Main manipulator structure for puncture robot and auxiliary puncture system

Abstract

The invention provides a master manipulator structure for a puncture robot and a master-slave type surgical robot auxiliary puncture system, belongs to the technical field of medical instruments, and is particularly used for operating a slave manipulator robot at the far end to execute surgical actions. Comprising a rack, a posture adjusting mechanism, a needle inserting mechanism, a force feedback mechanism, a first position detection assembly and a second position detection assembly. The force feedback mechanism is connected with the linear moving part and used for transmitting force to the linear moving part according to the puncture action of the slave hand robot at the far end. Through the main manipulator structure, an operator can control the slave manipulator robot to complete an operation action outside the CT room, and the operator is prevented from being exposed in a radiation environment for a long time; the force feedback mechanism is connected with the linear moving part, when an operator operates the puncture needle rod to do reciprocating linear movement, the force feedback mechanism can provide force for the linear moving part so as to simulate the resistance of the tissue when the puncture needle pierces into the human tissue, a real operation scene is simulated as much as possible, and the operation experience of the operator is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a master operating hand structure for a puncture robot and a master-slave surgical robot-assisted puncture system. Background Art

[0002] In recent years, X-ray computed tomography (CT) has made tremendous progress, both in fundamental technology and in novel clinical applications. Significant advances have been made in various CT components, including light pipes, detectors, slip rings, data acquisition systems, and algorithms. Since the advent of spiral CT and multislice CT, many new clinical applications have emerged. Their advantages, such as fast scan times and clear images, have enabled the examination of a wide range of diseases.

[0003] CT-guided percutaneous puncture is a technology that is now widely used in clinical practice. It is a technology that accurately inserts the puncture needle into the lesion in the body and obtains the diseased tissue under the precise guidance of the CT scan. The puncture under the guidance of CT image is based on CT imaging (human tissue and puncture needle). It can judge the puncture direction in real time and make timely adjustments, which greatly improves the success rate of the operation, reduces the risk of surgery, and speeds up the patient's recovery. However, CT equipment uses X-rays or gamma rays to complete its work. Performing the operation on the CT side will expose the doctor to the radiation environment for a long time, posing a great threat to the health of the body. Therefore, some people have proposed the use of a master-slave robot-assisted puncture system. The master operator structure remotely operates the slave operator's robotic arm to complete the puncture process, which allows the doctor to complete the surgical operation outside the CT room, avoiding the doctor's long-term exposure to the radiation environment.

[0004] However, the current main operating hand structure has no resistance when the puncture needle rod is pressed down, which cannot simulate the resistance of the puncture needle when it penetrates human tissue, resulting in a poor surgical experience for the doctor and possibly affecting the surgical process. Summary of the Invention

[0005] The purpose of this application is to provide a main operating hand structure for a puncture robot and a master-slave surgical robot-assisted puncture system, aiming to solve the problem in the related technology that the puncture needle rod of the main operating hand structure has no resistance during the downward pressing process, and cannot simulate the resistance of the puncture needle when it penetrates the human tissue, resulting in a poor surgical experience for the doctor and possibly affecting the surgical process.

[0006] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0007] According to a first aspect of the present application, a master operating hand structure for a puncture robot is provided, which is used to operate a remote slave hand robot to perform a surgical action, comprising: A frame, a posture adjustment mechanism, a needle insertion mechanism, a force feedback mechanism, a first position detection component and a second position detection component; The posture adjustment mechanism includes a puncture needle rod and a rotating structure, wherein the rotating structure is connected to the frame, the puncture needle rod is connected to the rotating structure, the puncture needle rod can be rotated by the rotating structure, and can reciprocate linearly relative to the rotating structure, and the first position detection component is used to detect the rotation angle of the puncture needle rod; The lower end of the puncture needle rod passes through the rotating structure and is connected to the linear moving part in the needle insertion mechanism. The puncture needle rod drives the linear moving part to move back and forth in a straight line. The second position detection component is used to detect the movement amount of the linear moving part. The force feedback mechanism is connected to the linear moving part and is used to transmit force to the linear moving part according to the puncture action of the remote slave hand robot.

