Compact five-degree-of-freedom teleoperation hand of series-parallel structure and control mapping method thereof

Abstract

The invention discloses a compact five-degree-of-freedom teleoperation hand of a series-parallel structure and a control mapping method of the compact five-degree-of-freedom teleoperation hand. The teleoperation hand comprises a base, a wire guiding device, a fixing sleeve, a rotary encoder, a driving arm, a spherical hinge butt joint device, a driven arm, a torsional spring, a movable platform, a front-end operation series connection platform and two angular displacement sensors. The rotary encoder is fixed to the wire guiding device through the fixing sleeve and used for measuring the rotation angle of the driving arm in real time. One end of the driving arm is fixedly connected with a rotor of the rotary encoder, and the other end of the driving arm is hinged with one end of the driven arm; the other end of the driven arm is hinged to the movable platform, and the two angular displacement sensors are used for measuring the pitch angle and the yaw angle of a handle of the front-end operation series platform. The front-end operation series platform is hinged to the movable platform and used for adjusting the posture of the teleoperation hand. The device is simple and compact in structure, low in cost and small in size; through combination of series connection and parallel connection, the rigidity requirement is guaranteed, and meanwhile the flexibility of the device is guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of medical robot technology, specifically relating to a compact five-degree-of-freedom telemanipulator with a series-parallel structure and its control mapping method. Background Technology

[0002] The teleoperator is the core human-machine interface of a surgical robot system, and its performance directly determines the accuracy, intuitiveness, and reliability of surgical operations. In soft tissue surgeries such as oral and maxillofacial-skull base tumor resection, the narrow surgical space and complex anatomical structures place multiple demands on the teleoperator, including high mobility, high structural rigidity, compact size, and precise posture feedback.

[0003] Existing teleoperators mostly employ purely serial or purely parallel configurations. While purely serial mechanisms offer a large workspace and high flexibility, they suffer from low end-effector stiffness and are prone to error accumulation. Purely parallel mechanisms, on the other hand, offer high stiffness and load-bearing capacity, but have limited workspace and complex kinematic coupling. Furthermore, existing devices generally suffer from complex structures, large size, and high costs, and lack modular design, hindering rapid commissioning and functional expansion, thus failing to meet the urgent clinical demand for low-cost, highly adaptable surgical robots.

[0004] Meanwhile, existing control methods struggle to achieve real-time and precise mapping from the telemanipulator's pose to the multi-degree-of-freedom continuous arm drive. In particular, the inverse kinematics of the continuous arm is complex and lacks an analytical solution, limiting the control accuracy and response speed of the surgical robot. Therefore, there is an urgent need for a telemanipulator device that balances operational flexibility, structural rigidity, and compact size, while also offering excellent control performance. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a compact five-degree-of-freedom teleoperator and its control mapping method that features a simple and compact structure, low cost, real-time accurate mapping capability, and solves the problem that existing pure series and pure parallel configurations cannot simultaneously meet the requirements of high rigidity and high flexibility.

[0006] The technical solution adopted in this invention is: A compact five-degree-of-freedom teleoperator with a series-parallel structure includes a base, a wire guide, a fixed sleeve, three rotary encoders, an active arm, a ball joint docking device, a driven arm, a torsion spring, a moving platform, a front-end operation series platform, and two angular displacement sensors. The wire device is installed on the base. The wire device has a rotary encoder wire hole and an angular displacement sensor wire hole. It is used to centrally store the cables of the rotary encoder and the angular displacement sensor and lead one end of the cable to connect to the microcontroller. The fixed sleeve is fixedly connected to the wire guide device and is used to position and fix the rotary encoder, which is used to measure the rotation angle of the active arm in real time. One end of the active arm is fixedly connected to the rotor of the rotary encoder, and the other end of the active arm is hinged to one end of the driven arm through a ball joint docking device. The driven arm adopts a parallel double-link structure, and torsion springs are respectively provided between the same ends of the two links. The torsion springs are used to maintain the structural stability and parallelism of the double links during the movement of the driven arm. The other end of the driven boom is hinged to the moving platform via a ball joint connection device, and a circular through hole is provided in the center of the moving platform; The two angular displacement sensors are used to measure the pitch and yaw angles of the handle of the front-end operation serial platform, respectively; the front-end operation serial platform is hinged to the moving platform.

