voltage signal based on the position change signal and converts it into a pulse signal.

[0065] The number of magnetic field segments divided in the acquisition end is positively correlated with the number of position changes of the magnetic field segments whose average magnetic field strength reaches the threshold during the rotation stroke of the acquisition end. As the number of magnetic field segments divided in the same acquisition end increases, the number of position changes of the magnetic field segments whose average magnetic field strength reaches the threshold during the same rotation stroke of the acquisition end also increases accordingly.

[0066] The linear voltage signal output by the magnetic detection chip 401 due to the rotation of the magnet 402 is represented as V. H The linear voltage signal V H The rotation of the magnet 402 is a period, and the change is linear within the period.

[0067] The magnet 402 is configured as follows:

[0068] At the start of its rotation cycle, the linear voltage signal V output by the magnetic detection chip 401 H It is the lowest value within the period.

[0069] Within the final angular range of its rotation cycle, the linear voltage signal V output by the magnetic detection chip 401 is... H This is the highest value within the period. Optionally, when the magnet 402 rotates once, corresponding to 1024 pulses, the end angle range is 359.65-360°. When the rotation angle of the magnet 402 is within the end angle range but has not reached 360°, the linear voltage signal V... H This is the highest value within the period.

[0070] Specifically, during the linear voltage cycle, the magnetic detection chip 401 detects the linear voltage signal V. H At its maximum, it is equal to the output voltage of the power supply in the circuit where the magnetic detection chip 401 is located.

[0071] The magnetic detection chip 401 includes an integrated circuit and a first Hall sensor and a second Hall sensor integrated on the integrated circuit;

[0072] The first Hall sensor and the second Hall sensor are set at a predetermined angular interval to obtain corresponding pulse signals, namely phase A and phase B. Optionally, the predetermined angle is 90°.

[0073] Based on the phase difference between phase A and phase B, the magnetic detection chip 401 uses the i-th pulse of phase A and phase B to determine the rotation direction and detect faults in sequence.

[0074] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase A appears before the i-th pulse of phase B, then the movement direction of the actuator 2 is determined to be the first direction.

[0075] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase B appears before the i-th pulse of phase A, then it is determined that the movement direction of the execution unit 2 is a second direction opposite to the first direction.

[0076] If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B exceeds the phase difference threshold, then a fault is determined to have occurred.

[0077] i represents the valid pulse sequence number triggered by the first Hall sensor and the second Hall sensor.

[0078] Specifically, the magnetic detection chip 401 also integrates an analog-to-digital converter module and a comparator module;

[0079] like Figure 3 As shown, the first Hall sensor and the second Hall sensor acquire segment signals generated by the change in magnetic field during the rotation of the magnet 402, convert the segment signals into linear voltage signals, and output the linear voltage signals, such as... Figure 4 As shown, the analog-to-digital converter module converts linear voltage signals into discrete digital signals, such as... Figure 5 As shown, the comparator module converts discrete digital signals into pulse signals and outputs them. The magnetic detection chip 401 ultimately obtains the pulse signals, determines the movement direction of the actuator 2 by comparing the order of pulses with the same sequence number in phase A and phase B, counts the pulse signals to obtain the pulse count value, and then calculates the linear displacement of the actuator 2 based on the pulse count value.

[0080] The number of rotations is represented by M, and the pulse count corresponding to one full rotation of the transmission gear 301 is G. Each pulse count corresponds to a subdivision angle, and the process of the transmission gear 301 rotating one full rotation is divided into G subdivision angles.

[0081] When the transmission gear 301 has not completed one revolution or reached the next integer revolution, the pulse count P for the less than one revolution is obtained according to the actual number of pulses generated in that revolution;

[0082] Based on the number of rotations M, the pulse count G corresponding to one full rotation, and the pulse count P for less than one full rotation, the total pulse count N during the rotation of the transmission gear 301 is expressed as follows:

[0083] N = M × G + P;

[0084] Therefore, the linear displacement stroke L of the actuator 2 is expressed as follows:

[0085] L = N / G × 2πR;

[0086] Where R is the radius of the transmission gear 301. For example... Figure 5 As shown, optional, G is 1024, which means that the rotation angle of the transmission gear 301 is precisely positioned in 1024 subdivision angles within one revolution.

