Microsurgical instrument system based on air pressure drive and control method

Abstract

The application discloses a gas pressure driving based microsurgery instrument system and a control method, and belongs to the technical field of medical surgery robots. The system comprises a gas pressure driving unit, a modular magnetic attraction type instrument placing unit and a workstation. The gas pressure driving unit drives the movement of a pneumatic push block through the change of the gas pressure in a sealed cylinder, drives the push rod of a flexible gas pressure execution assembly to output flexible power. The modular magnetic attraction type instrument placing unit realizes rapid butt joint through magnetic attraction of a permanent magnet, guarantees butt joint precision in cooperation with a positioning pin, realizes automatic on-off of a gas circuit through a self-sealing pneumatic joint, and realizes automatic identification of an instrument through an inductive contact. The control method adopts a double closed loop cooperative control strategy of a pressure inner loop and a displacement outer loop. The application solves the problems of strong rigidity, easy damage to fragile human tissues, complicated instrument replacement and low operation precision in the prior art, realizes flexible and safe microsurgery operation with rapid response and micron level precision, and has the advantages of short instrument replacement time, low cost and strong universality.

Description

Technical Field

[0001] This invention belongs to the field of medical surgical robot technology, specifically relating to a pneumatically driven microsurgical instrument system and control method. Background Technology

[0002] In current microsurgical clinical settings, procedures such as tissue dissection and fine cutting require micron-level precision. Traditional manual surgical operations rely entirely on the surgeon's hand stability, making them highly susceptible to errors due to physiological tremors and fatigue from prolonged operation, leading to serious surgical risks such as damage to fragile tissues. Existing microsurgical robot end effector systems mostly use servo motors as the drive source, resulting in a rigid overall structure. Intraoperative errors can easily cause irreversible damage to fragile tissues. Furthermore, the high response delay of motor drives makes them unsuitable for the fast-paced demands of microsurgical procedures. Simultaneously, existing end effector systems often use threaded or snap-fit ​​instruments for fixation, leading to cumbersome replacement processes. The numerous gaps between instruments make thorough aseptic treatment difficult, and the overall structure is bulky, occupying operating space and interfering with the surgical field. In addition, different surgical procedures require frequent changes to different types of end effector instruments, and the lack of a unified, rapid docking and automatic identification mechanism in existing systems further reduces surgical efficiency. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention proposes a pneumatically driven microsurgical instrument system and control method, which enables flexible, safe, rapid-response, and precision-controllable microsurgical operations, while also solving the problems of rapid instrument replacement and automatic identification.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] In a first aspect, the present invention provides a pneumatically driven microsurgical instrument system, comprising:

[0006] A pneumatic drive unit includes a sealed cylinder, a pneumatic push block disposed inside the sealed cylinder, and a flexible pneumatic actuation component with a push rod connected to the pneumatic push block. The pneumatic push block slides and seals with the inner wall of the sealed cylinder to form an air chamber. The sealed cylinder is connected to a proportional solenoid valve for adjusting the pressure of the air chamber.

[0007] A modular magnetic instrument replacement unit includes a fixed docking seat, a replaceable instrument connector, and a pneumatic end effector. The docking end of the fixed docking seat is provided with a first permanent magnet, a positioning pin, a self-sealing pneumatic male connector, and a first sensing contact. The docking end of the replaceable instrument connector is provided with a second permanent magnet, a positioning hole, a self-sealing pneumatic female connector, and a second sensing contact. The first permanent magnet and the second permanent magnet have opposite magnetic poles. The pneumatic end effector is connected to the non-dating end of the replaceable instrument connector.

[0008] The workstation includes an air pump, a controller, and a host computer control module. The air pump is connected to the air chamber via the proportional solenoid valve. The host computer control module is communicatively connected to the controller, a pressure sensor for detecting the pressure inside the flexible pneumatic actuator, and a displacement sensor for detecting the displacement of the pneumatic end effector. The controller is controlled by the proportional solenoid valve and is used to adjust the opening of the proportional solenoid valve.

[0009] Furthermore, a reset spring is provided inside the sealing cylinder. The two ends of the reset spring act between the end cover of the sealing cylinder and the pneumatic push block, respectively, to drive the pneumatic push block to reset when the air chamber is depressurized.