[0007] In the aforementioned compact five-DOF teleoperator with a series-parallel structure, the active arm is provided with a docking hole, a connecting sleeve, and an end docking device. The docking hole is located at the end of the active arm near the rotary encoder. The rotor of the rotary encoder is inserted into the docking hole and, through circumferential shape matching and axial screw clamping, forms a transmission connection with the active arm without relative slippage. The connecting sleeve is located in the middle of the active arm to enhance its structural strength. The end docking device is located at the end of the active arm away from the rotary encoder and is used for adaptation and connection with a ball joint docking device.

[0008] In the aforementioned compact five-DOF teleoperator with a series-parallel structure, the ball joint docking device includes a ball sleeve, a limiting sleeve, and a connecting rod; the end docking device is provided with a connecting rod hole, and the connecting rod hole and the connecting rod are clearance-fitted; a limiting sleeve is fixedly installed at each end of the connecting rod, and the limiting sleeve is coaxial with the connecting rod; a ball sleeve is fixedly installed at the end of the limiting sleeve away from the connecting rod; the two connecting rods of the driven arm are respectively provided with ball joint sleeves that are adapted to the ball sleeves at both ends of the connecting rod at the end of the end docking device, and the hinge connection between the driving arm and the driven arm is realized through the spherical fit between the ball sleeve and the ball joint sleeve.

[0009] In the aforementioned compact five-degree-of-freedom teleoperator with a series-parallel structure, the connecting rods and wire guides of the active arm and driven arm all adopt a hollow structure.

[0010] In the aforementioned compact five-degree-of-freedom teleoperator with a series-parallel structure, the fixed sleeve is a U-shaped clamp structure, with a wing plate at the bottom of each of its two side walls. The wing plate has screw holes and is connected to the top surface of the wire device by screws to fix the fixed sleeve to the wire device. The edge of the wire device has multiple mounting holes, and corresponding to each mounting hole, the base has corresponding bolt holes. The wire device is fixed to the base by bolt connection.

[0011] In the aforementioned compact five-degree-of-freedom teleoperator with a series-parallel structure, the edge of the moving platform is provided with multiple connecting through holes, which are evenly distributed along the circumference of the moving platform. The connecting through holes are also connected to a ball joint docking device. The connecting through holes and the connecting rods of the ball joint docking device are fitted with clearance. The two connecting rods of the driven arm are also provided with ball joint sleeves that are adapted to the ball sleeves at both ends of the connecting rods near the moving platform. The hinge between the moving platform and the driven arm is realized through the spherical fit between the ball sleeves and the ball joint sleeves.

[0012] The aforementioned compact five-degree-of-freedom teleoperator with a series-parallel structure also includes an angular displacement sensor packaging device. Around the circular through hole of the moving platform, three connection holes distributed in an equilateral triangle are also provided. Corresponding to each connection hole, the angular displacement sensor packaging device is provided with a corresponding through hole and is connected by bolts. One of the two angular displacement sensors is installed in the angular displacement sensor packaging device. This angular displacement sensor measures the yaw angle of the front-end operating series platform.

