Multi-degree-of-freedom digestive endoscope surgical instrument operating platform with force feedback and force compensation functions

Abstract

The application discloses a multi-degree-of-freedom digestive endoscope surgical instrument operating platform with force feedback and force compensation functions, which comprises a clamping motion joint and a three-degree-of-freedom rotary motion joint and a line distribution guide mechanism arranged and connected in sequence from a proximal end to a distal end; the three-degree-of-freedom rotary motion joint comprises a disc motion joint, the disc motion joint comprises a disc, the disc is provided with a Hook joint, two traction wire winding wheels and a universal hinge relative to the surface of the proximal end of the clamping motion joint; the Hook joint comprises a pitch motion joint rotating around an A-axis and a yaw motion joint rotatable around a B-axis, the disc rotates around a C-axis, the A-axis, the B-axis and the C-axis spatially intersect at the same point, and complete decoupling of attitude motion is realized. The application solves the technical problems of the prior art, such as complex master-slave operation structure, redundant degrees of freedom, motion lag and control distortion, difficulty in multi-instrument cooperation, and inability to maintain the attitude after releasing the hand, and the like.

Description

Technical Field

[0001] This invention relates to the field of digestive endoscopy surgical instrument control equipment, and in particular to a multi-degree-of-freedom digestive endoscopy surgical instrument control platform with force feedback and force compensation functions. Background Technology

[0002] Minimally invasive surgery reduces pain and shortens recovery time by minimizing external incisions. With the development of surgical techniques, Natural Orifice Endoscopic Surgery (NOTES) utilizes natural orifices of the body (such as the mouth, anus, and vagina) as entry points to introduce medical devices into the tissue treatment area via catheter systems for disease diagnosis and treatment, further realizing minimally invasive or even non-invasive surgery without external scars.

[0003] In minimally invasive or even non-invasive surgeries, doctors often rely on flexible endoscopes and flexible or steerable catheter systems to complete complex intraluminal or transluminal operations. As a stable channel for the entry and exit of multiple instruments, the catheter system greatly reduces repeated friction damage to the inner wall of the digestive tract.

[0004] Existing control platforms (such as the master hand) generally have the following shortcomings in actual gastrointestinal endoscopic surgery applications:

[0005] 1. Complex master-slave operating structure with redundant degrees of freedom: The system often adopts a large master-slave architecture driven by multiple linkages or motors, resulting in an exceptionally complex structure, limited operational flexibility, and poor efficiency and comfort for doctors. Furthermore, the system contains redundant degrees of freedom that are incompatible with the kinematic characteristics of the flexible instruments. This not only increases the manufacturing cost and maintenance difficulty of the equipment but also leads to an excessively steep learning curve for clinicians, making rapid deployment in the operating room environment difficult. 2. Severe motion lag and control distortion: Traditional control mechanisms often use rigid components such as gears and timing belts to transmit motion, inevitably resulting in mechanical backlash. When performing delicate procedures such as high-precision mucosal dissection within the narrow space of the digestive tract, this backlash is amplified at each stage, causing severe motion lag and control distortion, leading to a significant disconnect between the doctor's hand movements and the response of the flexible instruments. 3. Lack of posture maintenance and damping locking mechanisms: When a single doctor operates multiple devices, they often need to remove their hands from one instrument to operate others. However, existing operating handles lack effective friction braking components, failing to hold the handle in the desired position when the surgeon stops applying the manipulation. This makes them prone to accidental free slippage due to uneven tension in the distal traction wire, leading to loss of end-device posture. 4. Lack of realistic mechanical tactile feedback: Existing gripping handles often rely on electronic sensors for indirect measurement and opening / closing control, lacking physical transmission. Surgeons cannot directly perceive the actual mechanical tension of distal tissue during gripping or traction. 5. Structural weight leading to operator fatigue: Most existing multi-degree-of-freedom master hands fail to achieve good active gravity balance. During lengthy and complex surgeries, the operator continuously overcomes the mechanism's own weight, easily triggering hand tremors.

