CN211633561U - Manipulator for controlling surgical instrument end effector - Google Patents

Abstract

The utility model discloses an operator for controlling a surgical instrument end effector, which comprises a base, a holding part and a link mechanism, wherein the link mechanism is connected between the base and the holding part, a plurality of middle joints are arranged on the link mechanism, a first joint is arranged between the base and the link mechanism, and a second joint is arranged between the link mechanism and the holding part; when the holding part is moved, the first joint, the second joint and each intermediate joint perform self-adaptive decomposition motion according to the moving path of the holding part and/or the corresponding joint, sensors are arranged on part of or all joints and used for collecting motion data of the corresponding joint motion, and the motion data is used for enabling an end effector of the surgical instrument to correspondingly move according to the moving path of the holding part. The utility model discloses an operator can be through changing the position of the portion of gripping when controlling end effector, makes end effector correspond the removal according to the removal route of the portion of gripping, controls and experiences better, can reduce the probability that the mistake was controlled.

Description

Manipulators for controlling surgical instrument end effectors

technical field

The utility model relates to medical instruments, in particular to an operator for controlling the end effector of surgical instruments.

Background technique

In the existing surgical instruments, the end effectors of most surgical instruments can only be directly controlled by doctors; some surgical systems are equipped with operating terminals for the surgical instruments. During the operation, the doctor operates the manipulators in the operating terminal. , Surgical instruments perform surgical actions on patients according to the instructions of the manipulator, but most of the existing manipulators are conventional mice. When operating, they can only perform plane movement or click operation, and the sense of control is not intuitive enough, and wrong control may occur. .

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a manipulator for controlling the end effector of a surgical instrument, so as to improve the manipulation experience, realize more intuitive manipulation, and reduce the probability of manipulation error.

For realizing the above-mentioned purpose and other relevant purposes, the technical scheme of the present utility model is as follows:

An operator for controlling the end effector of a surgical instrument, comprising a base, a holding part and a link mechanism, the link mechanism is connected between the base and the holding part, the link A plurality of intermediate joints are arranged on the mechanism, a first joint is arranged between the base and the link mechanism, and a second joint is arranged between the link mechanism and the holding part;

When the gripping part is moved, the first joint, the second joint and each of the intermediate joints perform self-adaptive decomposition actions according to the movement path of the gripping part, and some or all joints are provided with sensors , the sensor is used to collect motion data corresponding to the motion of the joint, and the motion data is used to make the end effector of the surgical instrument move correspondingly according to the movement path of the corresponding joint and/or the grip portion.

Optionally, the link mechanism includes a plurality of components connected in series in sequence, and the components are connected by the intermediate joint.

Optionally, the link mechanism is rotatably arranged on the base, so that the movement limit space of the gripping portion is located in a spherical space centered on the base, and the gripping portion is located at the base. It moves freely in the limit space of its movement.

Optionally, the linkage mechanism includes a sub-plane linkage mechanism, and the sub-plane linkage mechanism includes at least two members connected in series;

In the sub-plane linkage mechanism, each component is connected in series and in the same plane, so that the gripping portion is close to or away from the base when the sub-plane linkage mechanism is bent.

Optionally, each joint is a rotating auxiliary joint, and the link mechanism includes a first member, a second member, a third member, a fourth member and a fifth member that are connected in series in sequence, and the first joint is arranged on the Between the base and the first member, the second joint is provided between the fifth member and the grip portion.

Optionally, the first member is rotatably arranged on the base, and the rotation axis between the first member and the base is the first axis;

The second member is rotatably arranged on the first member, and the rotation axis between the second member and the first member is the second axis;

The third member is rotatably arranged on the second member, and the rotation axis between the third member and the second member is the third axis;

The fourth member is rotatably arranged on the third member, and the rotation axis between the fourth member and the third member is the fourth axis;

The fifth member is rotatably hinged on the fourth member, and the rotation axis between the fifth member and the fourth member is the fifth axis,

The holding portion is rotatably arranged on the fifth member, and the rotation axis between the holding portion and the fifth member is the sixth axis;

Among the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis, the axial direction of at least one axis is the first direction, The axial direction of at least one axis is the second direction, the axial direction of at least one axis is the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

Optionally, the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, and the fifth axis is respectively parallel to the first axis and the first axis. The two axes are perpendicular, and the first axis and the second axis are perpendicular to each other.