[0013] In the aforementioned compact five-DOF teleoperator with a series-parallel structure, a torsion spring connecting rod is provided on the connecting rod of the driven arm. The two ends of the torsion spring are respectively sleeved on the torsion spring connecting rods of the two connecting rods, thereby achieving the positioning and installation of the torsion spring on the driven arm. In the aforementioned compact five-DOF teleoperator with a series-parallel structure, the front-end operating platform includes a handle, a first connecting arm, and a second connecting arm. The first connecting arm is L-shaped, and the handle is connected to the horizontal arm of the first connecting arm via a first connecting ring. The first connecting ring includes a first outer sleeve and a first inner sleeve with a clearance fit. The first outer sleeve is fixed to the horizontal arm of the first connecting arm, and the first inner sleeve is fixedly connected to one end of the handle. The axis of the handle is parallel to the longitudinal arm of the first connecting arm. The first connecting arm and the second connecting arm are connected by a second connecting ring sleeve; the second connecting ring sleeve includes a second outer sleeve and a second inner sleeve with clearance fit, the second outer sleeve is fixed to one end of the second connecting arm, and the second inner sleeve is connected to the end of the longitudinal arm of the first connecting arm; The axis of the first connecting ring is perpendicular to the axis of the second connecting ring; another angular displacement sensor is installed on the second connecting ring, which measures the pitch angle of the front-end operation serial platform; a measuring through hole is provided on the second connecting arm, and the end of the angular displacement sensor installed in the angular displacement sensor packaging device passes through the circular through hole at the center of the moving platform and is placed in the measuring through hole, thereby realizing the hinge connection between the front-end operation serial platform and the moving platform.

[0014] A control mapping method for a compact five-DOF telemanipulator with a series-parallel structure, as described above, is used to map the operator's movements on the compact five-DOF telemanipulator with a series-parallel structure into the motion of a continuous robotic arm, wherein the continuous robotic arm is a cable-driven robotic arm, and includes the following steps: S1: The microcontroller collects the angle value of the rotary encoder in real time and calculates the three-dimensional position coordinates of the moving platform; at the same time, it collects the angle values ​​of two angular displacement sensors to obtain the pitch angle and yaw angle of the handle; the three-dimensional position coordinates of the moving platform, the pitch angle and yaw angle of the handle are integrated into five degrees of freedom pose information, one of the five degrees of freedom is used to trigger the clamping action of the surgical instrument at the end of the continuous body robotic arm. S2: The microcontroller sends the five-degree-of-freedom pose information to the host computer through the communication interface; S3: After receiving the five-degree-of-freedom pose information, the host computer maps the three-dimensional position coordinates of the moving platform to the planar position and depth position of the end of the continuous robotic arm according to the designed control strategy, and maps the pitch angle and yaw angle of the handle to the pitch angle and yaw angle of the end of the continuous robotic arm, respectively, to obtain the target task space pose of the surgical instrument at the end of the continuous robotic arm. S4: The host computer uses Newton's iteration method to solve the inverse kinematics problem of the continuous manipulator from the task space to the joint space, and obtains the target joint space parameters; S5: The host computer, based on the piecewise constant curvature model, calculates the total length change required for each drive rope of the continuous robotic arm by using the analytical mapping relationship between the joint space and the drive space to determine the target joint space parameters. S6: The host computer converts the total length change required for each drive rope into a control command frame and sends it to the linear actuator of the continuous robotic arm. The linear actuator pulls or releases the corresponding drive rope according to the control command frame, causing the continuous robotic arm to bend and deform, and driving the end surgical instrument to move to the target task space pose.

[0015] The beneficial effects of this invention are: 1. The compact five-degree-of-freedom teleoperator of the present invention, with a series-parallel structure, achieves translational motion using a parallel mechanism consisting of an active arm, a driven arm, and a moving platform, ensuring high rigidity and load-bearing capacity; and achieves attitude adjustment using a series mechanism consisting of a front-end operating series platform and a moving platform, ensuring operational flexibility. Through the combination of series and parallel connections, the flexibility of the invention is guaranteed while ensuring rigidity requirements.

[0016] 2. The compact five-degree-of-freedom teleoperator with a series-parallel structure of the present invention has a wiring device that centrally manages the cables of the rotary encoder and angular displacement sensor, reducing space occupation; the active arm, driven arm and wiring device adopt a hollow structure, effectively removing excess mass and reducing the inertia of moving parts; the angular displacement sensor packaging design further compresses the volume; making the present invention simple, compact, small in size, lightweight and low in cost.