[0087] Specifically, Figure 5The Z phase shown only forms one pulse when the magnet 402 passes through the initial position, which is called the least significant bit (LSB). The number of pulses of the Z phase during the rotation of the magnet is counted as M+1, which is used to obtain the number of rotations M.

[0088] Example 2: This example discloses a method for controlling the displacement of a surgical instrument actuator. The control method is based on the measurement method of Example 1 to control the displacement of the actuator.

[0089] The control method includes the following steps:

[0090] A): Set the target displacement stroke of the execution unit 2, and calculate the target pulse count of the target displacement stroke based on the target displacement stroke;

[0091] The target displacement stroke S of the set execution unit 2 is represented as follows:

[0092] S = X / G × 2πR;

[0093] Where X is the target stroke pulse count, G is the number of subdivision angles corresponding to one revolution of the rotary drive component, and R is the radius of the transmission gear 301;

[0094] B): Place the actuator 2 in a suitable position, start the motor to drive the rotary drive component to rotate, and then drive the actuator 2 to perform linear displacement;

[0095] C): The magnetic detection device 4 detects the rotation parameters of the rotary drive component and records the current pulse count in real time;

[0096] D): Compare the current pulse count with the target pulse count;

[0097] If the current pulse count matches the target pulse count, it indicates that the actuator 2 has reached the target displacement stroke, and the motor is turned off;

[0098] If the current pulse count is inconsistent with the target pulse count, then return to repeat step C) until the current pulse count is consistent with the target pulse count, so that the execution unit 2 completes the target displacement stroke.

[0099] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0100] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A method for measuring the displacement of the actuator of a surgical instrument, characterized in that: The method includes the following steps: S1: The magnetic detection device is installed on the transmission link of the actuator, and the magnetic detection device includes a data acquisition end and a data acquisition end; S2: Start the drive mechanism so that the drive mechanism drives the actuator to perform linear displacement through the transmission link; The transmission link includes a rotary drive component, the sampled end is coaxially mounted on the rotary drive component and rotates integrally with the rotary drive component around the rotation axis, the geometric center line of the acquisition end is parallel to and offset relative to the rotation axis, and the acquisition end remains stationary during the rotation of the sampled end; S3: The acquisition end acquires the magnetic field change generated by the acquisition end as the rotating drive component rotates, outputs a linear voltage signal, and converts the linear voltage signal into a pulse signal. The linear displacement stroke of the actuator is obtained based on the pulse count. The acquisition end is divided into several magnetic induction sections, which are used to output linear voltage signals and convert them into corresponding pulse signals according to the section signals when the acquisition end rotates. The sampled end is used to generate the segment signal.

2. The method for measuring the displacement of the actuator of a surgical instrument according to claim 1, characterized in that: The acquisition end includes a magnetic detection chip, and the acquisition end includes a magnet. The magnet is fixedly connected to an extension rod, and the extension rod is coaxially arranged with the rotation axis of the rotary drive component.

3. The method for measuring the displacement of the actuator of a surgical instrument according to claim 2, characterized in that: The transmission link further includes a rack that meshes with the rotary drive component, the rack being rigidly connected to the actuator, and the rotary drive component including a transmission gear.

4. The method for measuring the displacement of the actuator of a surgical instrument according to claim 3, characterized in that: The segment signal is the position change signal of the magnetic field segment detected by the acquisition end in each magnetic field segment when the sampled end rotates relative to the acquisition end. The average magnetic field strength of the magnetic field segment generated by the change in magnetic field reaches a threshold. The acquisition end outputs a corresponding linear voltage signal and converts it into a pulse signal according to the position change signal.

