A robot end effector control method

Abstract

The present disclosure relates to a medical robot, in particular to a robot end effector control method, comprising an end effector and a controller for controlling the operation of the end effector, the method comprising: when the controller is a mechanical button, controlling a suction type instrument to perform a suction operation and an injection operation based on the mechanical button; and controlling an opening and closing type instrument to perform an instrument opening operation and an instrument closing operation based on the mechanical button. The robot end effector control method is stable and accurate, and has a simple structure, which can effectively reduce the production and maintenance costs, and can also drive traditional passive surgical instruments to perform surgical operations, thereby improving the applicability of the robot and reducing the safety risk. At the same time, the robot end effector can be adapted to suction type and opening and closing type surgical instruments, which can reduce the learning investment of robot-assisted surgical operation, reduce the complexity of robot-assisted surgical operation, and improve the ability of robot-assisted operation.

Description

Technical Field

[0001] This invention relates to medical robots, and in particular to a method for controlling a robot end effector. Background Technology

[0002] Traditional surgical instruments are mostly passive, such as syringes, intraocular forceps, and intraocular scissors used in ophthalmic surgery. These require manual operation to perform injections, forceps movements, and cutting. However, with the rapid development of automation technology, more and more robots are being applied in the medical industry, such as ophthalmic surgical robots. This has led to the development of various active surgical instruments. Currently, active ophthalmic surgical instruments mainly use two types: pneumatic pump-driven and motor-driven. The former has lower control precision, while the latter, due to the integrated motor structure, is more complex, has higher manufacturing costs, and carries the risk of electrical leakage.

[0003] Furthermore, most existing medical robots employ a master-slave operation model, consisting of a master manipulator and a slave manipulator. Surgical instruments are mounted on the slave manipulator, and the surgeon manipulates the master manipulator, which in turn drives the slave manipulator and its instruments to perform surgical procedures. However, this method is quite complex, and due to the high degree of freedom required for the master manipulator, it is difficult to achieve precise, integrated control over the specific functional movements of surgical instruments, such as the large push-pull injection of a syringe, or the opening and closing of microforceps and microscissors. Summary of the Invention

[0004] The purpose of this invention is to provide a robot end effector control method to ensure accurate operation and reduce production and maintenance costs.

[0005] The robot end effector control method of the present invention includes an end effector, and mechanical buttons and electronic touch devices for controlling the operation of the end effector, characterized in that: after the system is started, the surgical instrument type is selected in the electronic touch device, and the mechanical button control mode of the corresponding surgical instrument is entered;

[0006] If the surgical instrument is a suction instrument, the relationship between the target motor displacement L and the suction volume V, the mapping ratio a between the motor displacement and the instrument suction pulling length, and the diameter R of the instrument storage space cylinder during aspiration operations is as follows:

[0007] Double-clicking the mechanical button controls the end effector to perform a suction operation. The relationship between the motor displacement l, the target motor displacement L, the current motor position lnow, and the highest position Lmax during the motor's suction action is as follows:

[0008] After the suction operation is completed, exit the mechanical button control mode via the electronic touch device; If the surgical instrument is an opening and closing instrument, during the opening and closing operation, the motor moves along a parabolic velocity trajectory that first accelerates and then decelerates. The relationship between the target displacement L of the motor, the engagement length Lo of the instrument end, and the maximum opening and closing angle θ is as follows:

[0009] The relationship between the target displacement L of the motor and the maximum velocity V and acceleration a is as follows: .

[0010] The robot end effector includes a base, an instrument mounting mechanism for mounting surgical instruments, a motor for outputting power, and a controller for controlling the operation of the motor. The instrument mounting mechanism and the motor are both mounted on the base. The base is also provided with a guide rail and a slider that moves along the guide rail. The output end of the motor is connected to the slider through a transmission assembly. A drive component for driving the surgical instruments is fixedly mounted on the transmission assembly. The controller controls the operation of the motor and drives the surgical instruments to perform surgical actions through the transmission assembly and the drive component.

