583 results about "Surgical robot" patented technology

The invention relates to the technical field of artificial intelligence, can be applied to the field of medical health and the field of financial transaction, discloses an action generation method and device based on multi-modal pre-training, a robot and a medium, and is applied to a high-frequency action generation scene of an intelligent surgical robot or an intelligent customer service and wealth management scene. The method comprises the following steps: acquiring a language instruction, a visual image and robot body sensing data; performing multi-modal feature alignment and cross-modal feature fusion on the language instruction, the visual image and the robot body sensing data through a pre-trained visual language model to generate a fused joint feature vector; generating a target continuous control instruction based on the fused joint features through a pre-trained target action model by adopting a flow matching technology; and generating continuous actions of the robot based on the target continuous control instruction. According to the method, the robot action generation efficiency and the cross-platform adaptability are improved.

A robotic surgical system includes a surgeon consol coupled to a patient console and coupled to one or more surgical instruments. The surgeon consol is used by a surgeon to perform a surgical procedure. A surgeon computer is coupled to or at the surgeon console. The surgeon consol is coupled to the one or more surgical instruments. A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. The feedback loop receives data from one or more sensors at the robotic surgical system. The data is analyzed by the robotic surgery control system, and in response operation of the robotic surgical system is adjusted as needed. The surgical control system or the AI system uses intraoperative data describing a surgical procedure being performed. The feedback loop receives data from one or more sensors of the robotic surgical system regarding performance of at least a portion of the robotic surgical system. The data is analyzed by the robotic surgical control system. In response to analysis, operation of the robotic surgical system is adjusted as needed. The robotic surgical control system or AI system extracts one or more programmed steps used by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The present invention relates to a flexible continuum joint, a flexible robotic arm, and a minimally invasive surgical robot for TEM. The flexible continuum joint comprises a double-helix structure formed by two helical springs, wherein a central channel is provided inside the double-helix structure, a hollow tube arranged coaxially with the double-helix structure is provided in the central channel, and a plurality of notches are formed on the hollow tube. The flexible robotic arm is composed of a linkage joint formed by an active section and a passive section, and an end joint, wherein the active section and the end joint are both driven by a drive wire, and the passive section is driven by a nickel-titanium alloy rod. The minimally invasive surgical robot comprises an endoscopic arm and two robotic arms, and has 19 degrees of freedom overall. In addition, the provision of the linkage joint in the flexible robotic arm and the application of a hybrid drive mode combining a drive wire and a nickel-titanium alloy rod not only reduces the number of drives, but also avoids the problem of motion coupling between joints, thus effectively overcoming the problems of insufficient degrees of freedom and poor motion accuracy in existing minimally invasive surgical robots for TEM.

The invention relates to the technical field of artificial intelligence and data processing, in particular to a surgical robot quality control and fault prediction method based on artificial intelligence, and the method specifically comprises the following steps: collecting the data of a surgical robot through a sensor, carrying out the manual marking of the collected data, and forming a sample data set; performing multi-scale normalization processing on the sample data set; constructing a fault prediction model of the surgical robot by adopting a convolutional neural network, and inputting normalized data into the model for training to obtain a trained fault prediction model; preprocessing the collected new data, inputting the preprocessed data into the trained fault prediction model, and outputting a fault category prediction result corresponding to the input data by the fault prediction model; and constructing a three-dimensional quality control matrix, wherein the three-dimensional quality control matrix triggers a corresponding automatic calibration program based on a category prediction result output by the fault prediction model. According to the method, the fault features of the surgical robot can be accurately captured, and the accuracy of fault prediction and the generalization ability of the model are improved.

The invention discloses a motion error dynamic compensation method applied to a surgical mechanical arm, and belongs to the technical field of surgical mechanical arm control and medical automation. The method comprises the following steps: firstly, acquiring position data of each joint encoder of the surgical mechanical arm, a motor current signal, a position feedback signal of an end effector, load change information and accumulative operation duration in real time; processing the data, fusing the data through adaptive Kalman filtering to estimate a joint dynamic error, inputting a load change rate and an accumulated operation time length into a pre-training error prediction model to output a compensation basic quantity, and fusing the load change rate and the accumulated operation time length to generate a real-time error compensation quantity; and then the compensation amount is superposed to a joint original control instruction to correct motion parameters, and finally the compensated tail end position deviation is analyzed, and a precision identifier or an adjustment prompt is generated and fed back to a control system. According to the method, real-time error compensation is achieved, the compensation precision and working condition adaptability are improved, it is guaranteed that the mechanical arm is stably positioned, and the surgical operation risk is reduced.