Optionally, an auxiliary support structure is provided on the link mechanism, the auxiliary support structure is used to support the second member and/or the third member, and the auxiliary support structure includes a first support and a second support The first support and the second support are hinged.

Optionally, when the auxiliary support structure is used to support the second member, the first support member is hinged on the first member, and the second support member is hinged between the second member and the other member. At the joint between the third members, the first member, the second member, the first support and the second support together form a parallelogram mechanism.

When the auxiliary support structure is used to support the third member, the first support is hinged on the fourth member, and the second support is hinged between the second member and the third member At the joint, the third member, the fourth member, the first support and the second support together form a parallelogram mechanism.

Optionally, the auxiliary support structure further includes a buffer elastic member;

When the auxiliary support structure is used to support the second member, the buffer elastic member is disposed between the first support member and the second member;

When the auxiliary support structure is used to support the third member, the buffer elastic member is disposed between the first support member and the third member.

Optionally, the sensor is arranged in:

at the first joint;

at the joint between the first member and the second member;

at the joint between the second member and the third member;

at the joint between the fourth member and the fifth member; and

at the second joint.

Optionally, the manipulator for controlling the end effector of a surgical instrument further includes a limiting structure for limiting the degree of freedom of the gripping portion in a non-surgical state.

Optionally, the limiting structure includes:

a limit hole, which is arranged on the base;

a limiting part, which is arranged on the link mechanism or the holding part;

Wherein, the limiting portion is inserted into the limiting hole to limit the degree of freedom of the holding portion.

Optionally, the sensor is an encoder.

Optionally, the grip portion is provided with an interaction area for manipulating the surgical instrument to perform a surgical action.

Optionally, the end effector includes a focused ultrasound device, and a button or an interface for triggering the focused ultrasound device to emit ultrasound is provided on the interaction area.

Optionally, the end effector includes a focused ultrasound device.

When the manipulator of the utility model controls the end effector of the surgical instrument, the position of the holding part or the corresponding joint can be changed by directly holding the holding part, so that the end effector of the surgical instrument can move according to the movement of the holding part or the corresponding joint. The path corresponds to the movement, the operation is more intuitive, the control experience is better, and the probability of misuse can be reduced.

Description of drawings

Fig. 1 shows an exemplary three-dimensional structure diagram of the manipulator of the present invention;

Figure 2 is an internal cross-sectional view of Figure 1;

Figure 3 shows an internal cross-sectional view of Figure 1 (with the joint locations marked).

Reference numeral descriptions in the embodiments include:

Base 1, grip 2, first member 31, second member 32, third member 33, fourth member 34, fifth member 35, intermediate joint 36, first joint 131, second joint 235, auxiliary support Structure 4, first support member 41, second support member 42, buffer elastic member 43, sensor 5, first encoder 51, second encoder 52, third encoder 53, fourth encoder 54, fifth encoder 55 , interactive area 6 , button 61 , limiting structure 7 , limiting portion 71 , limiting hole 72 .

Detailed ways

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some technical features known in the art are not described in order to avoid confusion with the present invention.

It should be understood that the present invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the same reference numerals refer to the same components throughout.