[0011] Furthermore, when the suction device is working, if the sum of the target displacement L of the motor and the current position of the motor is less than the highest position Lmax during the motor's suction action, the motor will automatically stop after the target displacement is completed; if the sum of the target displacement L of the motor and the current position of the motor is greater than the highest position Lmax during the motor's suction action, the motor will stop moving after moving to the Lmax position; when the motor reaches the highest position Lmax during the motor's suction action, the motor enters a motion protection state, and double-clicking the mechanical button will no longer trigger the motor to move.

[0012] Furthermore, before operation, the opening and closing device is kept in the open state. A long press of the mechanical button triggers the motor to move at a preset acceleration 'a'. The relationship between the motor displacement 'la' and the target motor displacement 'L' is as follows: Where t is the motion time.

[0013] Furthermore, during the injection operation, the motor drives the surgical instrument to move along the injection direction of the cylinder axis at a speed vi corresponding to the minimum step, and the motor displacement l is: Where t is the motion time.

[0014] Furthermore, before operation, the opening and closing device is kept in the open state. A long press of the mechanical button triggers the motor to move at a preset acceleration 'a'. The relationship between the motor displacement 'la' and the target motor displacement 'L' is as follows: Where t is the motion time.

[0015] Furthermore, when the motor displacement la is less than the target displacement L, and the motion time t is less than the time required for the motor to reach its maximum accelerated displacement, after releasing the mechanical button, the motor decelerates using a deceleration that is the same magnitude but opposite to the acceleration a. The initial velocity v0 of the deceleration motion is: .

[0016] Furthermore, when la = L, the end effector enters the motion protection state, the motor begins to decelerate until the device returns to a fully closed state, and the deceleration displacement ld is: .

[0017] The robot end effector control method described in this invention controls a robot end effector with a simple structure, stable and accurate operation, and the ability to cooperate with various traditional passive surgical instruments for surgical operations, greatly improving the applicability of medical robots and reducing safety risks. Simultaneously, the robot end effector is adaptable to suction and opening / closing surgical instruments, solving the problem of automated control of functional operations of surgical instruments. Based on the surgical scenario, mechanical buttons (foot pedals) are used as the main operating device, which not only conforms to the operating habits of doctors and reduces the learning input for robot-assisted surgery, but also effectively simplifies the surgical robot operating system, saves space, and avoids interference with surgical instruments. The control method utilizes linear motors to motion map the functional operations of the two types of surgical instruments. It can cooperate with the robot end effector through instrument changing procedures, effectively reducing the complexity of robot-assisted surgical operations and improving the robot's assisted operation capabilities. Attached Figure Description

[0018] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the robot's end effector.

[0020] Figure 2 This is an exploded structural diagram of a robot end effector.

[0021] Figure 3 This is a schematic diagram of the connection structure between the driving component and the syringe. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indicators (such as top, bottom, inner, outer, circumferential, radial, axial, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0024] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] This invention also proposes a method for controlling a robot end effector.

[0026] In this embodiment of the invention, the end effector control method includes an end effector, and mechanical buttons and an electronic touch device for controlling the operation of the end effector; after the system is started, the surgical instrument type is selected on the electronic touch device, and the mechanical button control mode of the corresponding surgical instrument is entered; If the surgical instrument is a suction instrument, the relationship between the target motor displacement L and the suction volume V, the mapping ratio a between the motor displacement and the instrument suction pulling length, and the diameter R of the instrument storage space cylinder during aspiration operations is as follows:

[0027] Double-clicking the mechanical button controls the end effector to perform a suction operation. The relationship between the motor displacement l, the target motor displacement L, the current motor position lnow, and the highest position Lmax during the motor's suction action is as follows:

[0028] After the suction operation is completed, exit the mechanical button control mode via the electronic touch device; If the surgical instrument is an opening and closing instrument, during the opening and closing operation, the motor moves along a parabolic velocity trajectory that first accelerates and then decelerates. The relationship between the target displacement L of the motor, the engagement length Lo of the instrument end, and the maximum opening and closing angle θ is as follows:

[0029] The relationship between the target displacement L of the motor, the maximum speed V and the acceleration a is: .

[0030] The robot end effector described comprises a base, an instrument mounting mechanism for mounting a surgical instrument 10, a motor 5 that outputs power and a controller that controls the operation of the motor. Both the instrument mounting mechanism and the motor are mounted on the base. The base is further provided with a guide rail 6 and a slider 7 moving along the guide rail. The output end of the motor is connected to the slider through a transmission assembly 8. A driving member 9 for driving the surgical instrument to operate is fixedly mounted on the transmission assembly. The controller controls the operation of the motor and drives the surgical instrument to perform surgical actions through the transmission assembly and the driving member.