[0006] Therefore, it is necessary to improve or perfect the above-mentioned defects and propose a new system or platform. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problems in the prior art, such as complex master-slave operation structure, redundant degrees of freedom, motion lag and control distortion, difficulty in coordinating multiple instruments, and inability to maintain posture after release. It provides a multi-degree-of-freedom digestive endoscopy surgical instrument control platform with simple structure, suitable for direct clinical use, and with force feedback and force compensation functions, to assist clinicians in controlling and operating at least one endoscopic surgical instrument.

[0008] This invention is achieved through the following technical solution:

[0009] A multi-degree-of-freedom digestive endoscopic surgical instrument control platform with force feedback and force compensation functions includes: a control platform body, which comprises a clamping motion joint, a three-degree-of-freedom rotational motion joint, and a wire guide mechanism arranged and connected sequentially from proximal to distal; the three-degree-of-freedom rotational motion joint includes a disc motion joint, which includes a disc, and a Hooke joint, two traction wire winding wheels, and a universal hinge are arranged on the proximal surface of the disc relative to the clamping motion joint; the Hooke joint includes a pitch motion joint that rotates about axis A and a yaw motion joint that can rotate about axis B, and the disc rotates about axis C. The axes A, B, and C intersect at the same point in space, achieving complete decoupling of posture motion; the distal side of the clamping motion joint facing the disc has a hollow shaft, which passes through the Hooke joint and is connected to the universal hinge; the disc is located away from the clamping joint. The distal end of the motion joint is connected to an extended stepped shaft, which in turn connects to the wire distribution mechanism. The wire distribution mechanism includes a support body, two guide wheels for traction wires, and a wire distribution disc. The guide wheels are located on the circumferential surface of the support body, and the axial directions of the two guide wheels for traction wires are perpendicular. The distal end of the support body has a wire inlet hole for the control wire. The wire distribution disc is located in a cavity inside the support body and has five wire holes distributed on it. One opening and closing traction wire, which individually controls the opening and closing of the instrument clamp, passes through a wire hole arranged in the center and extends through the drive wire channel inside the hollow shaft to connect with the opening and closing winding wheel of the clamping motion joint. Four instrument traction wires each pass through four wire holes on the outer periphery of the center, are guided by two guide wheels, and then pass through the disc to connect with two winding wheels. One guide wheel and winding wheel are matched with two instrument traction wires to perform traction control of pitch and yaw motion of the instrument, respectively.

[0010] Preferably, the clamping joint includes a housing for the doctor's hand to grip and a rotating shaft arranged within the housing. Bearing assemblies are connected to both ends of the rotating shaft. The opening and closing winding wheel is coaxially connected to the rotating shaft. An opening and closing return spring is coaxially arranged on the rotating shaft. One finger sleeve for the doctor's gripping operation is connected to the rotating shaft, and the other finger sleeve is connected to the housing. The hollow shaft is fixedly connected to the housing.

[0011] Preferably, of the two traction wire winding wheels, one traction wire winding wheel is arranged coaxially with the rotation axis of the yaw motion joint, and the other traction wire winding wheel is arranged coaxially with the rotation axis of the pitch motion joint of the yaw motion joint.

[0012] Preferably, the wire splitting mechanism includes a clamping bushing, and the support body has a connecting post with an internal shaft hole protruding from its end face near the clamping bushing. The extended stepped shaft and the connecting post are coaxially connected by being coaxially inserted into the clamping bushing from both ends. The clamping bushing has C-shaped clamping parts at both ends, which cooperate with locking bolts to control the clamping degree of the extended stepped shaft and the connecting post.

[0013] Preferably, a flexible magnetic strip is attached to the outer surface of the connecting post, and an off-axis magnetic encoder is installed in the radial direction on the outer side of the connecting post. The off-axis magnetic encoder is used to non-contactly scan the magnetic strip at high speed and read the absolute spatial attitude angle of the disk in real time for real-time dynamic calculation of force compensation torque.

[0014] Preferably, a support mechanism is connected to the outer wall of the clamping bushing, and the other end of the support mechanism is connected to a linear guide rail. The guide rail consists of two rails, which are spaced apart along their width.

