Puncture robot and master controller

Abstract

The present application relates to a kind of puncture robots and master controller.The master controller includes: puncture structure, including handle shell, the movable setting of puncture execution mechanism in the handle shell and the force feedback mechanism being arranged at the bottom of the handle shell, the force feedback mechanism is connected with the puncture execution mechanism, for the resistance of needle insertion of puncture end is fed back to the puncture execution mechanism;And pose structure, it is arranged at the bottom of the puncture structure, the pose structure can swingably install the handle shell, for adjusting the attitude of puncture end by the cooperation of puncture execution mechanism and force feedback mechanism can truly simulate clinical puncture working condition, so that medical staff feels the resistance when puncture needle needle insertion, let whole puncture process be safer, more efficient, improve operation precision, to improve puncture success rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of puncture equipment, in particular to a puncture robot and a master controller. BACKGROUND

[0002] Under the impetus of modern medical science breaking the boundaries of various disciplines, interdependent and exploring together in various diversified modes, CT (computed tomography) has achieved various examinations and treatments in cooperation with various clinical departments, and has achieved remarkable medical effects. CT-guided percutaneous puncture is a technology that is currently widely used in clinical practice. It is actually a technology that accurately inserts a puncture needle into a lesion in the body under the accurate guidance of CT scanning and obtains the lesion tissue.

[0003] Puncture under the guidance of CT images can judge the puncture direction in real time and make timely adjustments under the premise of CT imaging (human tissue and puncture needle), greatly improving the success rate of surgery, reducing the risk of surgery, and improving the recovery speed and quality of life of patients. However, CT devices use X-rays, gamma rays, etc. to complete imaging work, and performing surgery on the CT side will expose doctors to a radiation environment for a long time, posing a great threat to their health. Therefore, master-slave teleoperation puncture surgery has emerged.

[0004] The master-slave teleoperation robot-assisted puncture surgery mode is a kind of surgery method at the front end. By remotely operating the image-guided puncture robot to perform puncture operations, the doctor can effectively avoid radiation exposure. However, the master-slave teleoperation robot controls the puncture needle to move at a system set speed, which cannot simulate the puncture process of the doctor holding the needle and cannot feedback the puncture force. If the doctor lacks force perception, it will increase the risk and uncertainty of surgery, increase the surgery time, reduce the surgery efficiency, and affect the success rate of puncture surgery. SUMMARY

[0005] Therefore, it is necessary to provide a puncture robot and a master controller to solve the problem that the current puncture process cannot simulate the puncture process of the doctor holding the needle.

[0006] A master controller, comprising:

[0007] a puncture structure, comprising a handle shell, a puncture execution mechanism movably arranged in the handle shell, and a force feedback mechanism arranged at the bottom of the handle shell, the force feedback mechanism being connected with the puncture execution mechanism and being used to feedback the needle insertion resistance of a puncture end to the puncture execution mechanism; and

[0008] a pose adjusting structure arranged at the bottom of the puncture structure, the pose adjusting structure being capable of swingably mounting the handle shell and being used to adjust the pose of the puncture end.

[0009] In one of the embodiments, the master hand controller further comprises a master control unit, the puncture execution mechanism comprises a sliding assembly, a puncture enabling assembly arranged on the sliding assembly, and a linear motion assembly arranged in the handle shell, the sliding assembly is slidably arranged in the handle shell and connected with the linear motion assembly, the puncture enabling assembly is electrically connected with the master control unit, and can feed back a puncture enabling signal to the puncture robot through the master control unit.

[0010] In one of the embodiments, the sliding assembly comprises a sliding ring and a sliding block connected with the sliding ring, and the sliding ring is sleeved outside the handle shell.

[0011] In one of the embodiments, the linear motion assembly comprises a first roller, a second roller arranged at intervals with the first roller, and a connecting rope connecting the first roller and the second roller, and the sliding block is connected with the connecting rope.

[0012] In one of the embodiments, the linear motion assembly further comprises a first limiting piece and a second limiting piece arranged at the first roller and the second roller respectively, for limiting the movement stroke of the sliding ring.

[0013] In one of the embodiments, the puncture enabling assembly comprises an enabling button, the enabling button is arranged on the sliding ring and can be pressed, when the enabling button is in a triggered state, a puncture enabling signal can be fed back to the puncture robot through the master control unit.

[0014] In one of the embodiments, the force feedback mechanism comprises an execution motor and a position detection unit, the second roller is connected with the execution motor and the position detection unit respectively, the position detection unit is used to convert the movement amount of the sliding ring into a rotation variable and feed back to the puncture tip, and the execution motor is used to convert the puncture force fed back by the puncture tip into a torque and apply to the connecting rope.

[0015] In one of the embodiments, the force feedback mechanism further comprises two couplings, the execution motor is connected with the second roller through one of the couplings, and the position detection unit is connected with the second roller through the other coupling.

