Micro actuator for inner ear injection and sampling surgery

A micro actuator for inner ear injection and sampling surgery, comprising an end-effector mechanism module (1), wherein the micro actuator also comprises a driving and sensing module (2), a microneedle puncture mechanism module (3) and a high-precision linear driving module (4);

• the microneedle puncture mechanism module (3) is embedded in the driving and sensing module (2), the driving and sensing module (2) is installed on the high-precision linear driving module (4), the end-effector mechanism module (1) is installed in the front of the driving and sensing module (2), the microneedle puncture mechanism module (3) passes through the end-effector mechanism module (1) and extends, an endoscope module (1-2) located in the end-effector mechanism module (1) provides real-time images of a surgical process, and a tension sensor (2-2) in the driving and sensing module (2) monitors tension changes of steel wires in real time to ensure safe interaction with the intra-ear environment and provide early warning information when necessary.