[0015] Preferably, the pitch joint is connected to a pitch drive motor, the yaw joint is connected to a yaw drive motor, and the pitch drive motor and yaw drive motor are connected to a control system to provide compensating torque to offset the weight of the mechanical structure and feedback resistance based on the state of the end effector for various spatial postures of the pitch and yaw joints, thereby achieving a zero-gravity and force feedback experience during operation.

[0016] Preferably, the distal end of the infeed hole is provided with an instrument multi-cavity tube clamping device for clamping and installing the instrument multi-cavity tube, which contains an instrument traction wire and an opening and closing traction wire.

[0017] Preferably, a hollow cavity is arranged inside the hollow shaft along its length, and the universal hinge is inserted into the hollow cavity to connect with the hollow shaft and is fixed by screws.

[0018] In terms of structural design, this invention abandons the traditional large and complex master-slave drive architecture, realizing the simplicity of mechanical structure and the high efficiency of isomorphic mapping. It has no transmission backlash, real mechanical tactile feedback, zero gravity compensation function, and rotation damping and position holding locking mechanism. It is highly compatible with the space constraints of the operating room and the intuitive operating habits of surgeons, and is extremely suitable for direct deployment and use in clinical surgery. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall control platform for digestive endoscopy surgical instruments according to an embodiment of the present invention.

[0020] Figure 2 This is a cross-sectional view of the clamping joint according to an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of a three-degree-of-freedom rotational joint according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the wire branching mechanism according to an embodiment of the present invention.

[0023] Figure 5 This is an exploded view of the coaxial assembly of the disc rotation joint, clamping bushing, and wire-splitting mechanism according to an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the arrangement of the wire distribution plate and the wire guide wheel in an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the operation of the universal hinge according to an embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the clamping bushing according to an embodiment of the present invention. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0028] See Figures 1 to 8 As shown in the exemplary embodiment of this application, the multi-degree-of-freedom digestive endoscopy surgical instrument control platform with force feedback and force compensation functions includes a control platform body and a linear guide rail 8 that slides to support the control platform. The control platform body can move along the linear guide rail 8 to adjust its position. There are at least two linear guide rails 8, which are arranged apart along their width direction and are slidably connected to the support structure 4-10 of the control platform body. The support structure can be a support leg or a support frame. When using support legs, two support legs can be arranged in a figure-eight shape. The upper ends of the two support legs are connected to the control platform body, and the lower ends are connected to the slider on the linear guide rail. The entire control platform body can be translated along the linear guide rail 8 to control the forward and backward movement of the distal surgical instrument 7. The distal surgical instrument 7 can be used in conjunction with a digestive endoscope 6 during operation.

[0029] In some embodiments, the main body of the control platform includes a clamping motion joint 1, a three-degree-of-freedom rotary motion joint 2, and a wire-splitting mechanism 4, arranged and connected sequentially from the proximal end to the distal end. The three-degree-of-freedom rotary motion joint includes a disc motion joint, which comprises a disc 2-8. The disc 2-8 has a Hooke joint, two traction wire winding wheels (yaw motion traction wire winding wheel 2-5, pitch motion traction wire winding wheel 2-7), and a universal hinge 2-6 arranged on its proximal surface relative to the clamping motion joint 1. The Hooke joint includes... The disc has a pitch joint 2-3 that rotates around axis A and a yaw joint 2-1 that rotates around axis B. The disc rotates around axis C. The axes A, B, and C intersect at the same point in space, achieving complete decoupling of attitude movements. The clamping joint 1 has a hollow shaft 1-7 on its distal side facing the disc. The hollow shaft 1-7 passes through the Hooke joint and connects to the universal hinge 2-6. The disc 2-8 has an extended stepped shaft 2-9 connected to its distal side away from the clamping joint 1, and is connected via the extended stepped shaft. The wire splitting mechanism 4 is described above. The wire splitting mechanism includes a support body 4-4, two guide wheels 4-3 for the traction wires, and a wire splitting disc 4-9. The guide wheels 4-3 are located on the circumferential surface of the support body 4-4, and the axial directions of the two guide wheels 4-3 are perpendicular. The wire splitting disc 4-9 is located in a cavity formed inside the support body 4-4, and five wire holes are distributed at preset positions on it. A single opening / closing traction wire, used to individually control the opening and closing of the instrument clamp, passes through one of the centrally located wire holes and extends through the drive wire channel inside the hollow shaft, where it connects with the... The clamping joint 1 is connected to the opening and closing winding wheel 1-3. The four instrument traction wires 3 pass through the corresponding four wire holes and are connected to the two guide wheels 4-3 and the two traction wire winding wheels (yaw motion traction wire winding wheel 2-5, pitch motion traction wire winding wheel 2-7). One of the guide wheels and winding wheels is matched with two instrument traction wires to perform pitch motion and yaw motion traction control on the instrument respectively. That is, one set of instrument traction wires controls the up and down pitch motion of the distal surgical instrument 7, and the other two sets of instrument traction wires control the left and right yaw motion of the distal surgical instrument.