[0031] The controller described can be a mechanical button, such as a foot pedal, or an electronic touch control device, or a combination of both mechanical buttons and electronic touch control devices. According to the mapping relationship between the buttons on the electronic touch control device and each surgical instrument, the operation control of different surgical instruments can be realized. For example, when using suction-type surgical instruments (such as syringes), a quantitative control mode or a continuous control mode can be selected in the electronic touch control device. The quantitative control mode is implemented through buttons on the electronic touch control device, while the continuous control mode can be implemented either through buttons on the electronic touch control device or controlled by the foot pedal. When using opening-closing type surgical instruments (such as micro forceps, micro scissors, syringe needles, etc.), both button control and foot pedal control can be adopted simultaneously for motor motion control.

[0032] The foot pedal is at high level in the normal state, and is at low level when the button is pressed, and the IO port is configured as internal pull-up; both rising and falling edges of the external interrupt trigger, that is, both pressing and releasing the button will trigger an interrupt, and a debounce delay is added to the program. Two button states, pressed and released, are set. When the button level changes from high level to low level and triggers an external interrupt, a pressed button state is formed; when the button level changes from low level to high level and triggers an external interrupt, a released button state is formed. In order to judge the button pressing time, two button time parameters are set, which are the duration Tc of the button being pressed and the idle time Ti of the button being released. These two button time parameters are set as fixed values to distinguish between long press and short press button events, and two variables, a pressed duration counter tc and a released duration timer ti, are defined. When a pressed button event is formed, tc is cleared and timing starts; when a released button event is formed, ti is cleared and timing starts. When tc>Tc, a long press event is formed; when tc<=Tc, it is identified as a short press event. When ti<Ti, a single-click event is formed, and the single-click event is counted once. When the number of single clicks is greater than 2, a double-click event is formed, and after the event is formed, the flag bit for the number of single clicks is set to 1.

[0033] The device mounting mechanism includes a clamp 41 that detachably holds the syringe barrel; the driving component 9 includes an injection pressure block 91 and an external actuation block 92 disposed opposite to each other. The injection pressure block is disposed outside the piston rod handle of the syringe, and one side of the external actuation block has an inwardly recessed driving groove 93. The width of the driving groove is smaller than that of the piston rod handle of the syringe and fits around the piston rod of the syringe. When the motor is working, it outputs linear motion through the transmission component, and the direction of motion is consistent with the axis of the syringe. When the motor drives the driving component to move toward the needle of the syringe, the injection pressure block can be used to apply pressure to the piston rod handle, thereby enabling the syringe to perform an injection operation; when the motor drives the driving component to move in the opposite direction, the external actuation block, through the setting of the driving groove, drives the piston rod handle to move in the opposite direction, causing the needle to leave the patient's treatment site, or forming an operation of withdrawing liquid. Additionally, the injection block 91 may have an adjustment hole facing outwards from the piston rod handle. An adjustment bolt 94 is screwed into the adjustment hole, with its end abutting against the piston rod handle. Pressure is applied to the piston rod handle via the adjustment bolt, which can also adjust the distance between its end and the outer pull block to meet the needs of different syringe sizes or other specific requirements. This design allows for extremely convenient driving of the syringe to perform the required surgical procedures, greatly improving the convenience and accuracy of the operation.

[0034] The base includes a base plate 1, an instrument seat 2 and a fixing member 3 fixedly mounted on the base plate. The fixing member 3 is U-shaped and detachably mounted on the base plate 1 at both ends. The motor 5 is fixedly mounted between the U-shaped inner side of the fixing member and the base plate. The guide rail 6 is set on the side of the fixing member facing away from the base plate. The instrument seat has a recessed adjustment groove 21. The adjustment groove is straight and open at the end facing away from the needle and closed at the end facing the needle. The instrument mounting mechanism includes a mounting seat 42 that moves along the adjustment groove and a locking device 43 that locks the mounting seat onto the adjustment groove, thereby changing the relative position between the mounting seat and the instrument seat to meet the installation needs of syringes of different sizes. The structure of this robotic end effector is compact, which helps to reduce the overall size, reduce the impact on the patient, and improve the convenience of surgical operation. The shape of the adjustment groove on the instrument seat facilitates the installation and removal of the mounting seat and also prevents it from falling off at the end facing the needle and endangering the patient.