[0010] Furthermore, the positioning pin and the positioning hole are fitted with a clearance to achieve docking guidance; the self-sealing pneumatic male connector and the self-sealing pneumatic female connector are inserted to achieve air circuit opening and closing; the first sensing contact and the second sensing contact are in contact to generate a device identification signal.

[0011] Furthermore, the flexible pneumatic actuator is a medical syringe, a customized pneumatic push rod, a pre-filled drug syringe, or a bellows-type pneumatic actuator.

[0012] Secondly, the present invention provides a control method for a pneumatically driven microsurgical instrument system, comprising the following steps:

[0013] S1. Obtain surgical operation instructions and convert them into pneumatic control parameters;

[0014] S2. Adjust the opening of the proportional solenoid valve according to the pneumatic control parameters to change the air chamber pressure in the sealed cylinder, drive the pneumatic push block to drive the push rod of the flexible pneumatic actuator to move, thereby driving the pneumatic end effector to perform the corresponding operation.

[0015] S3. Real-time acquisition of pneumatic pressure data within the flexible pneumatic actuator and displacement data of the pneumatic end effector;

[0016] S4. Using the pneumatic pressure data as the inner loop feedback and the displacement data as the outer loop feedback, a dual closed-loop collaborative control is performed to generate an adjustment control signal and feed it back to adjust the opening of the proportional solenoid valve, thereby achieving closed-loop regulation.

[0017] Furthermore, in the S4 dual closed-loop collaborative control, the inner loop uses a PID control algorithm to adjust the air path pressure, and the outer loop uses a fuzzy PID algorithm to correct the displacement deviation.

[0018] Furthermore, the control method also includes an automatic calibration step after device docking: when the first sensing contact and the second sensing contact are connected, it is determined that the replaceable device connector and the fixed docking seat have completed docking, and the air circuit on / off verification and position origin calibration are automatically performed. After completion, the control parameters corresponding to the current pneumatic end device are loaded.

[0019] Furthermore, the pneumatic control parameters include at least one of the target air pressure value, air pressure change rate, and target displacement.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] (1) A flexible pneumatic actuator is used as the power actuator, which utilizes the compressibility of gas to achieve flexible power output, effectively avoiding damage to fragile human tissues caused by rigid drive and significantly improving surgical safety. At the same time, the pneumatic drive has a fast response speed, which can meet the real-time requirements of microsurgery.

[0022] (2) The modular magnetic instrument replacement unit achieves rapid docking through permanent magnet magnetic attraction. The positioning pin and positioning hole ensure docking accuracy. The self-sealing pneumatic passage connector realizes automatic opening and closing of the air passage. The instrument type sensing contact can automatically identify different end instruments, which greatly shortens the surgical instrument replacement time and improves surgical efficiency.

[0023] (3) The dual closed-loop control strategy of pressure inner loop and displacement outer loop ensures the stability of power output and realizes high-precision positioning of end instrument, which can achieve micron-level operation accuracy and meet the needs of complex microsurgery.

[0024] (4) The system can automatically complete the airway verification and position calibration after the instrument is replaced without manual intervention, which reduces the doctor's workload and reduces human error.

[0025] (5) Flexible pneumatic actuators can use a variety of commercially available standard parts or custom parts, which are inexpensive and easy to obtain. Meanwhile, the interchangeable instrument connectors can be adapted to a variety of pneumatic end surgical instruments, and have good versatility and expandability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments are briefly introduced below.

[0027] Figure 1 This is a schematic diagram of the overall structure of the pneumatically driven microsurgical instrument system in the embodiment.

[0028] Figure 2 This is a cross-sectional view of the pneumatic drive unit in the embodiment.

[0029] Figure 3 This is a schematic diagram of the modular magnetic instrument replacement unit before docking in the embodiment.

[0030] Figure 4 This is a schematic diagram of the modular magnetic instrument replacement unit after docking in the embodiment.

[0031] Figure 5 This is a schematic diagram of the workstation structure in the embodiment.

[0032] Figure 6 This is a flowchart of the control method for a pneumatically driven microsurgical instrument system in the embodiment.