[0017] 3. The control mapping method of the compact five-DOF telemanipulator with series-parallel structure of the present invention involves a microcontroller calculating the forward kinematics of the compact five-DOF telemanipulator with series-parallel structure in real time to obtain the 5-DOF pose; after receiving the pose, the host computer uses numerical methods such as Newton's iteration method to quickly solve the inverse kinematics of the continuous arm and maps it to the precise motion command of the drive rope. When the present invention is used to drive an external motor, its transmission delay to the motor is ≤50ms, ensuring the real-time performance and accuracy of the telemanipulation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the compact five-degree-of-freedom teleoperator with a series-parallel structure according to the present invention.

[0019] Figure 2 This is a schematic diagram of the wire device of the present invention.

[0020] Figure 3 This is a schematic diagram of the rotary encoder retaining sleeve of the present invention.

[0021] Figure 4 This is a partial schematic diagram of the active arm device of the present invention.

[0022] Figure 5 This is a partial schematic diagram of the ball joint docking device of the present invention.

[0023] Figure 6 This is a schematic diagram of the driven boom device of the present invention.

[0024] Figure 7 This is a schematic diagram of the moving platform portion of the present invention.

[0025] Figure 8 This is a schematic diagram of the front-end operation serial platform of the present invention.

[0026] Figure 9 This is a schematic diagram of the continuous robotic arm controlled by the present invention.

[0027] In the diagram: 1. Base; 2. Wiring device; 4. Rotary encoder; 5. Driving arm; 6. Ball joint connection device; 7. Driven arm; 8. Torsion spring; 9. Moving platform; 10. Front-end operation series platform; 11. Two angular displacement sensors; 12. Angular displacement sensor packaging device; 201. Rotary encoder wiring hole; 202. Angular displacement sensor wiring hole; 203. Threaded hole I; 204. Threaded hole II; 205. Mounting hole; 301. Screw hole; 302. Wing plate; 501. Docking hole; 502. Connecting sleeve. 503. End docking device; 601. Ball sleeve; 602. Limiting sleeve; 603. Connecting rod; 701. Ball hinge sleeve; 703. Connecting rod; 702. Torsion spring connecting rod; 901. Connecting through hole; 902. Connecting hole; 903. Circular through hole; 1001. Measuring through hole; 1002. Second connecting ring sleeve; 1003. First connecting ring sleeve; 1004. Handle; 1005. First connecting arm; 1006. Second connecting arm; 13. Continuous tube; 14. Guide rope device; 15. Connecting device; 16. Connecting flange; 17. Motor slot; 18. Drive device; 19. PCB board; 20. Linear driver; 21. Connecting screw assembly; 22. Drive rope; 23. Surgical instrument. Detailed Implementation

[0028] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1-8 As shown, the compact five-degree-of-freedom teleoperator of the present invention with a series-parallel structure includes a base 1, a wire device 2, three rotary encoders 4, an active arm 5, a ball joint docking device 6, a driven arm 7, a torsion spring 8, a moving platform 9, a front-end operation series platform 10, two angular displacement sensors 11, and an angular displacement sensor packaging device 12.

[0030] The wire guide device 2 has multiple mounting holes 205 at its edge. Corresponding to each mounting hole 205, the base 1 has corresponding bolt holes. The wire guide device 2 is fixed to the base 1 by bolt connection. The wire guide device 2 has a rotary encoder wire hole 201 and an angular displacement sensor wire hole 202. The wire guide device 2 is used to centrally store the cables of the rotary encoder 4 and the angular displacement sensor 12, and to lead one end of the cable to connect to the microcontroller.

[0031] The rotary encoder 4 is fixedly mounted on the wire guide device 2 via a fixed sleeve 3. The fixed sleeve 3 is a U-shaped clamp structure, with a wing plate 302 at the bottom of each of its two side walls. The wing plate 302 has screw holes 301 and is connected to the top surface of the wire guide device 2 by screws, thereby fixing the fixed sleeve to the wire guide device. The wire guide device 2 has a set of threaded holes corresponding to the screw holes 301 of each fixed sleeve 3. Each set of threaded holes has at least two threaded holes I 203 and one threaded hole II 204.