[0016] In one of the embodiments, the posture adjusting structure comprises a posture adjusting shell, a supporting mechanism arranged in the posture adjusting shell, and a plurality of posture adjusting touch switches, one end of the handle shell is rotatably installed in the supporting mechanism, and a plurality of the posture adjusting touch switches are arranged along the circumferential side of the handle shell, for detecting the inclination angle of the handle shell and feeding back to the puncture tip.

[0017] In one of the embodiments, the handle housing comprises a mounting seat and a handle shell arranged on the mounting seat, the mounting seat is rotatably arranged in the posture adjusting housing, and the handle shell extends out of the posture adjusting housing.

[0018] In one of the embodiments, the support mechanism comprises a support frame and a plurality of support elastic members, the support frame has a mounting space for mounting the mounting seat, the mounting seat is arranged in the mounting space, and the plurality of support elastic members are arranged around the mounting seat and connect the support frame and the mounting seat.

[0019] In one of the embodiments, the posture adjusting structure further comprises a locking mechanism arranged in the posture adjusting housing and used for locking or unlocking the handle housing.

[0020] When the locking mechanism is unlocked, the handle housing can rotate relative to the posture adjusting housing.

[0021] In one of the embodiments, the locking mechanism comprises a plurality of electromagnets and a state detection unit connected to the electromagnets, the electromagnets are arranged on the support frame and around the mounting seat, the extension shaft of the electromagnet can abut against the mounting seat when the electromagnet is powered off, so as to limit the rotation of the mounting seat, and the state detection unit is used for detecting the working state of the electromagnet.

[0022] The locking mechanism further comprises a posture adjusting switch arranged on the posture adjusting housing, the posture adjusting switch is electrically connected to the electromagnets, and the posture adjusting switch can control the power-on and power-off of the electromagnets.

[0023] A puncture robot comprises a robot host, a puncture end, and a master controller as described in any of the technical features above.

[0024] The puncture end carries a puncture needle and is arranged on the robot host, the master controller is electrically connected to the puncture end, and is used for controlling the puncture end to drive the puncture needle to perform a puncture operation.

[0025] After the above technical scheme is adopted, the present application has at least the following technical effects:

[0026] The puncture robot and the master controller of the application, when puncturing, the puncture execution mechanism sends a puncture signal to the robot host of the puncture robot, and the puncture end is ready to perform a needle insertion operation. Subsequently, the puncture execution mechanism can output a linear motion control to insert the puncture end. During the puncture process, the resistance of the puncture end to the needle insertion is fed back to the force feedback mechanism, and torque is applied to the puncture execution mechanism through the force feedback mechanism, so that the medical staff operating the puncture execution mechanism can feel the resistance of the puncture needle to the needle insertion. Moreover, the puncture structure can also be rotated relative to the posture adjusting assembly to feed back to the robot host and adjust the posture of the puncture needle, so that the puncture needle can be aimed at the target puncture target point. Through the cooperation of the puncture execution mechanism and the force feedback mechanism, the clinical puncture working condition can be truly simulated, the current problem of being unable to simulate the puncture process of the doctor holding the needle is effectively solved, the medical staff can feel the resistance of the puncture needle to the needle insertion, the whole puncture process is safer and more efficient, the operation precision is improved, and the puncture success rate is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a perspective view of the master controller of an embodiment of the application;

[0028] Figure 2 It is Figure 1 a schematic view of the puncture structure in the master controller shown in the figure;

[0029] Figure 3 It is Figure 2 a schematic view of the puncture structure after cutting the middle part into two parts;

[0030] Figure 4 It is Figure 1 a schematic view of the puncture enable component in the puncture structure shown in the figure;

[0031] Figure 5 It is Figure 1 a sectional view of the master controller shown in the figure;

[0032] Figure 6 It is Figure 5 a top view of the posture adjusting structure in the master controller shown in the figure;

[0033] Figure 7 It is Figure 5 a bottom view of the posture adjusting structure in the master controller shown in the figure.

[0034] Wherein: 100, main hand controller; 110, puncture structure; 111, handle shell; 1111, handle shell; 11111, first shell; 11112, second shell; 1112, mounting seat; 112, puncture execution mechanism; 1121, sliding assembly; 11211, sliding ring; 11212, sliding block; 1122, linear motion assembly; 11221, first roller; 11222, second roller; 11223, connecting rope; 11224, first limiting piece; 11225, second limiting piece; 11226, tension spring; 1123, puncture enabling assembly; 11231, enabling button; 11232, puncture trigger switch; 11233, contact wire; 11234, puncture reset piece; 113, force feedback mechanism; 1131, execution motor; 1132, position detection unit; 1133, shaft coupling; 1134, motor control unit; 114, reset button; 120, posture adjustment structure; 121, posture adjustment shell; 122, support mechanism; 1221, support frame; 1222, support elastic piece; 123, posture adjustment touch switch; 124, locking mechanism; 1241, electromagnet; 1242, state detection unit; 1243, posture adjustment switch; 130, whole machine switch; 140, emergency stop switch. DETAILED DESCRIPTION

[0035] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application. It should be understood that the present application can be practiced with modification and alteration, and that the present application should not be considered limited to the specific embodiments described herein.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered sequence unless specifically stated otherwise. Thus, use of the terms "first", "second" etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless specifically defined otherwise.