[0035] The transmission assembly 8 includes a transmission block 81 connected to the output end of the motor 5, a transmission plate 82 connected to the slider 7 and arranged in an L-shape, the transmission block and the transmission plate are connected to each other, the transmission block is located on one side of the driving member 9, and a locking block 83 is provided on the other side of the driving member, and a locking bolt 84 connecting the transmission block, the locking block and the driving member. This kind of transmission assembly can effectively convert the power of the motor into linear motion to drive the syringe. At the same time, its structure is simple and compact and it works quickly and accurately, which is conducive to improving the accuracy and safety of surgical operations.

[0036] The robot end effector control method, when using aspiration instruments, automatically stops the motor after the target displacement L ends when the sum of the motor's target displacement L and its current position is less than the highest position Lmax during the aspiration motion; when the sum of the motor's target displacement L and its current position exceeds the highest position Lmax during the aspiration motion, the motor stops moving after reaching Lmax; after the motor reaches the highest position Lmax during the aspiration motion, it enters a motion protection state, and double-clicking the mechanical button will no longer trigger motor movement. This better protects the operational safety of the motor and end effector. Furthermore, after the aspiration operation is completed, the motor enters a protection state and no longer moves, which also protects the safety of the motor and end effector. Additionally, during injection operations, the motor drives the surgical instrument along the injection direction along the cylinder axis at a speed vi corresponding to the minimum step, with the motor displacement l being: Where t is the motion time.

[0037] Similarly, to protect the motor, when the motor displacement l is less than the target displacement L, pressing and holding the mechanical button triggers the motor to move at a constant speed to perform the injection action. When the mechanical button is released, the motor stops moving and stays at the current position. When the motor displacement l reaches the target displacement L, the system recognizes that the operation has been completed, enters the motion protection state, and the motor stops moving and stays at the current position.

[0038] Mechanical button control is achieved by an electronic touch control device sending motion commands to the motor via serial communication. For aspiration instruments, there are two control methods depending on the injection method: quantitative injection mode, which can be selected when injections need to be performed in multiple doses; and continuous injection mode, which can be selected when the entire dose in the instrument needs to be injected at once.

[0039] The quantitative injection mode includes the following steps: A1. Select the quantitative injection mode in the electronic touch control device, select the required injection volume percentage, calculate the corresponding motor displacement based on the mapping relationship between motor displacement and suction instrument capacity, and then enter the corresponding percentage control program according to the mapping relationship of the robot end effector control method. A2. Select the "Injection" program on the electronic touch device, send a motion command to the motor, and judge the target position to be reached. When the sum of the current position and the target displacement is less than the maximum value of the instrument injection position, the motor will stop moving after reaching the target position at a constant speed according to the motion command; when the sum of the current position and the target displacement is greater than or equal to the maximum value of the instrument injection position, the motor will stop moving after reaching the maximum value of the instrument injection position at a constant speed according to the motion command. A3. After injection, exit the quantitative injection mode via electronic touch control; the motor on the robot end effector enters a protection state and no longer moves.

[0040] The continuous injection mode includes the following steps: select the continuous injection mode on the electronic touch device, perform the "injection" program on the robot's end effector, send motion commands to the motor, and the motor moves at a constant speed from the current position to the lowest position that the instrument can reach during the injection action.

[0041] In addition, whether in quantitative injection mode or continuous injection mode, when performing aspiration, select the "aspiration" program on the electronic touch device, send a motion command to the motor, and the motor will move at a constant speed from the current position to the highest position that the instrument can reach during aspiration. Then, after completing aspiration, exit the corresponding working mode through the electronic touch device; the motor on the robot's end effector enters a protection state and no longer moves.

[0042] The robot end effector control method described above states that, before operation, the opening and closing mechanism is kept in an open state. A long press of a mechanical button triggers the motor to move with a preset acceleration 'a'. The relationship between the motor displacement 'a' and the target motor displacement 'L' is as follows: Where t is the motion time.