[0030] In one optional embodiment, the disk 2-8 is a disk structure, the universal hinge 2-6 is coaxially arranged with the disk 2-8 and positioned at the center of the disk 2-8, and the extended stepped shaft 2-9 is coaxially arranged with the disk 2-8. Specifically, the front end (input end) of the universal hinge 2-6 is rigidly coaxially fixed to the hollow shaft 1-7 of the clamping motion joint 1, and the rear end (output ball seat end) is fixedly connected to the center of the base of the disk rotation motion joint. With this assembly, the geometric center of the ball head of the universal hinge 2-6 is precisely aligned with the spatial intersection of the pitch and yaw axes. In a preferred embodiment, the hollow shaft 1-7 of this application has a hollow cavity arranged along its length, and the universal hinge 2-6 is inserted into the hollow cavity and connected to the hollow shaft and fixed with screws.

[0031] The clamping joint described in this application is located on the leftmost operating handle, and can generate an opening and closing motion control device relative to the operating handle. In one embodiment, such as... Figure 2 As shown, the clamping joint 1 includes a housing for the doctor's hand to grip and a rotating shaft arranged within the housing. The rotating shaft is an opening and closing extended stepped shaft 1-5, with bearing assemblies connected to both ends. The opening and closing winding wheel 1-3 is coaxially connected to the rotating shaft, and an opening and closing return spring 1-4 is coaxially mounted on the rotating shaft. One finger sleeve 1-9 for the doctor's gripping operation is connected to the rotating shaft, and the other finger sleeve is connected to the housing. The hollow shaft 1-7 is connected and fixed to the housing, and is inserted into an insertion interface on one side of the housing, where it is pressed and fixed by an end cap 1-1. Figure 2 As shown, the clamping joint 1 is located at the far end of the control platform body, i.e., the proximal end closest to the doctor. It adopts a purely mechanical coaxial direct connection design to achieve real tissue clamping passive force feedback. When the operator pinches the clamping trigger formed by the finger sleeve to generate a rotation angle, it directly drives the opening and closing winding wheel to rotate coaxially and retract the opening and closing traction wire, thereby mechanically mapping and controlling the opening and closing action of the distal instrument without backlash.

[0032] Specifically, inside the housing of the clamping joint 1, a finger sleeve opening and closing extension stepped shaft 1-5 is installed via bearings 1-2 on both sides. The two ends of its concentric shaft 1-6 are axially fixed by end caps 1-1. One finger sleeve 1-9 at the operating end is fixed to the housing, while the opposite finger sleeve extends into the housing through an opening or slot, achieving a rigid connection with the opening and closing extension stepped shaft 1-5. In the middle section of the finger sleeve opening and closing extension stepped shaft 1-5, an opening and closing winding wheel 1-3 is coaxially fixed. The opening and closing traction wire for individually controlling the opening and closing of the distal surgical instrument 7 passes through the instrument opening and closing traction wire channel 1-8 inside the hollow shaft, enters the housing of the clamping joint 1 forming the handle, and is tightly wound and fixed onto the opening and closing winding wheel 1-3. An opening and closing return spring 1-4 is coaxially sleeved on one side of the opening and closing winding wheel 1-3. One end of the opening and closing return spring is fixed to the housing, and the other end acts on the extension stepped shaft 1-5.