[0038] In the present application, unless specifically defined and limited otherwise, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or interaction relationship between two elements, unless specifically defined otherwise. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0040] It should be noted that when an element is referred to as "fixed to" or "provided on" another element, it can be directly on the other element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only embodiment.

[0041] Referring to Figure 1 and Figure 5 , the present application provides a master hand controller 100. The master hand controller 100 is applied to a puncture robot, and the master hand controller 100 can remotely control the puncture end of the puncture robot, so that the puncture end carrying the puncture needle can be inserted into the target puncture target point in the patient's body. Moreover, the puncture robot can be used with imaging equipment such as CT, so that remote puncture operation based on real-time imaging guidance can be realized, and the influence of radiation of the imaging equipment on the physical health of medical personnel can be avoided.

[0042] The current active teleoperation robot can control the puncture end to drive the puncture needle to perform puncture operation and avoid the medical staff from being irradiated in actual use. However, the current active teleoperation robot cannot simulate the puncture process of the medical staff holding the needle when controlling the movement of the puncture needle, and cannot feedback the puncture force, thereby affecting the safety of the puncture operation.

[0043] Therefore, the application provides a novel master controller 100 which can realize remote control of the puncture end, and can also simulate the clinical puncture working condition, so that the medical staff can feel the resistance of the puncture needle when the needle is inserted, the whole puncture process is safer and more efficient, the operation precision is improved, and the puncture success rate is improved. The specific structure of the master controller 100 is described in detail below.

[0044] Referring to Figures 1 to 5 In an embodiment, the master controller 100 includes a puncture structure 110 and a pose adjusting structure 120. The puncture structure 110 includes a handle shell 111, a puncture execution mechanism 112 movably arranged in the handle shell 111, and a force feedback mechanism 113 arranged at the bottom of the handle shell 111, the force feedback mechanism 113 is connected with the puncture execution mechanism 112, and is used for feeding back the needle insertion resistance of the puncture end to the puncture execution mechanism 112. The pose adjusting structure 120 is arranged at the bottom of the puncture structure 110, and the pose adjusting structure 120 can swingably install the handle shell 111, and is used for adjusting the pose of the puncture end.

[0045] The puncture structure 110 is the main structure of the master controller 100 for controlling the puncture needle to perform puncture operation. The master controller 100 can be in transmission connection with the robot host of the puncture robot, and the transmission connection here refers to electrical connection or communication connection. The puncture structure 110 can feed back the puncture signal to the robot host, so that the robot host controls the puncture end to prepare puncture action, and then the movement of the puncture structure 110 can be fed back to the robot host in real time when the puncture structure 110 moves, and then the robot host can control the puncture end to drive the puncture needle to perform puncture operation according to the movement of the puncture structure 110.

[0046] The pose adjusting structure 120 is the main structure of the master controller 100 for adjusting the pose of the puncture needle. The puncture structure 110 is rotatably arranged in the pose adjusting structure 120. When adjusting the pose of the puncture needle, the puncture structure 110 can rotate relative to the pose adjusting structure 120, and then the pose adjusting structure 120 can detect the inclination angle information of the puncture structure 110. After the pose adjusting structure 120 feeds back the inclination angle information to the robot host, the robot host can adjust the pose of the puncture end according to the inclination angle information of the puncture structure 110, so as to achieve the purpose of adjusting the pose of the puncture needle, so that the puncture needle can be aligned with the target puncture point, and the accuracy of the puncture operation is ensured.

[0047] When the puncture control is performed using the master controller 100 of the present application, the posture of the puncture needle in space is determined according to the target puncture target point, then the master controller 100 controls the puncture structure 110 to rotate a preset angle relative to the posture adjusting structure 120, and then the posture adjusting structure 120 feeds back the inclination angle information to the robot host, and the robot host adjusts the posture of the puncture needle on the puncture end according to the inclination angle information, so that the puncture needle can be aimed at the target puncture target point. Then, the puncture structure 110 works, and the puncture structure 110 moves and feeds back to the robot host, and the robot host controls the puncture needle to drive the puncture end to perform the puncture operation.

[0048] Optionally, the master controller 100 further comprises a master control unit, which is electrically connected with the puncture structure 110 and the posture adjusting structure 120. The master control unit can receive various signals fed back by the puncture structure 110 and the posture adjusting structure 120, and output corresponding control signals according to the received signals, so as to meet the use requirements of different scenes.

[0049] Specifically, the puncture structure 110 comprises a handle shell 111, a puncture execution mechanism 112 movably arranged in the handle shell 111, and a force feedback mechanism 113 arranged at the bottom of the handle shell 111, the force feedback mechanism 113 is connected with the puncture execution mechanism 112, and is used for feeding back the needle insertion resistance of the puncture end to the puncture execution mechanism 112. The bottom of the handle shell 111 is rotatably installed in the posture adjusting structure 120, and the remaining part of the handle shell 111 is exposed from the posture adjusting structure 120, and the medical staff realizes the puncture and posture adjustment of the puncture needle by operating the handle shell 111.