Referring to FIG. 1 , FIG. 2 , and FIG. 3 , in some embodiments, an operator includes a base 1 , a holding part 2 and a link mechanism, and the link mechanism is connected between the base 1 and the holding part 2 During the time, the operator is used to control the end effector of the surgical instrument (not shown in the figure), a plurality of intermediate joints 36 are arranged on the link mechanism, and the base 1 and the link mechanism are connected through the first joint 131, and the link The mechanism and the gripping part 2 are connected by the second joint 235 ; when the gripping part 2 is moved, the first joint 131 , the second joint 235 and the intermediate joints 36 self-adaptively decompose according to the movement path of the gripping part 2 Some or all joints are provided with sensors 5 . The sensors 5 are used to collect motion data corresponding to joint motions. In other embodiments, the motion data is used to correspondingly move the end effector of the surgical instrument according to the movement path of the corresponding joint. In still other embodiments, the motion data is used to cause the end effector of the surgical instrument to move according to the movement path of the corresponding joint and the movement path pair of the grip. When using the manipulator to control the end effector of the surgical instrument, it is only necessary to hold the grip portion 2 of the manipulator to move the grip portion 2 within its motion limit space. Since some or all of the joints are provided with sensors 5 , the action data collected by each sensor 5 can be used to associate and control the actuator of the surgical instrument, so that the end effector moves to the target position corresponding to the grip portion 2 or the movement path of the corresponding joint. The "movement path corresponding to the grip part 2 or the corresponding joint" here is not limited to the case where the path of the end effector and the path of the grip part 2 or the corresponding joint are scaled proportionally, but also refers to the end effector and the grip part 2 Or when the movement paths of the corresponding joints are different, the straight-line distance from the starting position angle to the target position angle corresponds to the rotation angle; in addition, the movement here is not limited to simple position movement, but also intends to include or not include rotation. .

In addition, when the end effector is controlled according to the motion data collected by the sensor 5, if the control mechanism for controlling the position and angle of the end effector in the surgical instrument adopts the same structure as the actuator, the motion of each joint on the control mechanism can be directly Executed according to the motion data of the corresponding joint, if the control mechanism for controlling the position and angle of the end effector in the surgical instrument is different from the structure used by the actuator, the motion data of the grip or the corresponding joint can be calculated first according to the motion data collected by each sensor. The distance from the start position to the end position (total displacement) and the rotation angle in each direction (total rotation angle), and then decompose the total displacement and total rotation angle according to the specific structure of the control mechanism, so that the end effector acts accordingly.

In some embodiments, referring to FIG. 3 , the linkage mechanism includes a plurality of components connected in series in sequence, and each component is connected by an intermediate joint 36 .

In some embodiments, referring to FIG. 1 , FIG. 2 , and FIG. 3 , the link mechanism is rotatably arranged on the base 1 , so that the movement limit space of the grip portion 2 is located in a spherical space centered on the base 1 Inside, the grip part 2 is free to move within its movement limit space. In this setting, the operator can regard the base 1 as the lesion to be treated, which more intuitively simulates the action process when holding the end effector, and provides a better overriding experience.

In some embodiments, the linkage mechanism includes a sub-plane linkage mechanism, and the sub-plane linkage mechanism includes at least two components connected in series in sequence. The grip portion 2 approaches or moves away from the base when the sub-plane linkage is bent. At this time, the end effector may be according to FIG. 1 , FIG. 2 , and FIG. 3 , for example, the sub-plane linkage mechanism may be the second member 32 , the third member 33 and the fourth member in FIG. 1 , FIG. 2 , and FIG. 3 . On the basis that the link mechanism can rotate along the base 1, the member 34 can be combined with the joints of the sub-plane link mechanism to bend so that the gripping portion can reach any position within its movement limit space. In actual implementation, the number of components of the sub-plane linkage mechanism may be other numbers.

In some embodiments, referring to FIG. 1 , FIG. 2 , and FIG. 3 , each joint is a rotating sub-joint, and the link mechanism includes a first member 31 , a second member 32 , a third member 33 , and a fourth member that are connected in series in sequence. 34 and the fifth member 35 , the first joint 131 is arranged between the first member 31 of the base 1 , and the second joint 235 is arranged between the fifth member 35 and the grip portion 2 . In the actual implementation process, some joints can also use rotating pairs, and some joints can use moving pairs, but this way of using all rotating joints is conducive to smoother movement of each joint. In addition, in the actual implementation process, the end effector may move corresponding to the path of the holding portion, and may also move corresponding to the intermediate joint between the third member 33 and the fourth member 34 .