The invention provides a control system and method for an oral surgery robot, and relates to the field of intelligent control, and the method comprises the steps: firstly obtaining thin-layer CT scanning data covering neck and throat regions, constructing a throat three-dimensional model, then collecting a surgery view three-dimensional image through a 3D endoscope, and carrying out the 3D image collection; performing semantic-level dynamic registration based on visual features on the three-dimensional model of the throat, determining pose information of the oral surgical robot, outputting a next target pose point of the oral surgical robot in combination with the pose information and a pre-operative planned surgical resection path, and finally determining the target pose point of the oral surgical robot on the basis of the target pose point. And generating a joint control instruction of the oral surgical robot. Therefore, the navigation preparation time in the operation is shortened, the high consistency of the motion track of the mechanical arm and the focus resection path is ensured, and the track deviation risk caused by registration deviation of a traditional system can be fundamentally solved.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

The embodiment of the invention provides a force sensing surgical instrument and a surgical robot. The force sensing surgical instrument is used for adjusting the posture of the end tool and comprises a driving box assembly and an instrument shaft. The driving box assembly comprises a driving structure and a driving cable connected with the driving structure; the instrument shaft is connected between the driving box assembly and the tail end tool and provided with a guide structure extending in the first direction, and the driving cable penetrates through the guide structure to be connected with the tail end tool. The driving structure drives the driving cable to drive the end tool to adjust the posture or state; the instrument shaft is provided with a first sensing structure to detect stress parameters of the end tools, and the stress parameters are used for representing the sum of stress of the end tools. A second sensing structure is arranged in the driving box assembly to detect the traction force of the driving cable, the stress parameters and the traction force are used for obtaining clinical feedback force, the magnitude of the clinical feedback force is used for representing the characteristics of different human tissues, the precision of the clinical feedback force can be determined by the lifting force sensing surgical instrument, and the surgical precision and safety are improved.

The invention discloses a tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The present disclosure relates to a remote surgical robot system and a method for device interconnection therein. The method comprises: receiving second device information, which is sent by a server, of a pairable second device; acquiring target second device information, which is determined on the basis of the second device information, of a target second device that is expected to be paired, and sending a first pairing request to the server; receiving device network information, which is sent by the server when detecting that the first pairing request matches a second pairing request sent by the target second device, of the target second device; and establishing pairing with the target second device on the basis of the device network information, thereby implementing direct communication with the target second device. When the server detects that a pairing request initiated by a remote surgeon console matches a pairing request initiated by a patient surgery platform, device network information of a peer device is sent to at least one of the two for establishing the pairing, thereby avoiding incorrect pairing, ensuring the reliability of establishing the pairing, and improving the safety of remote surgery.

The invention discloses a path planning method based on clustering, a surgical robot and related products. The method comprises the following steps: acquiring a first three-dimensional CT image, wherein the first three-dimensional CT image comprises a skin area of a target object and a first tissue of the target object; an end point of the target path is determined from the first tissue. At least two first candidate points of the target path are determined from the skin region. And determining at least two first candidate paths based on the at least two first candidate points and the end point of the target path. And clustering the at least two first candidate paths to obtain at least one first path set. And determining a second path set from the at least one first path set, wherein the number of the first candidate paths in the second path set is greater than or equal to a second threshold. And determining a target path based on the second path set. Through the method, the error-tolerant rate of the target path can be improved.

A co-maneuvering robotic system that can be used to assist laparoscopic surgical procedures is described herein. The co-manipulated robotic system allows a surgeon to use commercially available surgical tools while providing benefits associated with surgical robots. Advantageously, the surgical tool can be seamlessly coupled to the robotic arm using a disposable coupler while the reusable portion of the robotic arm remains in the sterile drape. Further, the co-manipulated robotic system may operate in multiple modes to enhance availability and safety while allowing a surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robotic arm.