[0033] During operation, the doctor inserts their fingers into finger sleeves 1-9 and pinches them together, causing the finger sleeve's opening and closing extension step shaft 1-5 to rotate. This rotational motion is directly converted into the rotation of the opening and closing winding wheel 1-3, which in turn pulls the opening and closing traction wire. When the distal surgical instrument 7 encounters physical resistance while grasping tissue, this resistance is directly dragged in the opposite direction by the opening and closing traction wire, ultimately transmitting the resistance to the doctor's fingers without any delay, creating excellent mechanical tactile feedback.

[0034] This invention utilizes a trigger mechanism made of finger sleeves inside the gripping handle, which is coaxially connected to the opening and closing winding wheel. The doctor's pinching action is directly converted into the displacement of the opening and closing traction wire. When a hard object is gripped at the distal end, the tension is instantly transmitted in reverse to the fingers, forming the most direct passive tactile feedback, achieving the ultimate tactile feedback and a realistic sense of force.

[0035] In one embodiment, of the two traction wire winding wheels, one traction wire winding wheel (yaw motion traction wire winding wheel 2-5) is arranged coaxially with the rotation axis of the yaw motion joint 2-1, and the other traction wire winding wheel (pitch motion traction wire winding wheel 2-7) is arranged coaxially with the rotation axis of the pitch motion joint 2-3.

[0036] According to embodiments of this application, such as Figure 3As shown, the pitch joint 2-3 is connected to the pitch drive motor 2-2, and the yaw joint 2-1 is connected to the yaw drive motor 2-4. The pitch drive motor and yaw drive motor are connected to the control system, which provides compensation torque to offset the weight of the mechanical structure and feedback resistance based on the state of the end effector for various spatial postures of the intersecting axis joint formed by the pitch and yaw joints. This achieves a zero-gravity and force feedback experience during operation. By introducing an active force compensation structure to the intersecting axis joint, the operational fatigue caused by the weight of multiple joints and motors on the control platform is solved. In the embodiments of this application, a flexible magnetic strip 4-2 is attached to the outer surface of the connecting post 4-7, and an off-axis magnetic encoder 4-6 is installed radially on the outer side of the connecting post. The off-axis magnetic encoder is used for non-contact high-speed scanning of the magnetic strip 4-2 to read the absolute spatial attitude angle of the disk in real time for real-time dynamic calculation of the force compensation torque. During operation, the off-axis magnetic encoder 4-6 can non-contactly and at high speed scan the magnetic strip grid 4-2, reading the absolute spatial attitude angle of the disk in real time and transmitting it to the main control system. After acquiring the high-precision pose, the main control system calculates the downward torque generated by the weight of each joint in the current pose, and outputs current to the pitch motor 2-2 and the yaw motor 2-4 to generate supporting torques of equal magnitude and opposite direction. This allows the entire platform to hover in any pose, eliminating the need for the operator to exert physical effort to overcome the weight of the equipment. This invention utilizes an off-axis magnetic encoder to accurately acquire the spatial attitude of the mechanism, combined with the real-time output of counteracting torques from auxiliary motors, enabling the main hand to achieve a "zero-gravity" operating experience, realizing zero-gravity hovering in all poses, and reducing muscle fatigue.

[0037] In one embodiment of this application, a multi-lumen instrument tube clamping device 4-5 is provided at the distal end of the infeed hole for clamping and installing the multi-lumen instrument tube 5. The multi-lumen instrument tube 5 contains an instrument traction wire 3 and an opening and closing traction wire (not shown). After the multi-lumen instrument tube 5 is introduced from the front end of the wire splitting mechanism, it is fixed to the front end of the support body of the wire splitting mechanism by the multi-lumen instrument tube clamping cover 4-5.