[0033] 1. Sealed cylinder; 2. Flexible pneumatic actuator; 3. Pressure sensor; 4. Proportional solenoid valve; 5. Controller; 6. Pneumatic push block; 7. Sealing ring; 8. Return spring; 9. Push rod; 10a. First permanent magnet; 10b. Second permanent magnet; 11. Positioning pin; 12. Self-sealing pneumatic male connector; 13a. First sensing contact; 13b. Second sensing contact; 14. Self-sealing pneumatic female connector; 15. Positioning hole; 16. Fixed docking seat; 17. Interchangeable instrument connector; 18. Pneumatic end effector; 19. Displacement sensor; 20. Host computer control module; 21. Air pump. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the specific embodiments of this invention will be described in detail below with reference to the accompanying drawings. The following embodiments are for illustrative purposes only and should not be considered as limiting the scope of this invention. Those skilled in the art can make various modifications or equivalent substitutions to the embodiments without departing from the concept of this invention, but all such modifications or substitutions should fall within the protection scope of this invention.

[0035] Example 1

[0036] See Figure 1 This embodiment provides a pneumatically driven microsurgical instrument system, which mainly consists of three parts: a pneumatic drive unit, a modular magnetic instrument replacement unit, and a workstation.

[0037] See Figure 1 and Figure 2 As shown, the pneumatic drive unit, as the power core of the system, includes a sealed cylinder 1, a flexible pneumatic actuator 2, a pressure sensor 3, a proportional solenoid valve 4, and a pneumatic pusher 6.

[0038] The sealing cylinder 1 is a cylindrical structure with one open end, and a pneumatic pusher 6 is installed inside. The pneumatic pusher 6 is cylindrical and made of aluminum alloy. An annular groove is formed on its outer circumference, and a sealing ring 7 is embedded in the annular groove. The pneumatic pusher 6 slides and seals with the inner wall of the sealing cylinder 1 through the sealing ring 7, and divides the internal space of the sealing cylinder 1 into a rod chamber and a rodless chamber, wherein the rodless chamber serves as a gas chamber for receiving compressed gas.

[0039] The flexible pneumatic actuator 2 is located outside the open end of the sealed cylinder 1, with its push rod 9 extending into the sealed cylinder 1 and fixedly connected to the connecting end of the pneumatic push block 6. In this embodiment, the flexible pneumatic actuator 2 uses a clinically common 1mL disposable sterile medical syringe. The syringe barrel serves as a gas or liquid storage container, and the end of its piston push rod 9 is fixed to the end face of the pneumatic push block 6 via a snap-fit ​​structure, so that the push rod 9 and the pneumatic push block 6 move synchronously. When the push rod 9 moves, it drives the piston to slide within the syringe barrel, thereby pushing the gas or liquid in the syringe to the end device via the air passage. In other embodiments, the flexible pneumatic actuator 2 can also be a medical syringe of different capacities, a customized pneumatic push rod, a pre-filled drug syringe, or a bellows-type pneumatic actuator.

[0040] The side wall of the sealed cylinder 1 is equipped with a pneumatic interface, which is connected to the output end of the proportional solenoid valve 4 via an air pipe. The input end of the proportional solenoid valve 4 is connected to the air pump 21. The proportional solenoid valve 4 is a high-precision electro-proportional valve, which linearly adjusts the output air pressure according to the received analog signal, with an adjustment accuracy of 0.1 kPa and a response time of no more than 10 ms.

[0041] Pressure sensor 3 is connected in series in the pneumatic passage between flexible pneumatic actuator 2 and self-sealing pneumatic male connector 12, and is used to detect the pneumatic pressure inside flexible pneumatic actuator 2 in real time. In this embodiment, pressure sensor 3 is a diffused silicon piezoresistive sensor with a measurement range of 0~100kPa and an output signal of 4-20mA standard current signal.

[0042] A return spring 8 is also provided inside the sealed cylinder 1. The return spring 8 is sleeved on the outside of the connecting end of the pneumatic push block 6, with one end abutting against the inner wall of the end cover of the sealed cylinder 1 and the other end abutting against the end face of the pneumatic push block 6. When the compressed gas in the air chamber is discharged, the return spring 8 uses its own elastic force to push the pneumatic push block 6 to move away from the end device, so that the push rod 9 returns to its original position. The setting of the return spring 8 enables the system to automatically return to the initial position in the event of power failure or gas interruption.

[0043] See Figure 3 and Figure 4 The modular magnetic instrument replacement unit is used to realize the rapid replacement and automatic docking of the pneumatic end-effector 18, including a fixed docking seat 16, a replaceable instrument connector 17 and the pneumatic end-effector 18.