[0050] The puncture execution mechanism 112 is partially located in the handle shell 111 and partially exposed from the handle shell 111, and the puncture execution mechanism 112 can move relative to the handle shell 111, thereby realizing the control of the puncture needle. It can be understood that the puncture execution mechanism 112 can output a linear motion, and after the linear motion is fed back to the robot host, the robot host can control the puncture needle to perform the puncture operation according to the distance of the linear motion output by the puncture execution mechanism 112, so that the puncture can smoothly penetrate into the target puncture target point.

[0051] Moreover, the bottom of the puncture execution mechanism 112 is connected with a force feedback mechanism 113, and the force feedback mechanism 113 is in transmission connection with the robot host through the master control unit. The linear motion output by the puncture execution mechanism 112 is converted into a rotational variable through the force feedback mechanism 113, and is fed back to the robot host through the master control unit. The robot host converts the rotational variable into a linear displacement, and controls the movement of the puncture end according to the linear displacement, so that the puncture end drives the puncture needle to perform a puncture operation to accurately puncture into a target puncture point. After the puncture operation is completed, the master controller 100 realizes the withdrawal of the puncture needle from the patient according to the reverse movement of the needle insertion process, and the principle is substantially the same as that of the needle insertion process, which will not be described here.

[0052] It can be understood that there is a proportional mapping relationship between the linear displacement of the puncture needle movement and the distance of the linear motion output by the puncture execution mechanism 112, such as 1:1. In this way, medical staff can control the movement of the puncture needle by a preset distance when operating the puncture execution mechanism 112 to output a preset distance, so as to truly simulate the clinical puncture working condition of the medical staff holding the needle to puncture, improve the operation experience of the medical staff, and further improve the puncture success rate.

[0053] In addition, when the puncture needle punctures into the patient's body, the human body tissue will generate a reaction force on the puncture needle, that is, a puncture resistance. The resistance is detected by the sensor at the puncture end and is fed back to the master control unit. The master control unit controls the force feedback mechanism 113 to apply a force to the puncture execution mechanism 112 according to the resistance fed back by the puncture end, so that the puncture execution mechanism 112 can feel the resistance when outputting linear motion, and realizes the function of feedback of the puncture force. In this way, when the medical staff uses the master controller 100 to remotely control the puncture needle to perform a puncture operation, the force feedback mechanism 113 provides real-time force feedback for the medical staff, so that the medical staff can feel the resistance of the puncture needle, and the operation process is safer and more efficient.

[0054] Optionally, the master controller 100 further comprises a communication unit electrically connected with the master control unit, for establishing transmission connection between the master control unit and the robot host, and realizing information interaction between the master control unit and the robot host. That is, the information interaction between the master control unit and the robot host is realized through the communication unit, and in order to simplify the description, the transmission between the master control unit and the robot host through the communication unit is omitted, and the information interaction between the master control unit and the robot host is directly described. Optionally, the communication unit includes but is not limited to Ethernet, serial port, wireless, CAN bus, Ether CAT bus, etc. In this embodiment, the communication unit realizes information interaction through Ethernet.

[0055] The main hand controller 100 of the above embodiment can simulate the clinical puncture working condition by the cooperation of the puncture execution mechanism 112 and the force feedback mechanism 113, effectively solve the problem that the puncture process of the doctor holding the needle cannot be simulated at present, make the medical staff feel the resistance of the puncture needle, make the whole puncture process more safe and efficient, improve the operation precision, and then improve the puncture success rate.

[0056] Referring to Figures 1 to 5 In an embodiment, the puncture execution mechanism 112 includes a sliding assembly 1121, a puncture enabling assembly 1123 arranged on the sliding assembly 1121, and a linear motion assembly 1122 in the handle shell 111, the sliding assembly 1121 is slidably arranged in the handle shell 111 and connected with the linear motion assembly 1122, the puncture enabling assembly 1123 is electrically connected with the main control unit, can feed back the puncture signal to the puncture end through the main control unit, and can drive the linear motion assembly 1122 to move by the sliding assembly 1121.

[0057] The sliding assembly 1121 is partially arranged in the handle shell 111 and partially arranged outside the handle shell 111. The sliding assembly 1121 is connected with the linear motion assembly 1122 in the handle shell 111, and the puncture enabling assembly 1123 is arranged on the sliding assembly 1121. The linear motion assembly 1122 is connected with the force feedback mechanism 113. When the sliding assembly 1121 moves linearly along the handle shell 1111, the linear motion assembly 1122 can be driven to move, so that the linear motion assembly 1122 outputs linear motion, and the force feedback mechanism 113 can convert the linear motion of the sliding assembly 1121 into a rotation variable and feed back to the robot host through the main control unit, thereby realizing the puncture control of the puncture needle.

[0058] At the same time, the resistance of the puncture needle is fed back to the force feedback mechanism 113 through the main control unit, and the force feedback mechanism 113 applies a counterforce to the linear motion assembly 1122, so that the movement of the linear motion assembly 1122 driven by the sliding assembly 1121 has resistance. Therefore, when the medical staff operates the sliding assembly 1121, the resistance of the puncture needle can be felt.