[0038] In one embodiment of this application, the distributor 4-9 is a circular disk arranged within the internal cavity of the support 4-4, such as... Figure 6As shown, the five traction wires or drive wires encased inside the multi-lumen tube 5 of the instrument pass through and enter the distribution plate 4-9. This distribution plate has five wire holes: a central wire hole 9-5 and four peripheral wire holes: a first peripheral wire hole 9-1, a second peripheral wire hole 9-2, a third peripheral wire hole 9-3, and a fourth peripheral wire hole 9-4, which physically isolate the five traction wires. The specific wire passage structure is as follows: a central wire hole in the middle for the traction wire controlling the opening and closing of the clamps; two holes on the left side of the end face (first peripheral wire hole 9-1 and second peripheral wire hole 9-2) for the traction wire controlling the pitch motion; and two holes on the upper side of the end face (third peripheral wire hole 9-3 and fourth peripheral wire hole 9-4) for the traction wire controlling the yaw motion. Through this internal hole distribution, the four attitude traction wires are precisely decoupled into two pairs (pitch group and yaw group). After being grouped, the attitude traction wires extend backward and wrap around the shaping grooves of the two guide wheels 4-3 symmetrically arranged on the periphery. The guide wheels 4-3 change the direction of the traction wires, making them turn smoothly and tangentially introduced into the pitch and yaw motion joints of the intersecting axes behind. The pitch group traction wires are wound and fixed on the pitch motion traction wire winding wheel 2-7, and the yaw group traction wires are wound and fixed on the yaw motion traction wire winding wheel 2-5. The opening and closing traction wires passing through the central hole are not affected by the attitude joints and continue to extend backward along the central axis into the clamping motion joint 1.

[0039] Specifically, the opening and closing traction wire extends backward along the central axis hole in the support body, connecting column and clamping bushing of the branching wire mechanism, as well as the extended stepped shaft of the three-degree-of-freedom rotational joint 2 and the central axis hole in the universal hinge, and enters the hollow shaft 1-7, thus entering the clamping joint.

[0040] In this application, the five traction wires in the multi-cavity tube of the instrument pass through the aforementioned wire holes to achieve physical isolation and decoupling. The two sets of attitude traction wires are led out through the corresponding guide wheels and then pass through the open structure of the disc rotation joint to connect to the coaxial traction winding wheels of the pitch and yaw joints. The rotation of the Hooke joint directly drives the traction winding wheel to release and retract the two sets of attitude traction wires, realizing backlash-free wire transmission mapping. Thus, the traction wires are decoupled and physically isolated through the wire guide mechanism, eliminating frictional interference when multiple wires are linked. The direct connection of the Hooke joint to the winding wheel achieves backlash-free wire transmission and anti-interference, completely eliminating the backlash of traditional mechanisms such as gears.

[0041] In conjunction with the structure of this embodiment, the universal hinge adopts a ball-head universal joint configuration with a ball head and a ball seat. The geometric center of the ball head is the spatial intersection point of the pitch and yaw motion axes. When the doctor holds the operating handle and swings it in space, the input operating torque is kinematically decoupled and orthogonally transmitted through the universal hinge 2-6. The specific torque transmission and motion decomposition process is as follows: (1) Spatial motion decomposition: When the doctor swings the handle up and down or left and right in a compound manner within the range of the operating cone angle (±50°), the handle takes the ball center of the universal hinge as the absolute fulcrum, and the ball head undergoes multi-dimensional smooth deflection within the ball seat. This spatial composite deflection is forcibly decomposed into two orthogonal single-dimensional rotational components by the mechanical structure; (2) Pitch torque transmission: The up-and-down swing motion component drives the pitch motion joint 2-3 to rotate around the horizontal axis. This rotational action directly drives the pitch motion traction wire winding wheel 2-7, which is rigidly fixed to the same axis, to rotate, thereby accurately controlling the up and down traction wire of the distal instrument; (3) Yaw torque transmission: The left-and-right swing motion component drives the yaw motion joint 2-1 to rotate around the vertical axis. This rotational action directly drives the yaw motion traction wire winding wheel 2-5, which is rigidly fixed to the same axis, to rotate, thereby accurately controlling the left and right traction wire of the distal instrument. Through the above physical decomposition of the spatial composite swing motion by the universal hinge, the two sets of winding wheels perform their respective functions to wind and unwind the corresponding instrument traction wire 3, thereby realizing zero-gap posture mapping from hand movements to the distal surgical instrument 7.