[0008] In an exemplary embodiment of the present application, the needle insertion mechanism includes a bracket and a traction member, the bracket is located below the frame, and the bracket is connected to the rotating structure, and the bracket can rotate with the rotating structure; The linear moving part is slidably arranged on the bracket, the traction member is arranged on the bracket and connected to the linear moving part for transmitting traction to the linear moving part, and the force feedback mechanism is connected to the traction member for applying traction to the traction member.

[0009] In an exemplary embodiment of the present application, the traction member includes a synchronous belt and two pulleys, the two pulleys are arranged at the upper end and the lower end of the bracket, the synchronous belt is wrapped around the two pulleys, the linear moving part is fixed on one side of the synchronous belt, and the force feedback mechanism is connected to one of the pulleys for applying torque to the pulley.

[0010] In an exemplary embodiment of the present application, the force feedback mechanism includes a first servo motor, wherein a pulley is connected to a drive shaft of the first servo motor.

[0011] In an exemplary embodiment of the present application, the second position detection component includes an encoder, and the encoder is arranged corresponding to the driving shaft of the first servo motor; The first servo motor and the encoder are both located at the upper end of the bracket, close to the frame, and the driving shaft of the first servo motor is connected to the pulley located at the upper end of the bracket.

[0012] In an exemplary embodiment of the present application, a sliding groove is provided on the bracket from top to bottom, and the linear moving part includes a slider, and a protrusion that cooperates with the sliding groove extends from the side of the slider, and the protrusion is slidably set in the sliding groove.

[0013] In an exemplary embodiment of the present application, a tensioning mechanism is further included, which is arranged on the bracket. The synchronous belt passes through the tensioning mechanism, and the tensioning mechanism is used to adjust the tightness of the synchronous belt.

[0014] In an exemplary embodiment of the present application, the rotating structure includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the frame so that the first rotating block can rotate about a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, and the first direction is opposite to the second direction; The puncture needle rod is slidably arranged in the second rotating block, and the puncture needle rod performs linear reciprocating movement when sliding in the second rotating block.

[0015] In an exemplary embodiment of the present application, a second servo motor and a third servo motor are further included, wherein the drive shaft of the second servo motor is connected to the rotation shaft of the first rotating block, and the drive shaft of the third servo motor is connected to the rotation shaft of the second rotating block; The second servo motor and the third servo motor are used to assist the rotation of the puncture needle rod.

[0016] In an exemplary embodiment of the present application, the first rotating block further includes two U-shaped members arranged in parallel, the ends of the two U-shaped members are connected to the first rotating block, and an arc-shaped slot matching the diameter of the puncture needle rod is formed between the two U-shaped members, and the lower end of the puncture needle rod passes through the arc-shaped slot and is connected to the linear moving part; When the puncture needle rod rotates in the first direction, it can drive the two U-shaped members to rotate in the first direction together. When the puncture needle rod rotates in the second direction, it can slide along the extending direction of the arc-shaped slot.

[0017] According to a second aspect of the present application, a master-slave robot-assisted puncture system is provided, comprising the above-mentioned master manipulator structure for the puncture robot.

[0018] The exemplary embodiments of the present application may have some or all of the following beneficial effects: The main operating hand structure for a puncture robot provided in the example embodiment of the present application is used to operate a remote slave hand robot to perform surgical actions, and includes a frame, a posture adjustment mechanism, a needle insertion mechanism, a force feedback mechanism, a first position detection component and a second position detection component, wherein the posture adjustment mechanism includes a puncture needle rod and a rotating structure, the rotating structure is connected to the frame, the puncture needle rod is connected to the rotating structure, the puncture needle rod can be rotated by the rotating structure, and can be moved linearly back and forth relative to the rotating structure, the first position detection component is used to detect the rotation angle of the puncture needle rod; the lower end of the puncture needle rod is connected to the linear moving part of the needle insertion mechanism through the rotating structure, and the linear moving part is driven to move linearly back and forth by the puncture needle rod, and the second position detection component is used to detect the movement amount of the linear moving part; the force feedback mechanism is connected to the linear moving part, and is used to transmit force to the linear moving part according to the puncture action of the remote slave hand robot. The master operating hand structure allows the surgeon to control the slave hand robot to complete surgical actions outside the CT room, avoiding the surgeon's long-term exposure to the radiation environment; a force feedback mechanism is set to be connected to the linear moving part. When the surgeon operates the puncture needle rod to make reciprocating linear movements, the force feedback mechanism can provide force to the linear moving part to simulate the resistance of the puncture needle when it penetrates the human tissue, simulating the real surgical scene as much as possible and improving the surgeon's surgical experience.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0021] Figure 1 A schematic structural diagram of the main operating hand structure of the puncture robot in Example 1 of the present application is shown; Figure 2 A front view of the main operating hand structure of the puncture robot in Example 1 of the present application is shown; Figure 3 A side view of the main manipulator structure of the puncture robot in Example 1 of the present application is shown; Figure 4 A top view of the main manipulator structure for the puncture robot in Example 1 of the present application is shown.