[0059] The puncture enabling assembly 1123 realizes the locking and unlocking of the trigger signal of the sliding assembly 1121 on the handle shell 111. The puncture enabling assembly 1123 is electrically connected with the main control unit. The locking and unlocking of the trigger signal of the sliding assembly 1121 by the puncture enabling assembly 1123 can be fed back to the main control unit, and then the state of the puncture enabling assembly 1123 is fed back to the robot host by the main control unit, so that the robot host controls the puncture end to perform corresponding operation.

[0060] The puncture enabling component 1123 locks the triggering signal function of the sliding component 1121, and the puncture enabling component 1123 can feed back a signal that the puncture is not ready to the master control unit. In this way, the master control unit does not control the action of the puncture end. When the puncture operation is ready to be performed, the medical staff operates the puncture enabling component 1123, so that the puncture enabling component 1123 unlocks the triggering signal function of the sliding component 1121. At this time, the puncture enabling component 1123 can feed back a puncture enabling signal that the puncture is ready to the master control unit, and then the master control unit feeds back the puncture enabling signal to the robot host, and the robot host controls the puncture end to prepare to perform the puncture operation. Then, the sliding component 1121 drives the puncture enabling component 1123 and the linear motion component 1122 to move, and performs the puncture operation. After the puncture operation is completed, the sliding component 1121 moves in the opposite direction, so that the puncture needle exits the patient's body.

[0061] In an embodiment, the handle shell 111 includes a mounting seat 1112 and a handle outer shell 1111 arranged on the mounting seat 1112. The mounting seat 1112 is rotatably arranged in the posture adjusting shell 121 of the posture adjusting structure 120, and the handle outer shell 1111 extends out of the posture adjusting shell 121. The mounting seat 1112 is arranged at the bottom of the handle outer shell 1111, and the rotatable connection between the handle outer shell 1111 and the posture adjusting structure 120 is realized through the mounting seat 1112. When it is necessary to adjust the posture of the puncture needle, the handle outer shell 1111 is rotated relative to the posture adjusting shell 121 through the mounting seat 1112, so as to realize the adjustment of the angle of the puncture needle.

[0062] Moreover, the handle outer shell 1111 plays a protective role, and the linear motion component 1122 and part of the sliding component 1121 and the puncture enabling component 1123 are arranged in the handle outer shell 1111, so as to avoid being exposed and facilitate operation and use. Optionally, the handle shell 111 includes a first shell 11111 and a second shell 11112, and the first shell 11111 and the second shell 11112 are oppositely arranged to form a cavity, and the linear motion component 1122 is arranged in the cavity.

[0063] In an embodiment, the sliding component 1121 includes a sliding ring 11211 and a sliding block 11212 connected with the sliding ring 11211, and the sliding ring 11211 is sleeved outside the handle shell 111. The linear motion component 1122 includes a first roller 11221, a second roller 11222 arranged in a spaced manner with the first roller 11221, and a connecting rope 11223 connecting the first roller 11221 and the second roller 11222, and the sliding block 11212 is connected with the connecting rope 11223.

[0064] The first roller 11221 is arranged at the end of the handle shell 1111, the second roller 11222 is arranged in the mounting seat 1112, and the connecting rope 11223 is arranged around the first roller 11221 and the second roller 11222. The connecting rope 11223 can drive the first roller 11221 and the second roller 11222 to rotate when moving. Optionally, the connecting rope 11223 is a steel wire rope. In this way, the loosening of the connecting rope 11223 can be avoided. Of course, in other embodiments of the application, the linear motion assembly 1122 can also be a chain wheel, a belt transmission or the like.

[0065] The sliding ring 11211 is sleeved outside the handle shell 1111, and the sliding ring 11211 can slide along the handle shell 1111. The sliding block 11212 is located inside the handle shell 1111 and is connected with the sliding block 11212, and the sliding block 11212 is also fixed on the connecting rope 11223. Optionally, the sliding block 11212 and the connecting rope 11223 are fixedly connected through screws, pressure plates or the like. When the sliding ring 11211 slides along the handle shell 1111, the sliding ring 11211 can drive the connecting rope to move through the sliding block 11212, so that the connecting rope drives the first roller 11221 and the second roller 11222 to rotate. It can be understood that the cross-sectional shape of the connecting rope 11223 is not limited in principle and can be circular, polygonal, elliptical or the like. Exemplarily, the cross-sectional shape of the connecting rope 11223 is circular or strip-shaped or the like.

[0066] The second roller 11222 is connected with the force feedback mechanism 113, and when the second roller 11222 rotates, the force feedback mechanism 113 can convert the linear motion distance of the sliding ring 11211 along the handle shell 1111 into a rotation variable and feedback to the robot host through the main control unit to control the puncture needle to puncture. At the same time, the resistance during the puncture process of the puncture needle is also fed back to the main control unit, and the main control unit controls the movement of the force feedback mechanism 113 according to the resistance size, so that the force feedback mechanism 113 outputs the torque acting on the second roller 11222. When the sliding ring 11211 drives the connecting rope 11223 to move through the sliding block 11212, the torque acting on the second roller 11222 will exert a reaction force on the movement of the connecting rope 11223. In this way, the medical staff can feel the resistance generated by the torque of the force feedback mechanism 113 when operating the sliding ring 11211 to slide, that is, the resistance of the puncture needle, so as to truly simulate the working condition of holding the needle to puncture.