[0032] The rotor of the rotary encoder 4 is fixedly connected to one end of the drive arm 5. The drive arm 5 is provided with a docking hole 501, a connecting sleeve 502, and an end docking device 503. The docking hole 501 is located at the end of the drive arm 5 closest to the rotary encoder 4. The rotor of the rotary encoder 4 is inserted into the docking hole 501, and a transmission connection without relative slippage is formed with the drive arm 5 by circumferential shape fitting and axial screw clamping. The connecting sleeve 502 is located in the middle of the drive arm 5 to enhance the structural strength of the drive arm 5. The end docking device 503 is located at the end of the drive arm away from the rotary encoder 4, and is used to adapt and connect with the ball joint docking device 6, and is hinged to one end of the driven arm 7 through the ball joint docking device 6. The rotary encoder 4 is used to measure the rotation angle of the drive arm 5 connected to it in real time.

[0033] The ball joint docking device 6 includes a ball sleeve 601, a limiting sleeve 602, and a connecting rod 603. The end docking device 503 has a connecting rod hole, which is clearance-fitted with the connecting rod 603. A limiting sleeve 602 is fixedly installed at each end of the connecting rod 603, and the limiting sleeve 602 is coaxial with the connecting rod 603. The ball sleeve 601 is fixedly installed at the end of the limiting sleeve 602 furthest from the connecting rod 603. The driven arm 7 adopts a parallel double-link structure. Torsion spring connecting rods 702 are provided at both ends of the connecting rod 703 of the driven arm 7. The two ends of the torsion spring are respectively sleeved on the torsion spring connecting rods 702 at the same end of the two connecting rods 703, thereby achieving the positioning and installation of the torsion spring 8 on the driven arm 7. The torsion spring 8 is used to maintain the structural stability of the driven arm 7 during movement and the parallelism of the two connecting rods 703. The two connecting rods 703 of the driven arm 7 are respectively provided with ball joint sleeves 701 at one end near the end docking device 6, which are adapted to the ball sleeves 601 at both ends of the connecting rod 603. The spherical engagement between the ball sleeves 601 and the ball joint sleeves 701 realizes the hinge connection between the driving arm 5 and the driven arm 7. The connecting rods 703 of the driving arm 5 and the driven arm 7 and the wire guide device 2 are all hollow structures, which reduces the weight of the present invention.

[0034] The other end of the driven arm 7 is hinged to the moving platform 9 via another ball joint docking device 6. The moving platform 9 has a circular through hole 903 at its center. The moving platform 9 includes a main body and a connecting part. The main body is a prism structure with an equilateral triangular cross-section, and each of its three corners has a insertion hole, the axis of which is perpendicular to the axis of the circular through hole 903. A connecting part is inserted into each insertion hole, and the connecting part is fixedly connected to the main body by bolts. The connecting part has three connecting through holes 901, which are evenly distributed along the circumference of the moving platform, and the axis of the connecting through holes 901 is perpendicular to the axis of the circular through hole 903. The connecting through holes 901 connect to the other ball joint docking device 6. The connecting through hole 901 is clearance-fitted with the connecting rod 603 of the other ball joint docking device 6. The two connecting rods 703 of the driven arm 7 are also provided with a ball joint sleeve 701 that is adapted to the ball sleeve 601 at one end near the moving platform 9. The hinge connection between the moving platform 9 and the driven arm 7 is realized through the spherical fit between the ball sleeve 601 and the ball joint sleeve 701.

[0035] The circular through hole 903 of the moving platform 9 is surrounded by three connecting holes arranged in an equilateral triangle. Corresponding to each connecting hole, the angular displacement sensor encapsulation device 12 is provided with a corresponding through hole and is connected to the connecting hole by bolts passing through the through holes. One of the two angular displacement sensors 11 is installed in the angular displacement sensor encapsulation device 12. The angular displacement sensor 11 measures the yaw angle of the handle 1004 of the front-end operating serial platform 10.