[0022] Description of reference numerals: 1. Frame; 2. Posture adjustment mechanism; 21. Puncture needle rod; 22. Rotating structure; 221. First rotating block; 222. Second rotating block; 3. Needle insertion mechanism; 31. Linear moving part; 311. Bump; 32. Bracket; 33. Slide; 34. Pulley; 35. Synchronous belt; 4. Force feedback mechanism; 41. First servo motor; 42. Encoder; 5. Second servo motor; 6. Third servo motor; 7. U-shaped part; 8. Tensioning mechanism; 9. Bearing. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0024] While relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It should be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0025] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and do not limit the quantity of their objects. Example 1

[0026] This embodiment provides a specific implementation of the main operating hand structure for the puncture robot, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, the master manipulator structure is used to operate the remote slave robot to perform surgical actions, wherein the master manipulator structure includes a frame 1, a posture adjustment mechanism 2, a needle insertion mechanism 3, a force feedback mechanism 4, a first position detection component and a second position detection component; the posture adjustment mechanism 2 includes a puncture needle rod 21 and a rotating structure 22, the rotating structure 22 is connected to the frame 1, the puncture needle rod 21 is connected to the rotating structure 22, the puncture needle rod 21 can be rotated by the rotating structure 22 to adjust the angle of the puncture needle rod 21, and the puncture needle rod 21 can also move back and forth linearly relative to the rotating structure 22 to adjust the insertion depth of the puncture needle rod 21, and the first position detection component is used to detect the rotation angle of the puncture needle rod 21; the lower end of the puncture needle rod 21 The rotating structure 22 is connected to the linear moving part 31 in the needle insertion mechanism 3, and the puncture needle rod 21 can drive the linear moving part 31 to move back and forth in a straight line. The second position detection component is used to detect the movement amount of the linear moving part 31, that is, the linear movement amount of the puncture needle rod 21; the force feedback mechanism 4 is connected to the linear moving part 31, and the force feedback mechanism 4 is used to transmit force to the linear moving part 31 according to the puncture action of the remote slave robot. During the puncture operation, when the surgeon operates the puncture needle rod 21 to perform the puncture action, the force feedback mechanism 4 acts on the puncture needle rod 21 according to the force provided by the puncture action of the remote slave robot, so that the surgeon can feel the resistance of the needle rod penetrating the tissue during the puncture process, thereby improving the surgeon's surgical experience.

[0027] In this embodiment, the force feedback mechanism 4 can provide the linear moving part 31 with a force opposite to its moving direction, so that the operator can feel the actual insertion process of the slave robot while controlling the puncture needle rod 21 to penetrate the tissue, thereby improving the operator's surgical experience.

[0028] In this embodiment, the needle insertion mechanism 3 includes a bracket 32 ​​and a traction member. The bracket 32 ​​is located below the frame 1. The bracket 32 ​​is connected to the rotating structure 22. The bracket 32 ​​can rotate with the rotating structure 22. The linear moving part 31 is slidably arranged on the bracket 32. The traction member is arranged on the bracket 32 ​​and connected to the linear moving part 31. The traction member is used to transmit traction force to the linear moving part 31. The force feedback mechanism 4 is connected to the traction member. The force feedback mechanism 4 acts on the traction member according to the force provided by the hand robot. The force exerted on the traction member acts on the puncture needle rod 21. The lower end of the puncture needle rod 21 is connected to the traction member, and the traction member can guide the puncture needle rod 21 to move linearly.