The method for recognizing the position information change of the surgical body surface positioning piece comprises the following steps that a micro camera is embedded in the tail end of a needle inserting device at the tail end of a mechanical arm of a puncture surgical robot, and the micro camera continuously shoots the positioning piece located on the body surface of a patient within the time period of the puncture needle inserting process; obtaining all to-be-processed images, performing initialization processing on the images, and outputting the images as first to-be-processed images in sequence; all the first to-be-processed images are sequentially sent to a pre-trained first sample training model, X and Y position information of the center points of the positioning pieces in the image plane in all the first to-be-processed images is inferred, and a second to-be-processed image is formed; sending all the second to-be-processed images to a second sample training model in sequence, and reasoning longitudinal Z position information of the center point of the positioning piece; and outputting the X, Y and Z position information of the central points of the positioning pieces in all the second to-be-processed images in sequence to form a real-time output data stream.

The embodiment of the invention provides an intelligent bone drilling self-adaptive control method for a mechanical arm, which comprises the following steps: acquiring displacement deviation of the tail end of a drill bit of an orthopedic surgical robot, obtaining an error change rate through differential calculation, and combining a bone layer type as an input variable of a fuzzy controller and a feeding speed as an output variable; input variables are fuzzified through a membership function, and a fuzzy language variable set is obtained; according to the set and a preset rule base, constructing a multi-rule group structure comprising three types of scenes of free space, cancellous bone and cortical bone, and setting corresponding fuzzy rule subsets for different bone layers; designing a ''minimum-maximum'' rule activation and combination strategy for reasoning by adopting a Mamdani type fuzzy reasoning method according to fuzzification input and a multi-rule group structure, and generating a fuzzification output variable set; and defuzzification is performed through a gravity center method to obtain a continuous speed instruction, and dynamic regulation and control of the drill bit feeding speed are achieved. When approaching a penetration point, the device automatically decelerates and safely stops, so that the safety and accuracy of an operation are effectively guaranteed, and over-drilling injury is prevented.

A controlling system of an endoscopic surgical robot based on head tracking is disclosed. The system includes a host, the robot and a complex camera. The robot holds an endoscope at a specific position through a specific gesture. The complex camera includes a 2D camera for obtaining facial features of a doctor to identify whether the doctor is a registered user. The complex camera includes a 3D camera for obtaining depth information of the doctor's head. The host estimates a 2D space information and a 3D space information of the doctor's head according to the facial features and the depth information, and transforms the 2D space information and 3D space information to a robot moving information by a transformation matrix to control the robot to move.

The present invention is applicable to the field of robotic arm technology and provides a clamping robotic arm device for a surgical robot, comprising a base, a robotic arm body is arranged inside the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, two symmetrical fixed blocks are fixedly connected to the robotic arm body, a trapezoidal positioning groove is provided on the top of the fixed block, a trapezoidal positioning rod is slidably connected to the inside of the trapezoidal positioning groove, the cross-sections of the trapezoidal positioning groove and the trapezoidal positioning rod are both trapezoidal, and a clamping claw is connected to a fixed tube on the side of the trapezoidal positioning rod away from the trapezoidal positioning groove. The clamping robotic arm device for a surgical robot of the present invention drives the water supply pipe and the water outlet pipe to move back and forth through the connecting plate via the transmission frame, and enables the nozzle to more comprehensively disinfect the clamping surface of the clamping claw, so that the disinfection of the clamping claw is more thorough, and medical staff can use the device more conveniently.

The invention provides a decoupling RCM mechanism optimization and modular instrument fusion ophthalmic surgical robot which comprises a surgical instrument quick change module, a novel decoupling RCM mechanism and a position adjusting mechanism, and the position adjusting mechanism is used for adjusting linear motion of the novel decoupling RCM mechanism in the X direction, the Y direction and the Z direction. The novel decoupling RCM mechanism is characterized in that the novel decoupling RCM mechanism comprises a deflection base, an FH rod, an AC rod, a BD rod, a CE feed driving linear module, a GI rod, an HJ rod, an MN pitching driving linear module, an HI rod, an IK rod and a connecting flange; the AC rod and the BD rod are equal in length. According to the novel ophthalmologic surgical robot integrating decoupling RCM mechanism optimization and modular instrument, various surgical instrument modules can be rapidly installed and replaced, and the ophthalmologic surgical robot comprises an intraocular illumination module, an electric microforceps module, an injection needle module and the like. RCM mechanism rigidity-size collaborative optimization is carried out on the novel ophthalmic surgical robot integrating decoupling RCM mechanism optimization and modular instrument optimization, compared with the maximum deformation before optimization, the maximum deformation is reduced by 70%, and the overall length is reduced by 28%.