[0036] The front-end operation serial platform 10 is mounted on the moving platform 9. The front-end operation serial platform 10 includes a handle 1004, a first connecting arm 1005, and a second connecting arm 1006. The first connecting arm 1005 is L-shaped. The handle 1004 is connected to the horizontal arm of the first connecting arm 1005 through a first connecting ring sleeve 1003. The first connecting ring sleeve 1003 includes a first outer sleeve and a first inner sleeve with clearance fit. The first outer sleeve is fixed to the horizontal arm of the first connecting arm 1005 by interference fit. The first inner sleeve is fixedly connected to one end of the handle 1004 by interference fit. The axis of the handle 1004 is parallel to the vertical arm of the first connecting arm 1005.

[0037] The first connecting arm 1005 and the second connecting arm 1006 are connected by a second connecting ring 1002. The second connecting ring 1002 includes a second outer sleeve and a second inner sleeve with clearance fit. The second outer sleeve is fixed to one end of the second connecting arm 1006 by an interference fit, and the second inner sleeve is connected to the end of the longitudinal arm of the first connecting arm 1005 by an interference fit. The axis of the first connecting ring 1003 is perpendicular to the axis of the second connecting ring 1002. Another angular displacement sensor 11 is installed on the second connecting ring 1002, which measures the pitch angle of the front-end operating serial platform. The second connecting arm 1006 is provided with a measuring through hole 1001. The end of the angular displacement sensor 11, which is installed in the angular displacement sensor packaging device 12, passes through the circular through hole 903 at the center of the moving platform 9 and is placed in the measuring through hole 1001, realizing the hinge connection between the front-end operating serial platform 10 and the moving platform 9.

[0038] The active arm 5, driven arm 7, and moving platform 9 together constitute a parallel mechanism to realize the translational three degrees of freedom of the compact five-degree-of-freedom teleoperator with a series-parallel structure. The front-end operating series platform 10 constitutes a series mechanism to realize the rotational two degrees of freedom of the compact five-degree-of-freedom teleoperator with a series-parallel structure. The parallel mechanism and the series mechanism work together to enable the compact five-degree-of-freedom teleoperator with a series-parallel structure to have five degrees of freedom of motion capability, including three translational degrees of freedom and two rotational degrees of freedom.

[0039] The control mapping method of the compact five-DOF telemanipulator with a series-parallel structure of the present invention is used to map the operator's movements on the compact five-DOF telemanipulator with a series-parallel structure into the motion of a continuous robotic arm, wherein the continuous robotic arm is a cable-driven robotic arm. Figure 9 This is an embodiment of a cable-driven robotic arm with relatively good control according to the present invention. It includes the following steps: S1: The microcontroller acquires the angle values ​​of three rotary encoders 4 in real time to calculate the three-dimensional position coordinates of the moving platform 9; simultaneously, it acquires the angle values ​​of two angular displacement sensors 11 to obtain the pitch and yaw angles of the handle 1004 of the front-end operating serial platform 10. The three-dimensional position coordinates of the moving platform 9, the pitch and yaw angles of the handle 1004 are integrated into five degrees of freedom pose information, one of which is used to trigger the clamping action of the surgical instrument at the end of the continuous robotic arm.

[0040] S2: The microcontroller sends the five-degree-of-freedom pose information to the host computer through the communication interface.

[0041] S3: After receiving the five-degree-of-freedom pose information, the host computer maps the three-dimensional position coordinates of the moving platform 9 to the planar position and depth position of the end of the continuous robotic arm according to the designed control strategy, and maps the pitch angle and yaw angle of the handle 1004 to the pitch angle and yaw angle of the end of the continuous robotic arm, respectively, to obtain the target task space pose of the surgical instrument at the end of the continuous robotic arm.

[0042] S4: The host computer uses the Newton-Raphson iteration method to solve the inverse kinematics problem of the continuous manipulator from the task space to the joint space, and obtains the target joint space parameters.

[0043] S5: The host computer, based on the segmented constant curvature model, calculates the total length change required for each drive rope of the continuous robotic arm by using the analytical mapping relationship between the joint space parameters and the drive space.