[0043] To ensure safety, in the robot end effector control method described above, when the motor displacement la is less than the target displacement L and the motion time t is less than the time required for the motor to reach its maximum acceleration displacement, after releasing the mechanical button, the motor decelerates using a deceleration that is the same magnitude but opposite to the acceleration a. The initial velocity v0 of the deceleration motion is: .

[0044] Furthermore, when la = L, the end effector enters the motion protection state, the motor begins to decelerate until the device returns to a fully closed state, and the deceleration displacement ld is: .

[0045] After that, double-clicking the mechanical button will cause the instrument to return to the open state at a constant speed, and the speed of the constant speed is greater than the initial speed v0 of the deceleration movement, so that the doctor has sufficient reaction time during operation.

[0046] For the operation of opening and closing instruments, the specific steps include: B1. Enter the operation mode of opening and closing instruments via electronic touch control; B2. When performing the instrument closing operation, select the "Close" program on the electronic touch control device and send a motion command to the motor. At this time, the position of the motor when it reaches the closing position is calculated based on the mapping relationship between the motor displacement and the maximum opening and closing angle of the opening and closing instrument. The motor will stop moving after reaching the instrument closing position at a constant speed. Proceed to step B4. B3. When performing the instrument opening operation, select the "Open" program on the electronic touch control device. The motor will stop moving after reaching the instrument opening position at a constant speed; proceed to step B4. B4. When the machine is closed or opened, exit the operation mode via the electronic touch control device. The motor on the robot's end effector will enter a protection state and will no longer move.

[0047] The above operating method, with button control, can be used by surgical assistants to assist doctors in performing surgical procedures, and can also be used to adjust the status of surgical instruments during the operation.

[0048] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A robot end effector control method, characterized in that, The method includes a controller that controls the operation of an end effector, and the method includes: When the controller is a mechanical button, it controls aspiration instruments to perform aspiration and injection operations based on the mechanical button; and controls opening and closing instruments to perform instrument opening and closing operations based on the mechanical button.

2. The robot end effector control method according to claim 1, characterized in that, The method of controlling the aspiration and injection operations of the aspiration device based on the mechanical buttons includes: When the motor displacement 1 is less than the target displacement L, press and hold the mechanical button to trigger the motor to move at a constant speed, and control the aspiration device to perform the injection operation. The operation of opening and closing the instrument based on the mechanical button control includes: Before operation, the opening and closing device is kept in the open state. Press and hold the mechanical button to trigger the motor to move at the preset acceleration a. When the motor displacement 1 is less than the target displacement L, and the movement time t is less than the time required for the motor to move to the maximum displacement of the acceleration movement, after releasing the mechanical button, the motor uses a deceleration that is the same as but opposite to the acceleration a to perform deceleration movement. When 1=L, the end effector enters the motion protection state, and the motor begins to decelerate until the device changes to the fully closed state.

3. The robot end effector control method according to claim 1 or 2, characterized in that, The method of controlling the aspiration and injection operations of the aspiration device based on the mechanical buttons includes: Double-clicking the mechanical button controls the end effector to perform a suction operation. When the sum of the target displacement L of the motor and the current position of the motor is greater than the highest position Lmax during the motor's suction action, the motor will stop moving after moving to the Lmax position. When the motor reaches the highest position Lmax during the motor's suction action, the motor enters a motion protection state, and double-clicking the mechanical button again will not trigger the motor to move. The operation of opening and closing the instrument based on the mechanical button control includes: Double-clicking the mechanical button will cause the instrument to return from a fully closed state to an open state at a constant speed.

4. The robot end effector control method according to claim 1, characterized in that, The mechanical button is a foot pedal.

5. The robot end effector control method according to claim 1, characterized in that, Also includes: When the controller is a button on an electronic touch device, it controls aspiration instruments to perform aspiration and injection operations based on the buttons on the electronic touch device; and controls opening and closing instruments to perform instrument opening and closing operations based on the buttons on the electronic touch device.