[0029] In this embodiment, Figure 3As shown, the traction part includes a synchronous belt 35 and two pulleys 34. The two pulleys 34 are arranged at the upper and lower ends of the bracket 32. The synchronous belt 35 is wrapped around the two pulleys 34. The linear moving part 31 is fixed on one side of the synchronous belt 35. The force feedback mechanism 4 is transmission-connected to one of the pulleys 34 for applying torque to the pulley 34 so that the synchronous belt 35 is subjected to a certain resistance when rotating. The applied torque is the force provided by the force feedback mechanism 4 to the puncture needle rod 21. The lower end of the puncture needle rod 21 is fixedly connected to one side of the synchronous belt 35 through the linear moving part 31. When the puncture needle rod 21 performs a puncture action, the lower end of the puncture needle rod 21 drives the synchronous belt 35 to rotate. The resistance of the force feedback mechanism 4 on the synchronous belt 35 acts on the linear moving part 31 and the puncture needle rod 21, making the operator's operating environment closer to the real surgical scene and improving the operator's surgical experience.

[0030] Furthermore, the force feedback mechanism 4 includes a first servo motor 41, one of the pulleys 34 being connected to the drive shaft of the first servo motor 41. The first servo motor 41 applies torque to the pulley 34, which in turn provides a force opposite to the direction of rotation of the pulley 34. This causes the timing belt 35 to experience a certain amount of resistance when rotating under the influence of the linear moving portion 31 and the puncture needle rod 21. In other embodiments, the force feedback mechanism 4 may alternatively be a friction member or other structure disposed on one side of the timing belt 35, as long as it can provide an opposing force to the timing belt 35.

[0031] Specifically, the second position detection assembly includes an encoder 42, which is arranged corresponding to the drive shaft of the first servo motor 41. The encoder 42 can record the number of rotations of the drive shaft of the first servo motor 41, and thus record the movement distance of the synchronous belt 35, that is, the movement amount of the linear moving portion 31 at the lower end of the puncture needle rod 21. In this embodiment, the first servo motor 41 and the encoder 42 are both located at the upper end of the bracket 32, close to the frame 1. The drive shaft of the first servo motor 41 is connected to the pulley 34 at the upper end of the bracket 32. The arrangement of the first servo motor 41 and the encoder 42 at the upper end of the bracket 32 ​​reduces the influence of the torque generated by the first servo electrode and the encoder 42 when the operator rotates the upper end of the puncture needle rod 21.

[0032] In this embodiment, a slide groove 33 is provided from top to bottom on the bracket 32, and the linear moving part 31 includes a slider. A protrusion 311 that cooperates with the slide groove 33 extends from the side of the slider. The protrusion 311 is slidably set in the slide groove 33. Through the cooperation between the protrusion 311 and the slide groove 33, the linear moving part 31 can be guided to move back and forth in a straight line along the slide groove 33.

[0033] In this embodiment, a tensioning mechanism 8 is further included, which is arranged on the bracket 32. The synchronous belt 35 passes through the tensioning mechanism 8, and the tensioning mechanism 8 is used to adjust the tightness of the synchronous belt 35. The tensioning mechanism 8 can be used to more conveniently install the synchronous belt 35 on the two pulleys 34. At the same time, the tightness of the synchronous belt 35 can be adjusted by moving the tensioning mechanism 8, so that the synchronous belt 35 can better drive the linear moving part 31 to move linearly.

[0034] In this embodiment, the rotating structure 22 includes a first rotating block 221 and a second rotating block 222. The first rotating block 221 is rotatably mounted on the frame 1 so that the first rotating block 221 can rotate about a first direction; the second rotating block 222 is rotatably mounted on the first rotating block 221 so that the second rotating block 222 can rotate about a second direction, wherein the first direction and the second direction are in opposite directions, and the puncture needle rod 21 is slidably disposed in the second rotating block 222. When the puncture needle rod 21 slides in the second rotating block 222, it performs a linear reciprocating motion.