In some embodiments, in order to enable the gripping portion to move freely within its extreme motion space, referring to FIG. 1 , FIG. 2 , and FIG. 3 , the first member 31 is rotatably disposed on the base 1 , and the first member 31 is rotatable. The rotation axis between the base 1 and the base 1 is defined as the first axis; the second member 32 is rotatably disposed on the first member 31, and the rotation axis between the second member 32 and the first member 31 is defined as the second axis The third member 33 is rotatably arranged on the second member 32, and the axis of rotation between the third member 33 and the second member 32 is defined as the third axis; the fourth member 34 is rotatably arranged on the third member 33 , the axis of rotation between the fourth member 34 and the third member is defined as the fourth axis; the fifth member 35 is rotatably hinged on the fourth member 34, and the axis of rotation between the fifth member 35 and the fourth member 34 is defined As the fifth axis, the holding portion 2 is rotatably disposed on the fifth member 35, and the rotation axis between the holding portion 2 and the fifth member 35 is defined as the sixth axis. Among the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis, the axial direction of at least one axis is the first direction, and the axial direction of at least one axis is the second direction, The axial direction of at least one axis is the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. If the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction, that is, at least one axis is in the X-axis direction, at least one axis is in the Y-axis direction, and at least one axis is in the Y-axis direction. The axis is in the Z-axis direction. In the actual implementation process, the first direction, the second direction, and the third direction may not be perpendicular to each other, but it must satisfy that in any space rectangular coordinate system, the first direction, the second direction, and the third direction are in the coordinate system. After being decomposed by X-axis, Y-axis and Z-axis, the decomposed values on X-axis, Y-axis and Z-axis are not zero.

In some embodiments, referring to FIG. 1 , FIG. 2 , and FIG. 3 in combination, the first axis and the sixth axis are parallel to each other, the second axis, the third axis, and the fourth axis are parallel to each other, and the fifth axis is the first axis and the sixth axis, respectively. The two axes are perpendicular, and the first axis and the second axis are perpendicular to each other.

In some embodiments, referring to FIGS. 1 to 3 in combination, an auxiliary support structure 4 is provided on the link mechanism, the auxiliary support structure 4 is used to support the second member 32 and the third member 33 , and the auxiliary support structure 4 includes a first support 41 and the second support 42, the first support 41 and the second support 42 are hinged.

When the auxiliary support structure 4 is used to support the second member 32, the first support member 41 is hinged on the first member 31, and the second support member 42 is hinged at the joint between the second member 32 and the third member 33, so that the The first member 31, the second member 32, the first support 41 and the second support 42 together form a parallelogram mechanism; when the auxiliary support structure 4 is used to support the third member 33, the first support 41 is hinged on the fourth member. On the member 34, the second support 42 is hinged at the joint between the second member 32 and the third member 33, so that the third member 33, the fourth member 34, the first support 41 and the second support 42 form together Parallelogram mechanism.

In some embodiments, referring to FIG. 1 to FIG. 3 in combination, the auxiliary support structure 4 further includes a buffer elastic member 43 . When the auxiliary support structure 4 is used to support the second member, the buffer elastic member 43 is provided between the corresponding first support member 41 and the second member 32; when the auxiliary support structure 4 is used to support the third member 33 , the buffer elastic member 43 is disposed between the first support member 41 and the third member 33 . In the actual implementation process, the buffer elastic member 43 can use a spring, a gas spring, a rubber band, etc., as long as the buffer elastic force can be provided, the supported member can be subjected to a small impact force during the rotation process, which is beneficial to the whole process. The structure of the actuator is more stable and reliable.

In some embodiments, the sensor 5 is an encoder. In the implementation process, the type of the sensor 5 is set according to the actual structure of the manipulator. If the manipulator is also provided with a sliding pair, a displacement sensor can also be set accordingly. In addition to the rotation angle, other angle sensors can also be used, as long as the motion data can be obtained.