[0067] In an embodiment, the linear motion assembly 1122 further comprises a tension spring arranged on the connecting rope 11223, for keeping the connecting rope 11223 in tension, facilitating the rotation of the first roller 11221 and the second roller 11222 by the connecting rope 11223 driven by the sliding block 11212, ensuring that the linear motion distance of the sliding ring 11211 can be accurately converted into the linear displacement of the puncture needle, so that the puncture needle can accurately puncture into the target puncture target point.

[0068] In an embodiment, the linear motion assembly 1122 further comprises a first limiting piece 11224 and a second limiting piece 11225, which are arranged at the first roller 11221 and the second roller 11222 respectively, for limiting the motion stroke of the sliding ring 11211. The first limiting piece 11224 and the second limiting piece 11225 are located between the first roller 11221 and the second roller 11222, and the first limiting piece 11224 is arranged close to the first roller 11221, and the second limiting piece 11225 is arranged close to the second roller 11222. Optionally, the first limiting piece 11224 and the second limiting piece 11225 are limit switches. The first limiting piece 11224 and the second limiting piece 11225 are the limit points of mechanical motion limitation, ensuring that the electrical limitation works before the mechanical limitation.

[0069] The first limiting piece 11224 and the second limiting piece 11225 can avoid overstroke operation of the sliding ring 11211, ensure the accuracy of the motion trajectory of the puncture needle, ensure that the puncture of the puncture needle does not overstroke, and avoid accidents. When the sliding ring 11211 drives the sliding block 11212 to move to the second limiting position, the second limiting piece 11225 detects the sliding ring 11211, indicating that the sliding block 11212 moves to the limit position, and the puncture needle stops advancing. At this time, the end of the puncture needle is located at the target puncture target point. When the sliding ring 11211 drives the sliding block 11212 to the first limiting piece 11224, the first limiting piece 11224 detects the sliding block 11212, indicating that the sliding ring 11211 moves to the limit position. At this time, the puncture needle completes the needle withdrawal operation.

[0070] Optionally, the first limiting piece 11224 and the second limiting piece 11225 are electrically connected with the main control unit. The first limiting piece 11224 and the second limiting piece 11225 automatically identify the limit position of the sliding block 11212 and feed back to the main control unit. When the sliding block 11212 moves to any limit position, the main control unit can control the motor 1131 to move and limit the continuous motion of the sliding ring 11211.

[0071] Referring to Figure 2 and Figure 4In an embodiment, the puncture enabling component 1123 comprises an enabling button 11231. The enabling button 11231 can be pressed to be arranged in the sliding ring 11211, when the enabling button 11231 is in the triggering state, the puncture enabling signal can be fed back to the puncture robot through the master control unit. In an embodiment, the puncture enabling component 1123 further comprises a puncture triggering switch 11232 and a contact lead 11233, the puncture triggering switch 11232 can be rotatably arranged in the handle shell 111, one end of the puncture triggering switch 11232 is connected with the enabling button 11231, the other end of the puncture triggering switch 11232 can contact or be separated from the contact lead 11233, when the puncture triggering switch 11232 is separated from the contact lead 11233, the puncture signal can be sent to the puncture tip.

[0072] The enabling button 11231 is a button for emitting puncture preparation work of the puncture structure 110. The mounting hole is arranged on the sliding ring 11211, the sliding groove along the sliding direction is arranged on the handle shell 1111, the enabling button 11231 is installed in the mounting hole of the sliding ring 11211, the pressing part of the enabling button 11231 is exposed outside the sliding ring 11211, which is convenient for medical staff to press. The puncture triggering switch 11232 is rotatably arranged in the handle shell 1111, one end of the puncture triggering switch 11232 extends into the sliding groove of the handle shell 1111 and contacts with the enabling button 11231. The other end of the puncture triggering switch 11232 can contact or be separated from the contact lead 11233.

[0073] When the medical staff presses the enabling button 11231, the enabling button 11231 will press one end of the puncture triggering switch 11232, so that the puncture triggering switch 11232 rotates, when the puncture triggering switch 11232 rotates, the other end of the puncture triggering switch 11232 can be separated from the contact lead 11233. When the medical staff releases the enabling button 11231, the pressing part of the enabling button 11231 is exposed outside the sliding ring 11211, and then one end of the puncture triggering switch 11232 moves with the enabling button 11231, so that the other end of the puncture triggering switch 11232 contacts with the contact lead 11233.