A method for calibrating a surgical robot arm motor includes running a test sequence. The test sequence includes controlling a set of test motor currents to be applied to the motor, each causing the motor to drive a drive interface element to move; and for each test motor current, receiving a measured resistive force applied by a calibration rig; determining a relationship between the set of test motor currents and the resistive force measurements; determining calibration value(s) from: (i) the determined relationship, and (ii) a known relationship between the resistive force applied by the calibration rig and the driving force applied by the drive interface element; and controlling the calibration value(s) to be applied to subsequent motor currents applied to the motor so as to cause the motor to drive the drive interface element to apply desired driving forces to an instrument interface element of an attached surgical instrument.

Aspects include a surgical robot for use in a total hip arthroplasty (THA) procedure, and related methods. In some cases, the surgical robot includes: a robot arm for holding a surgical instrument; and a controller coupled with the robot arm, the controller programmed to: detect a position of the surgical instrument in at least one attraction volume corresponding with a planned trajectory of the surgical instrument for the THA procedure, the at least one attraction volume defined in part by a point and an axis extending from the point; and while the surgical instrument is in the at least one attraction volume during the THA procedure, provide assistance to movement of the surgical instrument in a direction toward the at least one attraction volume.

The invention provides a flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation. The flexible surgical robot comprises a feeding driving mechanism, an endoscope sheath, a suction arm mechanism and an ultrasonic arm mechanism. The flexible continuum robot composed of the feeding mechanism, the suction arm mechanism connected in parallel and the ultrasonic arm mechanism can achieve six-degree-of-freedom precise operation, and in addition, when a six-degree-of-freedom mechanical arm is applied in vitro, an endoscope sheath can smoothly enter the brain as soon as possible; the maneuverability of the structure is further improved through the rough operation of the six-degree-of-freedom mechanical arm and the six-degree-of-freedom fine operation of the flexible robot, the requirement for flexibility of the intracerebral hematoma minimally invasive surgery is met, the positioning capability is precise, the operation mode is flexible, the repeatability is high, and the practicability is high. The efficiency is high; the operation time of a patient is reduced; the damage to a human body is extremely low; compared with an existing surgical tool, surgical difficulty is lowered, surgical efficiency is improved, patient wounds are reduced, and patient safety is further guaranteed.

The invention is applicable to the technical field of mechanical arms, and provides a clamping mechanical arm device for a surgical robot, which comprises a base, a mechanical arm body is arranged in the base, a support plate is fixedly connected to the outer surface of the base, a clamping mounting device is arranged on the support plate, and two symmetrical fixing blocks are fixedly connected to the mechanical arm body. A trapezoidal positioning groove is formed in the top of the fixing block, a trapezoidal positioning rod is slidably connected into the trapezoidal positioning groove, the section of the trapezoidal positioning groove and the section of the trapezoidal positioning rod are both trapezoidal, and a clamping jaw is fixedly connected to the side, away from the trapezoidal positioning groove, of the trapezoidal positioning rod through a pipe. The transmission frame drives the water conveying pipe and the water outlet pipe to reciprocate through the connecting plate, the clamping face of the clamping jaw can be disinfected more comprehensively through the spray head, disinfection of the clamping jaw is more thorough, and medical staff can use the device more conveniently.

The invention provides a surgical robot which is characterized in that the surgical robot comprises a robot base, two mechanical arms arranged on the robot base and an execution instrument, the base ends of the two mechanical arms are connected with the robot base, the tail ends of the two mechanical arms are connected with the execution instrument, and therefore a parallel structure is formed; the connecting positions of the tail ends of the two mechanical arms and the executing instrument are arranged at intervals in the executing direction of the executing instrument, and the two mechanical arms move in at least two translational freedom degrees through the tail ends of the two mechanical arms. And the actuating device is driven to move in at least two translational degrees of freedom and move in at least two rotational degrees of freedom.

The invention provides a piezoelectric-driven ophthalmic surgical robot. The piezoelectric-driven ophthalmic surgical robot comprises a supporting mechanism, a bottom plate, a folding mechanism, a tail end executing mechanism, a rotary driving mechanism, a first piezoelectric driving mechanism and a second piezoelectric driving mechanism. The bottom plate is movably connected with the supporting mechanism, the folding mechanism is installed on the bottom plate, the second piezoelectric driving mechanism is arranged on the folding mechanism, and the second piezoelectric driving mechanism can drive the tail end executing mechanism to move linearly; the rotary driving mechanism can drive the bottom plate to turn left and right; the first piezoelectric driving mechanism is arranged below the bottom plate, is in driving connection with the folding mechanism and can drive the folding mechanism to deform so as to adjust the angle of the tail end executing mechanism; a piezoelectric pre-tightening compensation mechanism is further arranged to prevent the tail end executing mechanism from sliding down due to gravity, and the operation stability is guaranteed. The piezoelectric characteristic is combined with the advantages of the guide rail, accurate, rapid, stable and compact motion control of the ophthalmologic operation executing mechanism can be achieved, the fine operation requirement of the ophthalmologic operation is met, and the tissue damage risk is reduced.