In some embodiments, the sensor 5 is arranged at the first joint 131 , at the second joint 235 , at the joint between the first member 31 and the second member 32 , at the joint between the second member 32 and the third member 33 At the joint, at the joint between the fourth member 34 and the fifth member 35 . In FIGS. 1 to 3 , each sensor 5 is an encoder, and five encoders are provided on the operator, namely a first encoder 51 , a second encoder 52 , a third encoder 53 , and a fourth encoder encoder 54, fifth encoder 55, the first encoder 51 is arranged at the first joint 131, the second encoder 52 is arranged at the joint between the first member 31 and the second member 32, and the third encoder 53 is arranged At the joint between the second member 32 and the third member 33 , the fourth encoder 54 is provided at the joint between the fourth member 34 and the fifth member 35 , and the fifth encoder 55 is provided at the second joint 235 . At this time, the displacement data between the third member 33 and the fourth member 34 obtained by the first encoder 51 , the second encoder 52 , and the third encoder 53 can be used, and the fourth encoder 54 and the fifth encoder can be used. 55 The posture of the grip is acquired. Of course, in the actual implementation process, sensors can also be set corresponding to each joint to realize all-round displacement and gesture recognition.

In some embodiments, the manipulator further includes a limiting structure 7 for limiting the degree of freedom of the grip portion 2 in a non-surgical state. When the operation is completed or the operation is interrupted, the limiting structure is used to lock the manipulator to a certain extent.

In some embodiments, the limiting structure 7 includes a limiting hole 72 provided on the base 1 and a limiting portion 71 provided on the link mechanism, and the limiting portion 71 is inserted into the limiting hole 72 to limit gripping part 2 degrees of freedom. In the figure, the limiting portion 71 is provided on the fourth member 34 in the link mechanism, and the degree of freedom of the grip portion 2 is 2 at this time; in the actual implementation process, the limiting portion 71 can also be provided on On other components in the link mechanism; or directly set the limiting portion 71 on the operating portion to completely lock the gripping portion 2, so that the corresponding degree of freedom of the gripping portion 2 is 0; in addition, limit the limiting portion The structure of the device is not limited to the form of the limit hole, but also can be a limit slot or other structures, and the limit hole may not be provided on the base, or on a structure other than the operator, as long as it can realize the opposite grip The limit of the holding part is enough.

In some embodiments, the grip portion 2 is provided with an interaction area 6 for manipulating the surgical instrument to perform a surgical action.

In some embodiments, the end effector includes a focused ultrasound device.

In some embodiments, the interaction area 6 is provided with a button 61 or an interface for triggering the focused ultrasound device to emit ultrasound. In the actual implementation process, a curing button 61 (or interface) and a de-curing button 61 (or interface) for curing the image of the lesion can also be set on the interactive area 6, and other functional buttons 61 or interfaces can also be set, which is more convenient for overriding the entire Surgical Instruments.

In the description of the present invention, unless otherwise expressly specified and limited, the first feature is "on" the second feature = may include the first and second features in direct contact, or may include that the first and second features are not directly in contact The contact is made through additional features between them.

In describing the present invention, the singular forms "a", "an" and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, components and/or parts, but do not exclude one or more other The presence or addition of features, integers, steps, operations, components, parts and/or groups.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims (17)

1. A manipulator for controlling a surgical instrument end effector, characterized by: comprises a base, a holding part and a connecting rod mechanism, wherein the connecting rod mechanism is connected between the base and the holding part, a plurality of middle joints are arranged on the connecting rod mechanism, a first joint is arranged between the base and the connecting rod mechanism, a second joint is arranged between the connecting rod mechanism and the holding part,

when the holding part is moved, the first joint, the second joint and each intermediate joint perform self-adaptive decomposition motion according to the moving path of the holding part, sensors are arranged on part of or all the joints and are used for acquiring motion data corresponding to the motion of the joints, and the motion data are used for enabling an end effector of a surgical instrument to correspondingly move according to the moving path of the corresponding joint and/or the holding part.

2. The manipulator of claim 1, wherein: the link mechanism comprises a plurality of components which are connected in series in sequence, and all the components are connected through the middle joints.