[0042] In one embodiment, the wire branching mechanism includes a clamping bushing 4-1. A connecting post with an internal shaft hole protrudes from the end face of the support body near the clamping bushing. The extending stepped rotating shaft 2-9 and the connecting post are coaxially connected by being coaxially mounted in the clamping bushing from both ends. C-shaped clamping portions are provided at both ends of the clamping bushing, which cooperate with locking bolts to control the clamping degree of the extending stepped rotating shaft and the connecting post. Figure 5 As shown, the disc is structurally coupled to the wire guide mechanism via a coaxial stepped rotating shaft. Specifically, the front section of the extended stepped rotating shaft 2-9 passes through the clamping bushing 4-1 at the top of the support frame, and its rear section further passes into the central shaft hole of the connecting column of the wire guide mechanism, and is fixed to the connecting column by a radial locking bolt mechanism. Through the coaxial insertion structure and bolt locking, the coaxial integrated structure of the rotating joint, support mechanism, and wire guide mechanism formed by the disc is achieved, ensuring coaxial rotational stability under high-speed or high-precision operation.

[0043] In this application, by integrally forming a clamping bushing 4-1 connecting the disk 2-8 and the wire guide mechanism 4 on the top of the support structure 4-10, the self-rotation damping and attitude locking of the disk rotation joint are realized. C-shaped clamping portions 4-11 are formed at both ends of the clamping bushing 4-1 through slots on the end faces, arranged in a front-to-back mirror symmetrical manner, similar to the locking end of a plum blossom coupling. Specifically, there is a non-semi-circular slit opening on the circumferential side between the C-shaped clamping portion 4-11 and the main body of the clamping bushing, extending into the interior of the bushing. The arc length of this slit is less than the semi-circular arc length of the clamping bushing. The inner wall of the clamping bushing 4-1 has a threaded line. A mounting hole for the locking bolt 4-12 to pass through is provided radially on the main body of the clamping bushing. The extended stepped shaft at the rear end of the disk rotation joint is installed through the inner hole of the clamping bushing 4-1. The end face of the C-shaped clamping part is provided with locking threads 4-11. Through the rotational engagement of the locking bolt and the locking threads, the opening of the C-shaped clamping part contracts, thereby completely locking the rotating shaft and fixing the rotation posture of the disc. By appropriately loosening the locking bolt, the C-shaped clamping part, in conjunction with its internal threads, provides adjustable mechanical friction damping to the extended stepped rotating shaft, allowing the disc to rotate with resistance under the operator's hand control, and preventing the disc from freely slipping when the control force is removed.

[0044] When the rotational posture of the distal surgical instrument 7 does not need to be adjusted during surgery, or when high stability needs to be maintained, the surgeon can fully tighten the locking bolt, causing the opening of the C-shaped clamping part 4-11 to close, relying on the enormous frictional force to completely lock the extended stepped shaft of the disc rotational joint. When the surgeon needs to frequently adjust the rotation angle, the locking bolt can be loosened appropriately. At this time, the clamping sleeve 4-1, combined with its internal threads (which effectively increase the frictional contact area and accommodate grease), applies appropriate mechanical frictional resistance within the operating threshold to the extended stepped shaft. In this state, the disc rotational joint can rotate smoothly under the control of the operator. Once the operator releases their grip, the disc will stop immediately under the damping effect, and will not slip freely due to the unbalanced tension applied by the traction wire, greatly ensuring the surgical safety and intuitive operation of minimally invasive surgery.