A surgical device (20) that can be controlled by a surgical robot system is provided. The surgical device (20) includes: a housing (32) that can be coupled to the surgical robot system (100); a drive system that is at least partially installed in the housing (32); and a shaft (61) that is rotatably coupled to the drive system at a first end of the shaft (61). The surgical device (20) further includes a tissue removal assembly (62) coupled to a second end of the shaft (61). The tissue removal assembly (62) includes a first cutting member (37) having a plurality of rotatable blades (37A, 37B, 37C). The first cutting member (37) is coupled to the second end of the shaft (61). The tissue removal assembly (62) further includes: a second cutting member (36); one or more support elements (67) that are slidably or fixedly coupled to the second cutting member (36); and one or more extendable elements (66) that are slidably or fixedly coupled to the second cutting member (36).

The invention provides a mechanical arm trocar suitable for an auxiliary operation of a transnasal skull base surgical robot, and relates to the technical field of medical auxiliary instruments, the mechanical arm trocar comprises cylinder dividing pieces, an auxiliary mechanism is arranged between every two cylinder dividing pieces, and by arranging the auxiliary mechanisms, a worker can plug a cylindrical air bag into the inner side of the whole cylinder dividing piece, and the whole cylinder dividing piece is inserted into the cylindrical air bag; the cylindrical air bag is inflated through the inflation tube, so that the cylindrical air bag is gradually expanded, and further outward expansion force can be generated on the cylinder dividing piece; a first hinged hinge piece and a second hinged hinge piece which are connected with a first shaft sleeve and a second shaft sleeve on each hinge shaft slide in a second storage groove in the corresponding column dividing piece, and meanwhile, the first hinged hinge pieces and the second hinged hinge pieces can be stretched through extension springs connected with the first storage grooves; therefore, the inner wall of the nasal cavity of the patient can be gradually expanded, subsequent entering and exiting of a mechanical arm are facilitated, influence on an operation is avoided, and practicability is improved.

Oral surgery collaborative surgical field exposure assistance surgical robot and control method, comprising two 6-degree-of-freedom robotic arms, two force-sensing surgical retractor assemblies and a main control computer. The force-sensing surgical retractor assembly includes a force-sensing surgical retractor, and there is a contact sensor inside the end cover plate of the force-sensing surgical retractor. The force-sensing surgical retractor is connected to the end of the robotic arm through a surgical retractor connecting piece. There are drag mode interaction and reference force adjustment interaction on the main control computer. The present invention is used to assist doctors in continuously retracting the surgical incision. The doctor only needs to place the surgical retractor at the initial position of the target area, input the reference retraction force on the interaction interface, and turn on the control system. The robot drives the force-sensing surgical retractor to safely and stably retract the surgical incision. For the convenience of doctors' operation and to ensure human-machine safety, the present invention has designed control strategies such as detailed modeling analysis, torque compensation, active retraction compensation, and safety threshold for the surgical retraction process.

Provided is an endoscopic surgical robot arm control mechanism, which comprises a tool bit, a connecting assembly, a knob, and a pull rod. The tool bit comprises a tool holder and a shearing part. By means of the connecting assembly, the knob controls the rotation of the tool holder, and the pull rod controls the opening and closing of the tool bit. The connecting assembly comprises an axial coupling mechanism, an axial decoupling mechanism, and a transmission section. The axial coupling mechanism couples the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section. The axial decoupling mechanism decouples the circumferential rotation and the axial displacement of the transmission section, transmits the circumferential rotation to the tool holder, and transmits the axial displacement to the shearing part. The control mechanism can simplify the transmission structure for controlling the opening and closing and rotation of the tool bit, reduce parts, and enhance the strength and rigidity of the transmission structure, thereby enhancing the precision of surgical operations. The present invention further provides an endoscopic surgical robot arm.