6. The robot end effector control method according to claim 5, characterized in that, The method of using the electronic touch device to control aspiration instruments for aspiration and injection operations includes: A1. Select the quantitative injection mode on the electronic touch control device, select the desired injection percentage, calculate the corresponding motor displacement based on the mapping relationship between motor displacement and the volume of the aspiration instrument, and then enter the corresponding percentage control program according to the mapping relationship of the robot end effector control method; A2. Select the "Inject" program on the electronic touch control device, send a motion command to the motor, and judge the target position to be reached. When the sum of the current position and the target displacement is less than the maximum value of the instrument injection position, the motor reaches the target position at a constant speed according to the motion command and then stops moving; when the sum of the current position and the target displacement is greater than or equal to the maximum value of the instrument injection position, the motor reaches the maximum value of the instrument injection position at a constant speed according to the motion command and then stops moving; A3. After the injection is completed, exit the quantitative injection mode through the electronic touch control device; the motor on the robot end effector enters the protection state and no longer moves; and / or, Select the continuous injection mode on the electronic touch control device, and the "injection" program is executed on the robot's end effector. This sends a motion command to the motor, which then moves at a constant speed from its current position to the lowest position that the instrument can reach during the injection action.

7. The robot end effector control method according to claim 5, characterized in that, The button-controlled opening and closing operation of the instrument based on the electronic touch device includes: B1. Enter the operation mode of opening and closing instruments via electronic touch control; B2. When performing the instrument closing operation, select the "Close" program on the electronic touch control device and send a motion command to the motor. At this time, the position of the motor when it reaches the closing position is calculated based on the mapping relationship between the motor displacement and the maximum opening and closing angle of the opening and closing instrument. The motor will stop moving after reaching the instrument closing position at a constant speed. Proceed to step B4. B3. When performing the instrument opening operation, select the "Open" program on the electronic touch control device. The motor will stop moving after reaching the instrument opening position at a constant speed; proceed to step B4. B4. When the machine is closed or opened, exit the operation mode via the electronic touch control device. The motor on the robot's end effector will enter a protection state and will no longer move.

8. The robot end effector control method according to claim 1, characterized in that, Also includes: For aspiration instruments, during the aspiration operation, the relationships between the target motor displacement L and the aspiration volume V, the mapping ratio a between the motor displacement and the instrument's aspiration and pulling length, and the diameter R of the instrument's storage space are as follows: The relationship between the motor displacement l, the target motor displacement L, the motor's current position lnow, and the highest position Lmax during the motor's liquid suction action is as follows: During the injection operation, the motor drives the surgical instrument to move along the injection direction of the cylinder shaft at a speed vi corresponding to the minimum step. The motor displacement l is: Where t is the motion time.

9. The robot end effector control method according to claim 1, characterized in that, For opening and closing instruments, during the opening and closing operation, the motor moves along a parabolic velocity trajectory that first accelerates and then decelerates. The relationship between the target displacement L of the motor, the engagement length Lo at the end of the instrument, and the maximum opening and closing angle θ is as follows: The relationship between the target displacement L of the motor and the maximum velocity V and acceleration a is as follows: Before operation, the opening and closing mechanism is kept in the open position. Pressing and holding the mechanical button triggers the motor to move at a preset acceleration 'a'. The relationship between the motor displacement 'la' and the target motor displacement 'L' is as follows: Where t is the motion time; When the motor displacement la is less than the target displacement L, and the motion time t is less than the time required for the motor to reach its maximum acceleration displacement, after releasing the mechanical button, the motor decelerates using a deceleration that is the same magnitude but opposite to the acceleration a. The initial velocity v0 of the deceleration motion is: When la = L, the end effector enters the motion protection state, the motor begins to decelerate until the device is in a fully closed state, and the deceleration displacement ld is: 。 10. The robot end effector control method according to claim 1, characterized in that, The robot end effector includes a base, an instrument mounting mechanism for mounting surgical instruments, a motor for outputting power, and a controller for controlling the operation of the motor. The instrument mounting mechanism and the motor are both mounted on the base. The base is also provided with a guide rail and a slider that moves along the guide rail. The output end of the motor is connected to the slider through a transmission assembly. A drive component for driving the surgical instruments is fixedly mounted on the transmission assembly. The controller controls the operation of the motor and drives the surgical instruments to perform surgical actions through the transmission assembly and the drive component.

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