5. The method for measuring the displacement of the actuator of a surgical instrument according to claim 4, characterized in that: The number of magnetic field segments divided in the acquisition end is positively correlated with the number of times the position of the magnetic field segment whose average magnetic field strength generated by the rotation stroke of the acquisition end reaches the threshold.

6. The method for measuring the displacement of the actuator of a surgical instrument according to claim 5, characterized in that: The linear voltage signal output by the magnetic detection chip due to the rotation of the magnet is represented as V. H The linear voltage signal V H The periodic change is defined as one revolution of the magnet. The magnet is configured as follows: At the start of its rotation cycle, the linear voltage signal V output by the magnetic detection chip H It is the lowest value within the period; Within the final angular range of its rotation cycle, the linear voltage signal V output by the magnetic detection chip is... H This is the highest value within the period.

7. The method for measuring the displacement of the actuator of a surgical instrument according to claim 5, characterized in that: The magnetic detection chip includes an integrated circuit and a first Hall sensor and a second Hall sensor integrated on the integrated circuit; The first Hall sensor and the second Hall sensor are set at a predetermined angular interval to obtain corresponding pulse signals, namely phase A and phase B. Based on the phase difference between phase A and phase B, the magnetic detection chip uses the i-th pulse of phase A and phase B to determine the rotation direction and detect faults in sequence. If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase A appears before the i-th pulse of phase B, then the direction of motion of the actuator is determined to be the first direction. If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B is within the phase difference threshold, and the i-th pulse of phase B appears before the i-th pulse of phase A, then it is determined that the direction of motion of the actuator is the second direction opposite to the first direction. If the phase difference between the i-th pulse of phase A and the i-th pulse of phase B exceeds the phase difference threshold, then a fault is determined to have occurred. i represents the valid pulse sequence number triggered by the first Hall sensor and the second Hall sensor.

8. The method for measuring the displacement of the actuator of a surgical instrument according to claim 4, characterized in that: The number of rotations is represented by M, the pulse count corresponding to one full rotation of the transmission gear is G, and each pulse count corresponds to a subdivision angle. The process of the transmission gear rotating one full rotation is divided into G subdivision angles. When the transmission gear has not completed one revolution or reached the next integer revolution, the pulse count P for the less than one revolution is obtained according to the actual number of pulses generated in that revolution; Based on the number of rotations M, the pulse count G corresponding to one full rotation, and the pulse count P for less than one full rotation, the total pulse count N during the rotation of the transmission gear is expressed as follows: N = M × G + P; Therefore, the linear displacement stroke L of the actuator is expressed as follows: L = N / G × 2πR; Where R is the radius of the transmission gear.

9. A method for controlling the displacement of the actuator of a surgical instrument, characterized in that: The control method achieves displacement control of the actuator based on the displacement measurement method of the surgical instrument actuator according to any one of claims 1-8.

10. The method for controlling the displacement of the actuator of a surgical instrument according to claim 9, characterized in that: The control method includes the following steps: A): Set the target displacement stroke of the actuator, and calculate the target pulse count of the target displacement stroke based on the target displacement stroke; B): Place the actuator in a suitable position, start the drive mechanism to drive the rotary drive component to rotate, and then drive the actuator to perform linear displacement; C): The magnetic detection device detects the rotation parameters of the rotary drive component and records the current pulse count in real time; D): Compare the current pulse count with the target pulse count; If the current pulse count matches the target pulse count, it indicates that the actuator has reached the target displacement stroke, and the drive mechanism is shut down; If the current pulse count is inconsistent with the target pulse count, then return to repeat step C) until the current pulse count is consistent with the target pulse count, so that the execution unit completes the target displacement stroke.

11. The method for controlling the displacement of the actuator of a surgical instrument according to claim 10, characterized in that: In step A), the target displacement stroke S of the set execution unit is represented as follows: S = X / G × 2πR; Where X is the target stroke pulse count, G is the number of subdivision angles corresponding to one revolution of the rotary drive, and R is the radius of the rotary drive.

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