3. The manipulator of claim 2, wherein: the link mechanism is arranged on the base in a rotatable manner, so that the movement limit space of the holding part is positioned in a sphere space with the base as the center, and the holding part can freely move in the movement limit space.

4. The manipulator of claim 3, wherein: the link mechanism comprises a sub-plane link mechanism, and the sub-plane link mechanism comprises at least two members which are sequentially connected in series;

in the sub-plane linkage mechanism, all the components are sequentially connected in series and are positioned on the same plane, so that the holding part is close to or far away from the base when the sub-plane linkage mechanism is bent.

5. The manipulator of claim 2, wherein: each joint is a revolute pair joint, the connecting rod mechanism comprises a first component, a second component, a third component, a fourth component and a fifth component which are sequentially connected in series, the first joint is arranged between the base and the first component, and the second joint is arranged between the fifth component and the holding part.

6. The manipulator of claim 5, wherein:

the first component is rotatably arranged on the base, and a rotating axis between the first component and the base is a first axis;

the second component is rotatably arranged on the first component, and the rotating axis between the second component and the first component is a second axis;

the third member is rotatably arranged on the second member, and the rotating axis between the third member and the second member is a third axis;

the fourth component is rotatably arranged on the third component, and the rotating axis between the fourth component and the third component is a fourth axis;

the fifth component is rotatably hinged on the fourth component, the rotating axis between the fifth component and the fourth component is a fifth axis,

the holding part is rotatably arranged on the fifth component, and a rotating axis between the holding part and the fifth component is a sixth axis;

in the first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis, at least one axial direction is a first direction, at least one axial direction is a second direction, at least one axial direction is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

7. The manipulator of claim 6, wherein: the first axis and the sixth axis are parallel to each other, the second axis, the third axis and the fourth axis are parallel to each other, the fifth axis is perpendicular to the first axis and the second axis respectively, and the first axis and the second axis are perpendicular to each other.

8. The manipulator of claim 7, wherein:

the link mechanism is provided with an auxiliary supporting structure, the auxiliary supporting structure is used for supporting the second member and/or the third member, the auxiliary supporting structure comprises a first supporting piece and a second supporting piece, and the first supporting piece and the second supporting piece are hinged.

9. The manipulator of claim 8, wherein:

when the auxiliary support structure is used for supporting the second member, the first support is hinged on the first member, and the second support is hinged at a joint between the second member and the third member, so that the first member, the second member, the first support and the second support form a parallelogram mechanism together;

when the auxiliary support structure is used for supporting the third member, the first support is hinged on the fourth member, and the second support is hinged at a joint between the second member and the third member, so that the third member, the fourth member, the first support and the second support form a parallelogram mechanism together.

10. The manipulator of claim 8, wherein:

the auxiliary supporting structure further comprises a buffering elastic piece;

when the auxiliary support structure is used for supporting the second component, the buffering elastic piece is arranged between the first support piece and the second component;

when the auxiliary support structure is used for supporting the third member, the buffer elastic piece is arranged between the first support piece and the third member.

11. The manipulator according to claim 7, wherein said sensor is disposed at:

at the first joint;

a joint between the first member and the second member;

a joint between the second member and the third member;

a joint between the fourth member and the fifth member; and

at the second joint.

12. The manipulator of claim 1, wherein: the surgical instrument further comprises a limiting structure used for limiting the degree of freedom of the holding part in a non-surgical state.

13. The manipulator of claim 12, wherein: the limit structure comprises:

a limiting hole arranged on the base;

a limiting part arranged on the connecting rod mechanism or the holding part;

wherein the limiting part limits the degree of freedom of the holding part by being inserted into the limiting hole.

14. The manipulator of claim 1, wherein: the sensor is an encoder.

15. The manipulator of claim 1, wherein: an interaction area used for controlling the surgical instrument to execute the surgical action is arranged on the holding part.

16. The manipulator of claim 15, wherein: the end effector comprises a focused ultrasound device, and a button or an interface used for triggering the focused ultrasound device to emit ultrasonic waves is arranged on the interaction area.

17. The manipulator of claim 1, wherein: the end effector comprises a focused ultrasound device.

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