[0074] The contact lead 11233 is electrically connected with the master control unit, when the puncture triggering switch 11232 contacts with the contact lead 11233, the contact lead 11233 does not send the puncture enabling signal to the master control unit, and then the master control unit does not send the puncture enabling signal to the robot host, which indicates that the puncture operation is not ready. When the enabling button 11231 is pressed, the enabling button 11231 drives the triggering switch to be separated from the contact lead 11233, the contact lead 11233 sends the puncture enabling signal to the robot host through the master control unit, the robot host drives the puncture tip to move, so that the puncture tip drives the puncture needle to prepare to perform the needle insertion action.

[0075] It can be understood that the puncture enabling assembly 1123 is in the initial position, the puncture trigger switch 11232 is always in contact with the contact wire 11233. Only by pressing the enabling button 11231 can the puncture trigger switch 11232 be separated from the contact wire 11233. That is, the puncture enabling assembly 1123 is a normally closed switch principle. In this way, the puncture structure 110 can send a puncture enabling signal, and the puncture end can work, ensuring the safety of the operation.

[0076] Optionally, the puncture trigger switch 11232 is installed in the handle shell 1111 through a fixed shaft, and the puncture trigger switch 11232 can rotate around the fixed shaft. Optionally, the puncture trigger switch 11232 is a metal rotating part, which is a conductor. The contact wire 11233 is two metal rods. Under normal circumstances, the puncture trigger switch 11232 is connected with the contact wire 11233, and the circuit is turned on. When the enabling button 11231 is pressed, the puncture trigger switch 11232 is separated from the contact wire 11233, and the circuit is turned off.

[0077] Optionally, a guide rail is arranged in the handle shell 1111, and the guide rail cooperates with the sliding block 11212 to guide the movement of the sliding block 11212, so that the movement trajectory of the sliding block 11212 is accurate, and the movement trajectory of the sliding ring 11211 is accurate. Furthermore, because the moving distance of the puncture needle is long during the puncture action, the cooperation of the sliding ring 11211 and the guide rail can ensure the accurate movement of the sliding ring 11211 and the comfort of the hand operation part. At the same time, because the enabling button 11231 needs to be triggered to send a puncture enabling signal on the basis of operating the sliding ring 11211, and the size of the handle shell 1111 is small, the enabling button 11231 can be triggered by pressing, so that the overall structure of the puncture structure is compact and the overall size is reduced.

[0078] Referring to Figure 2 and Figure 4 In an embodiment, the puncture enabling assembly 1123 further comprises a puncture reset member 11234 arranged on a support component inside the handle shell 1111 and the puncture trigger switch 11232, and the puncture reset member 11234 is used to automatically reset the enabling button 11231. When the enabling button 11231 is pressed, the enabling button 11231 drives the puncture trigger switch 11232 to move against the elastic force of the puncture reset member 11234, so that the puncture trigger switch 11232 is separated from the contact wire 11233, and then the sliding ring 11211 can move along the handle shell 1111. When the sliding ring 11211 is moved to the position, the enabling button 11231 is released, and the puncture reset member 11234 can drive the puncture trigger switch 11232 and the enabling button 11231 to automatically reset. Optionally, the puncture reset member 11234 is a spring.

[0079] Referring toFigure 2 and Figure 3 In an embodiment, the force feedback mechanism 113 comprises an execution motor 1131 and a position detection unit 1132, the second roller 11222 is connected to the execution motor 1131 and the position detection unit 1132 respectively, the position detection unit 1132 is used to convert the movement of the sliding ring 11211 into a rotational variable and feedback to the puncture end, and the execution motor 1131 is used to convert the puncture force feedback by the puncture end into a torque applied to the connecting rope 11223.

[0080] One end of the second roller 11222 is connected to the execution motor 1131, and the other end of the second roller 11222 is connected to the position detection unit 1132. The position state of the current sliding block 11212 is detected by the position detection unit 1132, the movement stroke of the sliding block 11212 is identified, and the movement stroke is fed back to the robot host through the main control unit. Exemplarily, the position detection unit 1132 is a potentiometer, and the movement stroke of the sliding block 11212 is identified by the potentiometer. In other embodiments of the present application, the position detection unit 1132 can also be a sensor or the like component, which has substantially the same working principle as the potentiometer, and will not be described here.

[0081] When the position detection unit 1132 is a potentiometer, the potentiometer can detect the displacement of the linear motion of the sliding ring 11211 and convert the movement of the sliding ring 11211 into a rotational variable. The potentiometer is electrically connected to the main control unit, and the rotational variable of the potentiometer is fed back to the robot host through the main control unit. The robot host converts the rotational variable into a linear displacement when the puncture needle punctures, and then the robot host controls the puncture end to move the puncture needle by the above linear displacement, so that the puncture needle penetrates into the target puncture point.

[0082] The main control unit is electrically connected to the execution motor 1131. During the execution of the puncture needle, the resistance when the puncture needle contacts the human tissue can be detected by the sensor of the puncture end. The sensor feeds back the resistance when the needle penetrates to the robot host, and then the robot host feeds back the resistance to the main control unit. The main control unit controls the execution motor 1131 to generate a torque on the second roller 11222 by applying a certain current, and then the second roller 11222 applies the resistance to the connecting rope 11223. The resistance generated by the torque is consistent with the actual resistance of the puncture needle. The resistance on the connecting rope 11223 is applied to the medical staff through the sliding ring 11211. When the doctor moves the sliding ring 11211, the resistance is felt, realizing the feedback function of the puncture force.