[0044] S6: The host computer converts the total length change required for each drive rope into a control command frame and sends it to the linear actuator of the continuous robotic arm. The linear actuator pulls or releases the corresponding drive rope according to the control command frame, causing the continuous robotic arm to bend and deform, and driving the end surgical instrument to move to the target task space pose.

Claims

1. A compact five-degree-of-freedom teleoperator with a series-parallel structure, characterized in that, It includes a base, a wire guide, a fixed sleeve, three rotary encoders, a drive arm, a ball joint docking device, a driven arm, a torsion spring, a moving platform, a front-end operation serial platform, and two angular displacement sensors. The wire device is installed on the base. The wire device has a rotary encoder wire hole and an angular displacement sensor wire hole. It is used to centrally store the cables of the rotary encoder and the angular displacement sensor and lead one end of the cable to connect to the microcontroller. The fixed sleeve is fixedly connected to the wire guide device and is used to position and fix the rotary encoder, which is used to measure the rotation angle of the active arm in real time. One end of the active arm is fixedly connected to the rotor of the rotary encoder, and the other end of the active arm is hinged to one end of the driven arm through a ball joint docking device. The driven arm adopts a parallel double-link structure, and torsion springs are respectively provided between the same ends of the two links. The torsion springs are used to maintain the structural stability and parallelism of the double links during the movement of the driven arm. The other end of the driven boom is hinged to the moving platform via a ball joint connection device, and a circular through hole is provided in the center of the moving platform; The two angular displacement sensors are used to measure the pitch and yaw angles of the handle of the front-end operation serial platform, respectively; the front-end operation serial platform is hinged to the moving platform.

2. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 1, characterized in that, The active arm is provided with a docking hole, a connecting sleeve, and an end docking device. The docking hole is located at the end of the active arm near the rotary encoder. The rotor of the rotary encoder is inserted into the docking hole and, through circumferential shape matching and axial screw clamping, forms a transmission connection with the active arm without relative slippage. The connecting sleeve is located in the middle of the active arm to enhance the structural strength of the active arm. The end docking device is located at the end of the active arm away from the rotary encoder and is used to adapt and connect with the ball joint docking device.

3. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 2, characterized in that, The ball joint docking device includes a ball sleeve, a limiting sleeve, and a connecting rod; the end docking device is provided with a connecting rod hole, and the connecting rod hole and the connecting rod are clearance-fitted; a limiting sleeve is fixedly installed at each end of the connecting rod, and the limiting sleeve is coaxial with the connecting rod; a ball sleeve is fixedly installed at the end of the limiting sleeve away from the connecting rod; the two connecting rods of the driven arm are respectively provided with ball joint sleeves that are adapted to the ball sleeves at both ends of the connecting rod at the end of the end docking device, and the hinge of the driving arm and the driven arm is realized through the spherical fit between the ball sleeve and the ball joint sleeve.

4. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 1, characterized in that, The connecting rods and wire guides of the driving arm and driven arm all adopt a hollow structure.

5. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 1, characterized in that, The fixed sleeve is a U-shaped clamp structure, with a wing plate at the bottom of each of its two side walls. The wing plate has screw holes and is connected to the top surface of the wire device by screws to fix the fixed sleeve to the wire device. The edge of the wire device has multiple mounting holes. Corresponding to each mounting hole, the base has corresponding bolt holes. The wire device is fixed to the base by bolt connection.

6. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 3, characterized in that, The edge of the moving platform is also provided with multiple connecting through holes, which are evenly distributed along the circumference of the moving platform. The connecting through holes are also connected to a ball joint docking device. The connecting through holes and the connecting rods of the ball joint docking device are fitted with a clearance. The two connecting rods of the driven arm are also provided with ball joint sleeves that are adapted to the ball sleeves at both ends of the connecting rods near the moving platform. The hinge between the moving platform and the driven arm is realized through the spherical fit between the ball sleeves and the ball joint sleeves.

7. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 1, characterized in that, It also includes an angular displacement sensor packaging device. Around the circular through hole of the moving platform, there are three connecting holes distributed in an equilateral triangle. Corresponding to each connecting hole, the angular displacement sensor packaging device has a corresponding through hole and is connected by bolts. One of the two angular displacement sensors is installed in the angular displacement sensor packaging device. This angular displacement sensor measures the yaw angle of the front-end operating serial platform.

8. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 1, characterized in that, The driven arm is provided with a torsion spring connecting rod. The two ends of the torsion spring are respectively sleeved on the torsion spring connecting rods of the two connecting rods, and the torsion spring is positioned and installed on the driven arm through the torsion spring connecting rod.

9. The compact five-degree-of-freedom teleoperated hand with a series-parallel structure according to claim 7, characterized in that, The front-end operation serial platform includes a handle, a first connecting arm, and a second connecting arm. The first connecting arm is L-shaped, and the handle is connected to the horizontal arm of the first connecting arm through a first connecting ring. The first connecting ring includes a first outer sleeve and a first inner sleeve with clearance fit. The first outer sleeve is fixed on the horizontal arm of the first connecting arm, and the first inner sleeve is fixedly connected to one end of the handle. The axis of the handle is parallel to the longitudinal arm of the first connecting arm. The first connecting arm and the second connecting arm are connected by a second connecting ring sleeve; the second connecting ring sleeve includes a second outer sleeve and a second inner sleeve with clearance fit, the second outer sleeve is fixed to one end of the second connecting arm, and the second inner sleeve is connected to the end of the longitudinal arm of the first connecting arm; The axis of the first connecting ring is perpendicular to the axis of the second connecting ring; another angular displacement sensor is installed on the second connecting ring, which measures the pitch angle of the front-end operation serial platform; a measuring through hole is provided on the second connecting arm, and the end of the angular displacement sensor installed in the angular displacement sensor packaging device passes through the circular through hole at the center of the moving platform and is placed in the measuring through hole, thereby realizing the hinge connection between the front-end operation serial platform and the moving platform.

10. The control mapping method for a compact five-DOF telemanipulator with a series-parallel structure as described in any one of claims 1-9, used to map the operator's movements on the compact five-DOF telemanipulator with a series-parallel structure into the motion of a continuous robotic arm, wherein the continuous robotic arm is a cable-driven robotic arm, comprising the following steps: S1: The microcontroller collects the angle value of the rotary encoder in real time and calculates the three-dimensional position coordinates of the moving platform; at the same time, it collects the angle values ​​of two angular displacement sensors to obtain the pitch angle and yaw angle of the handle; the three-dimensional position coordinates of the moving platform, the pitch angle and yaw angle of the handle are integrated into five degrees of freedom pose information, one of the five degrees of freedom is used to trigger the clamping action of the surgical instrument at the end of the continuous body robotic arm. S2: The microcontroller sends the five-degree-of-freedom pose information to the host computer through the communication interface; S3: After receiving the five-degree-of-freedom pose information, the host computer maps the three-dimensional position coordinates of the moving platform to the planar position and depth position of the end of the continuous robotic arm according to the designed control strategy, and maps the pitch angle and yaw angle of the handle to the pitch angle and yaw angle of the end of the continuous robotic arm, respectively, to obtain the target task space pose of the surgical instrument at the end of the continuous robotic arm. S4: The host computer uses Newton's iteration method to solve the inverse kinematics problem of the continuous manipulator from the task space to the joint space, and obtains the target joint space parameters; S5: The host computer, based on the piecewise constant curvature model, calculates the total length change required for each drive rope of the continuous robotic arm by using the analytical mapping relationship between the joint space and the drive space to determine the target joint space parameters. S6: The host computer converts the total length change required for each drive rope into a control command frame and sends it to the linear actuator of the continuous robotic arm. The linear actuator pulls or releases the corresponding drive rope according to the control command frame, causing the continuous robotic arm to bend and deform, and driving the end surgical instrument to move to the target task space pose.

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