[0045] This invention achieves adjustable rotation damping and posture locking mechanisms by introducing an open clamping bushing at the top of the support structure, through a locking thread and locking bolt structure. Doctors can completely lock the instrument's rotational freedom or adjust it to a damped, semi-open state, depending on the surgical scenario. This purely mechanical design effectively prevents the disc from accidentally slipping freely under wire tension, significantly improving operational safety and tactile feedback.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0047] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-degree-of-freedom digestive endoscopic surgical instrument control platform with force feedback and force compensation functions, characterized in that, The system includes a control platform body, comprising a clamping motion joint arranged sequentially from proximal to distal end and connected to it, a three-degree-of-freedom rotary motion joint, and a wire-splitting mechanism. The three-degree-of-freedom rotary motion joint includes a disc motion joint, which comprises a disc. A Hooke joint, two traction wire winding wheels, and a universal hinge are arranged on the proximal surface of the disc relative to the clamping motion joint. The Hooke joint includes a pitch motion joint that rotates about axis A and a yaw motion joint that rotates about axis B. The disc rotates about axis C. The axes A, B, and C spatially intersect at the same point, achieving complete decoupling of attitude motion. The distal end of the clamping motion joint facing the disc has a hollow shaft, which passes through the Hooke joint and connects to the universal hinge. An extension is connected to the distal end of the disc away from the clamping motion joint. A stepped shaft is provided, and the branching guide mechanism is connected via the extended stepped shaft. The branching guide mechanism includes a support body, two guide wheels for traction wires, and a branching disc. The guide wheels are located on the circumferential surface of the support body, and the axial directions of the two guide wheels for traction wires are perpendicular. The distal end of the support body has a wire inlet hole for the control wire. The branching disc is located in the cavity inside the support body and has five wire holes distributed on it. One opening and closing traction wire that controls the opening and closing of the instrument clamp passes through a wire hole arranged in the center and extends through the drive wire channel inside the hollow shaft to connect with the opening and closing winding wheel of the clamping motion joint. Four instrument traction wires each pass through four wire holes on the outer periphery of the center, are guided by two guide wheels, and then pass through the disc to connect with two winding wheels. One guide wheel and winding wheel are matched with two instrument traction wires to perform traction control of pitch and yaw motion of the instrument, respectively.

2. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, The clamping joint includes a housing for the doctor's hand to grip and operate, and a rotating shaft arranged inside the housing. The two ends of the rotating shaft are respectively connected to bearing assemblies. The opening and closing winding wheel is coaxially connected to the rotating shaft. An opening and closing return spring is coaxially arranged on the rotating shaft. One finger sleeve for the doctor's gripping operation is connected to the rotating shaft, and the other finger sleeve is connected to the housing. The hollow shaft is connected and fixed to the housing.

3. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, Of the two traction wire winding wheels, one traction wire winding wheel is arranged coaxially with the rotation axis of the yaw motion joint, and the other traction wire winding wheel is arranged coaxially with the rotation axis of the pitch motion joint of the yaw motion joint.

4. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, The wire splitting mechanism includes a clamping bushing. A connecting post with an internal shaft hole protrudes from the end face of the support body near the clamping bushing. The extended stepped shaft and the connecting post are coaxially installed into the clamping bushing from both ends to achieve coaxial connection. C-shaped clamping parts are provided at both ends of the clamping bushing, which cooperate with locking bolts to achieve clamping degree control of the extended stepped shaft and the connecting post.

5. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 4, characterized in that, The outer surface of the connecting post is covered with a flexible magnetic strip grid, and an off-axis magnetic encoder is installed in the radial direction on the outer side of the connecting post. The off-axis magnetic encoder is used to non-contactly scan the magnetic strip grid at high speed and read the absolute spatial attitude angle of the disk in real time for real-time dynamic calculation of force compensation torque.

6. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 4, characterized in that, A support mechanism is connected to the outer wall of the clamping bushing. The other end of the support mechanism is connected to a linear guide rail. There are two guide rails, which are arranged apart along their width direction.

7. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, The pitch joint is connected to a pitch drive motor, and the yaw joint is connected to a yaw drive motor. The pitch drive motor and the yaw drive motor are connected to the control system to provide compensating torque to offset the weight of the mechanical structure and feedback resistance based on the state of the end effector for various spatial postures of the pitch joint and the yaw joint, thereby realizing a zero-gravity and force feedback experience during operation.

8. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, The distal end of the infeed hole is provided with an instrument multi-cavity tube clamping device for clamping and installing the instrument multi-cavity tube, which contains an instrument traction wire and an opening and closing traction wire.

9. The multi-degree-of-freedom digestive endoscopic surgical instrument control platform according to claim 1, characterized in that, The hollow shaft has a hollow cavity arranged along its length. The universal hinge is inserted into the hollow cavity and connected to the hollow shaft, and is fixed by screws.

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