[0044] The fixed docking seat 16 is fixedly installed at the end of the pressure sensor 3, and the docking end face is provided with a first permanent magnet 10a, a positioning pin 11, a self-sealing pneumatic male connector 12 and a first sensing contact 13a.

[0045] The interchangeable instrument connector 17 has a second permanent magnet 10b, a positioning hole 15, a self-sealing pneumatic female connector 14, and a second inductive contact 13b on its mating end face. A pneumatic end-effector 18 is fixedly connected to the non-mating end of the interchangeable instrument connector 17. Depending on the surgical procedure, the pneumatic end-effector 18 can be a microsurgical scissor, microforceps, needle holder, suction device, electrocautery device, or microhook.

[0046] The first permanent magnet 10a and the second permanent magnet 10b have opposite magnetic poles and are positioned opposite each other. They rely on magnetic attraction to tightly engage the fixed docking seat 16 and the replaceable instrument connector 17. In this embodiment, the permanent magnets are made of neodymium iron boron material, and the attraction force of a single magnet is not less than 50N. The positioning pin 11 is a cylindrical pin with a guide chamfer at its front end. The positioning hole 15 is a circular hole that fits with the positioning pin 11 with a clearance fit of H7 / g6, and the clearance is not greater than 0.01mm. There are two positioning pins 11, symmetrically arranged on the docking end face, to restrict the rotational freedom of the replaceable instrument connector 17 within the docking plane.

[0047] Both the self-sealing pneumatic male connector 12 and the self-sealing pneumatic female connector 14 are spring-loaded pin type structures, meaning that the connectors contain a valve core and a compression spring. In the unconnected state, the valve core is pressed against the sealing surface of the connector end face under the action of the spring, keeping the air passage in a closed, sealed state. In the connected state, the male and female connectors are inserted into each other, and their valve cores push against each other, disengaging from the sealing surface and allowing the air passage to open. This achieves automatic sealing when the air passage is separated and automatic opening when it is connected. In this embodiment, the sealing pressure of the self-sealing pneumatic connector is not less than 0.8 MPa.

[0048] Both the first sensing contact 13a and the second sensing contact 13b are metallic elastic contacts, which make contact and conduct electricity when mated. On different interchangeable instrument connectors 17, the arrangement of the second sensing contact 13b differs, generating different on / off coded signals through contact combinations with the first sensing contact 13a. The host computer control module 20 automatically identifies the currently installed instrument type based on this coded signal and loads the corresponding control parameters. In this embodiment, there are four contacts, enabling the identification of 16 different instruments.

[0049] The displacement sensor 19 is disposed on the side of the fixed docking seat 16, with its detection direction aligned with the moving parts of the interchangeable instrument connector 17 or the pneumatic end effector 18, for real-time acquisition of displacement data of the pneumatic end effector 18. In this embodiment, the displacement sensor 19 is a laser triangular reflective displacement sensor with a measurement accuracy of ±1μm and a sampling frequency of 1kHz.

[0050] See Figure 5 The workstation includes an air pump 21, a controller 5, and a host computer control module 20.

[0051] Air pump 21 is a silent, oil-free medical air pump with an output pressure range of 0~0.8MPa and a rated flow rate of not less than 10L / min. The output end of air pump 21 is connected to the input end of proportional solenoid valve 4 after passing through an air filter and a pressure reducing valve.

[0052] The host computer control module 20 uses an industrial control computer and is equipped with dedicated control software, providing human-machine interface, data acquisition and processing, control command generation, and system status monitoring functions. The host computer control module 20 is connected to the pressure sensor 3, displacement sensor 19, and controller 5 via a communication bus.

[0053] The controller 5 is a programmable logic controller. Its input is connected to the host computer control module 20 to receive control signals, and its output is connected to the proportional solenoid valve 4 to output analog drive signals. According to the control parameters issued by the host computer control module 20, the controller 5 outputs a 4-20mA current signal of corresponding amplitude to the proportional solenoid valve 4 to adjust its opening, thereby controlling the gas flow and pressure entering the sealed cylinder 1.

[0054] Please see Figure 6 This embodiment also provides a control method for the above system, which includes a dual closed-loop cooperative control strategy consisting of an inner pressure control link and an outer displacement control link, specifically including the following steps:

[0055] S1. The host computer control module 20 acquires the surgical operation instructions and converts them into pneumatic control parameters, which are then sent to the controller 5.