[0035] In this embodiment, a second servo motor 5 and a third servo motor 6 are also included. The drive shaft of the second servo motor 5 is connected to the rotating shaft of the first rotating block 221, and the drive shaft of the third servo motor 6 is connected to the rotating shaft of the second rotating block 222. The second servo motor 5 and the third servo motor 6 are used to assist the rotation of the puncture needle rod 21. Since the needle insertion mechanism 3 is located at the lower end of the puncture needle rod 21, the operator needs to overcome the gravity of the needle insertion mechanism 3 when operating the upper end of the puncture needle rod 21 to rotate. With the assistance of the second servo motor 5 and the third servo motor 6, gravity compensation can be performed to weaken the influence of the gravity of the needle insertion mechanism 3 on the rotation of the puncture needle rod 21.

[0036] In this embodiment, the second servo motor 5 and the third servo motor 6 can simultaneously serve as the first position detection component, used to detect the rotation angle of the puncture needle rod 21. The rotation angle of the puncture needle rod 21 in the first direction and the second direction can be determined by the number of rotations of the two servo motors, so that the rotation angle of the puncture needle rod 21 can be known.

[0037] In this embodiment, Figure 2 As shown, the first rotating block 221 also includes two U-shaped members 7 arranged in parallel, the ends of the two U-shaped members 7 are connected to the first rotating block 221, and an arc-shaped slot matching the diameter of the puncture needle rod 21 is formed between the two U-shaped members 7. The lower end of the puncture needle rod 21 passes through the arc-shaped slot and is connected to the linear moving portion 31. When the puncture needle rod 21 rotates in the first direction, the lower end of the puncture needle rod 21 can drive the two U-shaped members 7 to rotate together in the first direction. When the puncture needle rod 21 rotates in the second direction, the lower end of the puncture needle rod 21 can slide along the extension direction of the arc-shaped slot to guide the movement of the puncture needle rod 21 in the second direction.

[0038] like Figure 4 As shown, the first rotating block 221 and the second rotating block 222 are both rotatably mounted on the frame 1 through the bearing 9, wherein the first rotating block 221 is also rotatably mounted on the second rotating block 222, and the second servo motor 5 and the third servo motor 6 are both connected to the first rotating block 221 and the second rotating block 222 through a coupling.

[0039] Working principle: The master operator structure for the puncture robot provided in the present application is used to operate the remote slave robot to perform surgical actions, that is, when the surgeon controls the master operator structure to make adjustments and puncture actions, the remote slave robot follows the master operator to make adjustments and puncture actions, so that the surgeon can perform puncture surgery remotely. The master operator structure provided in the present application is connected to a force feedback mechanism 4 at the lower end of the puncture needle rod 21. The force feedback mechanism 4 is used to transmit force to the linear moving part 31 according to the puncture action of the remote slave robot. During the puncture surgery, when the surgeon operates the puncture needle rod 21 to perform the puncture action, the force feedback mechanism 4 acts on the puncture needle rod 21 according to the force provided by the puncture action of the remote slave robot, so that the surgeon can feel the resistance of the needle rod penetrating the tissue during the puncture process, thereby improving the surgeon's surgical experience.

[0040] At the same time, the first servo motor 41 and the encoder 42 in the force feedback mechanism 4 are both arranged at the upper end of the bracket 32, close to the position of the frame 1, and the tensioning mechanism 8 is also arranged at the upper end of the bracket 32 ​​together with the force feedback mechanism 4, so that when the operator operates the upper end of the puncture needle rod 21 to rotate, the influence of the torque generated by the first servo electrode and the encoder 42 is reduced. Example 2

[0041] This embodiment provides a specific implementation of a master-slave robot-assisted puncture system, which is implemented using the master manipulator structure for the puncture robot in Example 1.