[0056] During the preoperative preparation phase, the operator selects a suitable pneumatic end effector 18 and brings the replaceable instrument connector 17, to which the instrument is fixedly connected, close to the fixed docking seat 16. Under magnetic attraction, the replaceable instrument connector 17 automatically adheres to the fixed docking seat 16, and the positioning pin 11 is inserted into the positioning hole 15 to complete the guiding positioning. At the same time, the self-sealing pneumatic male connector 12 and the self-sealing pneumatic female connector 14 are connected to open the air passage, and the first sensing contact 13a and the second sensing contact 13b make contact and conduct. After the host computer control module 20 detects the contact conduction signal, it determines that the docking is complete and then automatically triggers the air passage continuity check—the proportional solenoid valve 4 applies test pressure to the air passage and the pressure sensor 3 provides feedback on the pressure change to confirm the air passage sealing; then, the position origin calibration is performed—the push rod 9 is driven to move to the mechanical limit and the zero point position of the displacement sensor 19 is recorded. After verification and calibration are completed, the system identifies the current instrument type based on the contact code signal, automatically loads its working parameters, including working pressure range, displacement range, motion speed limit and force feedback threshold, and the system enters the ready state.

[0057] During the surgical procedure, the operator inputs surgical action commands through the human-machine interface of the host computer control module 20 or the operating handle. The host computer control module 20 parses the received operation commands into target displacement parameters, and converts the target displacement parameters into corresponding target pneumatic pressure values ​​according to the pre-calibrated displacement-pressure mapping relationship, and sends them along with control parameters such as the air pressure change rate to the controller 5.

[0058] S2. The controller 5 adjusts the opening of the proportional solenoid valve 4 according to the pneumatic control parameters to change the air chamber pressure in the sealed cylinder 1, driving the pneumatic push block 6 to move the push rod 9 of the flexible pneumatic actuator 2, thereby driving the pneumatic end effector 18 to perform the corresponding operation.

[0059] The controller 5 uses the target pneumatic pressure value as the inner loop control target and the actual pressure value fed back by the pressure sensor 3 at the current moment as the inner loop feedback value. After calculating the pressure deviation value, it sends it to the inner loop PID control unit. The PID control unit outputs an adjustment signal to the proportional solenoid valve 4 according to the preset proportional, integral, and derivative parameters, and adjusts its opening to change the flow rate into the air chamber of the sealed cylinder 1, so that the actual pressure approaches the target pressure value.

[0060] S3. Real-time acquisition of pneumatic pressure data within the flexible pneumatic actuator 2 and displacement data of the pneumatic end effector 18.

[0061] Pressure sensor 3 detects the pneumatic pressure inside flexible pneumatic actuator 2 in real time, and displacement sensor 19 collects the displacement data of pneumatic end effector 18 in real time. Both of them feed the data back to host computer control module 20 at a sampling frequency of 1kHz.

[0062] S4. Using pneumatic pressure data as the inner loop feedback and displacement data as the outer loop feedback, a dual closed-loop collaborative control is performed to generate an adjustment control signal and feed back to adjust the opening of the proportional solenoid valve 4, thereby achieving closed-loop regulation.

[0063] The outer loop displacement control link uses the actual displacement data of the end effector fed back in real time by the displacement sensor 19 as the outer loop feedback quantity, and the target displacement parameter corresponding to the operation command as the outer loop setpoint. The host computer control module 20 inputs the deviation value between the two into the fuzzy PID controller, and outputs the pressure compensation parameter after fuzzy inference. This compensation parameter is superimposed on the target pneumatic pressure value of the inner loop to achieve dynamic correction of the inner loop pressure target. The above-mentioned inner and outer loops operate in coordination at different frequencies: the inner loop pressure control cycle is no more than 10ms, and the outer loop displacement control cycle is no more than 20ms. Through the dual closed-loop cascade control of the pressure inner loop and the displacement outer loop, the system stabilizes the displacement control accuracy of the pneumatic end effector 18 at the micrometer level.

[0064] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not describe all details exhaustively, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification.

Claims

1. A pneumatically driven microsurgical instrument system, characterized in that, include: The pneumatic drive unit includes a sealed cylinder (1), a pneumatic push block (6) disposed inside the sealed cylinder (1), and a flexible pneumatic actuation assembly (2) with a push rod (9) connected to the pneumatic push block (6). The pneumatic push block (6) slides and seals with the inner wall of the sealed cylinder (1) to form an air chamber. The sealed cylinder (1) is connected to a proportional solenoid valve (4) for adjusting the pressure of the air chamber. The modular magnetic instrument replacement unit includes a fixed docking seat (16), a replaceable instrument connector (17), and a pneumatic end-effector (18). The docking end of the fixed docking seat (16) is provided with a first permanent magnet (10a), a positioning pin (11), a self-sealing pneumatic male connector (12), and a first sensing contact (13a). The docking end of the replaceable instrument connector (17) is provided with a second permanent magnet (10b), a positioning hole (15), a self-sealing pneumatic female connector (14), and a second sensing contact (13b). The first permanent magnet (10a) and the second permanent magnet (10b) have opposite magnetic poles. The pneumatic end-effector (18) is connected to the non-dating end of the replaceable instrument connector (17). The workstation includes an air pump (21), a controller (5), and a host computer control module (20). The air pump (21) is connected to the air chamber via the proportional solenoid valve (4). The host computer control module (20) is connected to the controller (5), a pressure sensor (3) for detecting the pressure inside the flexible pneumatic actuator (2), and a displacement sensor (19) for detecting the displacement of the pneumatic end effector (18). The controller (5) is connected to the proportional solenoid valve (4) for controlling the opening of the proportional solenoid valve (4).

2. The pneumatically driven microsurgical instrument system according to claim 1, characterized in that, The sealing cylinder (1) is also provided with a reset spring (8). The two ends of the reset spring (8) act between the end cap of the sealing cylinder (1) and the pneumatic push block (6) respectively, and are used to drive the pneumatic push block (6) to reset when the air chamber is depressurized.

3. The pneumatically driven microsurgical instrument system according to claim 1, characterized in that, The positioning pin (11) and the positioning hole (15) are fitted with a clearance to achieve docking guidance; the self-sealing pneumatic male connector (12) and the self-sealing pneumatic female connector (14) are inserted to achieve air circuit opening and closing; the first sensing contact (13a) and the second sensing contact (13b) are in contact to generate a device identification signal.

4. The pneumatically driven microsurgical instrument system according to claim 1, characterized in that, The flexible pneumatic actuator (2) is a medical syringe, a customized pneumatic push rod, a pre-filled drug syringe, or a bellows-type pneumatic actuator.

5. A control method for a pneumatically driven microsurgical instrument system, applied to the system according to any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Obtain surgical operation instructions and convert them into pneumatic control parameters; S2. Adjust the opening of the proportional solenoid valve (4) according to the pneumatic control parameters to change the air chamber pressure in the sealed cylinder (1), drive the pneumatic push block (6) to drive the push rod (9) of the flexible pneumatic actuator (2) to move, thereby driving the pneumatic end device (18) to perform the corresponding operation. S3. Real-time acquisition of pneumatic pressure data in the flexible pneumatic actuator (2) and displacement data of the pneumatic end effector (18); S4. Using the pneumatic pressure data as the inner loop feedback and the displacement data as the outer loop feedback, a dual closed-loop collaborative control is performed to generate an adjustment control signal and feed back to adjust the opening of the proportional solenoid valve (4) to achieve closed-loop regulation.

6. The control method for a pneumatically driven microsurgical instrument system according to claim 5, characterized in that, In the S4 dual closed-loop collaborative control, the inner loop uses a PID control algorithm to adjust the air path pressure, while the outer loop uses a fuzzy PID algorithm to correct the displacement deviation.

7. The control method for a pneumatically driven microsurgical instrument system according to claim 5, characterized in that, It also includes an automatic calibration step after the device docking: when the first sensing contact (13a) and the second sensing contact (13b) are connected, it is determined that the replaceable device connector (17) and the fixed docking seat (16) have completed docking, and the air circuit on / off verification and position origin calibration are automatically performed. After completion, the control parameters corresponding to the current pneumatic end device (18) are loaded.

8. The control method for a pneumatically driven microsurgical instrument system according to claim 5, characterized in that, The pneumatic control parameters include at least one of the target air pressure value, air pressure change rate, and target displacement.

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