[0042] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments of the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not covered by this application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A master manipulator structure for a puncture robot, used to operate a remote slave robot to perform surgical actions, characterized in that: include: A frame, a posture adjustment mechanism, a needle insertion mechanism, a force feedback mechanism, a first position detection component and a second position detection component; The posture adjustment mechanism includes a puncture needle rod and a rotating structure, wherein the rotating structure is connected to the frame, the puncture needle rod is connected to the rotating structure, the puncture needle rod can be rotated by the rotating structure, and can reciprocate linearly relative to the rotating structure, and the first position detection component is used to detect the rotation angle of the puncture needle rod; The lower end of the puncture needle rod passes through the rotating structure and is connected to the linear moving part in the needle insertion mechanism. The puncture needle rod drives the linear moving part to move back and forth in a straight line. The second position detection component is used to detect the movement amount of the linear moving part. The force feedback mechanism is connected to the linear moving part and is used to transmit force to the linear moving part according to the puncture action of the remote slave hand robot.

2. The main operating hand structure for the puncture robot according to claim 1, characterized in that: The needle insertion mechanism includes a bracket and a traction member, wherein the bracket is located below the frame and is connected to the rotating structure, and the bracket can rotate with the rotating structure; The linear moving part is slidably arranged on the bracket, the traction member is arranged on the bracket and connected to the linear moving part for transmitting traction to the linear moving part, and the force feedback mechanism is connected to the traction member for applying traction to the traction member.

3. The main operating hand structure for the puncture robot according to claim 2, characterized in that: The traction member includes a synchronous belt and two pulleys, the two pulleys are arranged at the upper end and the lower end of the bracket, the synchronous belt is wrapped around the two pulleys, the linear moving part is fixed on one side of the synchronous belt, and the force feedback mechanism is connected to one of the pulleys for applying torque to the pulley.

4. The main operating hand structure for the puncture robot according to claim 3, characterized in that: The force feedback mechanism includes a first servo motor, wherein a pulley is connected to a driving shaft of the first servo motor.

5. The main operating hand structure for the puncture robot according to claim 4, characterized in that: The second position detection component includes an encoder, and the encoder is arranged corresponding to the driving shaft of the first servo motor; The first servo motor and the encoder are both located at the upper end of the bracket, close to the frame, and the driving shaft of the first servo motor is connected to the pulley located at the upper end of the bracket.

6. The main operating hand structure for the puncture robot according to claim 2, characterized in that: The bracket is provided with a sliding groove from top to bottom, and the linear moving part includes a slider. A protrusion that matches the sliding groove extends from the side of the slider, and the protrusion is slidably arranged in the sliding groove.

7. The main operating hand structure for the puncture robot according to claim 3, characterized in that: It also includes a tensioning mechanism, which is arranged on the bracket. The synchronous belt passes through the tensioning mechanism, and the tensioning mechanism is used to adjust the tightness of the synchronous belt.

8. The main manipulator structure for the puncture robot according to claim 1, characterized in that: The rotating structure includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the frame so that the first rotating block can rotate around a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, and the first direction is opposite to the second direction; The puncture needle rod is slidably arranged in the second rotating block, and the puncture needle rod performs linear reciprocating movement when sliding in the second rotating block.

9. The main manipulator structure for the puncture robot according to claim 8, characterized in that: The invention also includes a second servo motor and a third servo motor, wherein the drive shaft of the second servo motor is connected to the rotation shaft of the first rotating block, and the drive shaft of the third servo motor is connected to the rotation shaft of the second rotating block; The second servo motor and the third servo motor are used to assist the rotation of the puncture needle rod.

10. The main manipulator structure for the puncture robot according to claim 8, characterized in that: The first rotating block further includes two U-shaped members arranged in parallel, the ends of the two U-shaped members are connected to the first rotating block, and an arc-shaped slot matching the diameter of the puncture needle rod is formed between the two U-shaped members, and the lower end of the puncture needle rod passes through the arc-shaped slot and is connected to the linear moving part; When the puncture needle rod rotates in the first direction, it can drive the two U-shaped members to rotate in the first direction together. When the puncture needle rod rotates in the second direction, it can slide along the extending direction of the arc-shaped slot.

11. A master-slave robot-assisted puncture system, characterized in that: The invention comprises the main operating hand structure for a puncture robot according to any one of claims 1 to 10.

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