[0083] It is worth mentioning that when the enable button 11231 is pressed, it indicates that the device is about to prepare for the puncture action. When the medical staff pushes the sliding ring 11211 downward, the sliding ring 11211 will be subjected to resistance due to the action of the execution motor 1131. The resistance is formed by the superposition of the output resistance of the execution motor 1131 and the device system resistance. Generally, the device system resistance is small and can be ignored. Thus, the force experienced by the medical staff depends on the resistance of the execution motor 1131. The data of the field resistance of the puncture robot during the puncture process is fed back to the main control unit by the robot host. The main control unit adjusts the current size of the execution motor 1131, and then the resistance is finally transmitted to the sliding ring 11211. Finally, the hand holding the sliding ring 11211 will experience a puncture injury force feedback.

[0084] Referring to Figures 1 to 3 In an embodiment, the puncture structure 110 further comprises a reset button 114, which is arranged on the pose adjustment shell 121 of the pose adjustment structure. The reset button 114 is electrically connected to the main control unit and is electrically connected to the execution motor 1131 through the main control unit. When the puncture operation is completed, the reset button 114 is operated. The reset button 114 controls the execution motor 1131 to move through the main control unit, so that the execution motor 1131 drives the sliding block 11212 and resets the sliding ring 11211 through the second roller 11222 and the connecting rope 11223, and realizes the withdrawal of the puncture needle from the patient's body. Of course, in other embodiments of the present application, the withdrawal of the puncture needle can also be realized by the reverse movement of the sliding ring 11211 along the handle shell 1111.

[0085] In an embodiment, the force feedback mechanism 113 further comprises two couplings 1133, one of which connects the execution motor 1131 and the second roller 11222, and the other of which connects the position detection unit 1132 and the second roller 11222. By connecting the second roller 11222 and the execution motor 1131 through the coupling 1133, there is no transmission link between the second roller 11222 and the execution motor 1131, which ensures the transmission efficiency, reduces the friction resistance, and improves the fidelity of the puncture force feedback.

[0086] In an embodiment, the force feedback mechanism 113 further comprises a motor control unit 1134, which is electrically connected between the master control unit and the execution motor 1131. The motor control unit 1134 is capable of controlling the movement of the execution motor 1131 to achieve stable and accurate feedback resistance information of the needle insertion. The motor control unit 1134 comprises a motor driving part and a motor movement feedback part. The motor driving part controls the movement of the execution motor 1131, i.e. the torque output mode. The motor movement feedback part includes but is not limited to the position and speed information of the encoder feedback, the real-time current of the execution motor 1131 controlled by the current detection unit, so as to control the execution motor 1131. The motor movement feedback part is used to convert the received puncture end force signal into an input signal of the motor driving part, so that the motor driving part drives the execution motor. Optionally, the motor control unit 1134 is a motor driver.

[0087] When the master controller 100 controls the puncture needle to insert, the medical staff presses the enable button 11231, which drives the puncture trigger switch 11232 to be out of contact with the wire 11233. The wire 11233 sends a puncture enable signal to the robot host through the master control unit, and then the robot host controls the puncture end to drive the puncture needle to prepare to perform the puncture operation. At this time, the medical staff moves the sliding ring 11211 along the handle shell 1111, so that the sliding ring 11211 moves from the direction of the first roller 11221 to the direction of the second roller 11222. During the movement of the sliding ring 11211, the sliding ring 11211 drives the connecting rope 11223 to move through the sliding block 11212, and then the connecting rope 11223 drives the first roller 11221 and the second roller 11222 to rotate.

[0088] When the second roller 11222 rotates, the position detection unit 1132 on the second roller 11222 can detect the movement amount of the linear movement of the sliding ring 11211, and convert the movement amount into a rotation variable, and transmit it to the robot host through the master control unit. The robot host converts the rotation variable into the linear displacement of the puncture needle during puncture. The robot host controls the movement of the puncture end according to the linear displacement of the puncture needle, so that the puncture end performs the puncture operation, and finally the puncture needle pierces into the target puncture target point.

[0089] When the puncture needle pierces into the patient's body, the sensor at the puncture end can detect the force generated by the interaction between the puncture needle and the human tissue, i.e. the resistance of the puncture needle. The sensor feeds the resistance of the puncture needle to the motor control unit 1134 through the host computer and the main control unit, and the motor control unit 1134 controls the execution motor 1131 to apply a certain current to generate a torque on the second roller 11222, and the torque of the second roller 11222 can act on the connecting rope 11223, and then the connecting rope 11223 transmits the torque to the slip ring 11211 and then to the hands of the medical staff, so that the medical staff can feel the moving resistance, and the puncture force feedback function is realized.

[0090] The puncture structure 110 controls the puncture needle to realize the puncture operation in the above-mentioned manner, and when the end of the puncture needle moves to the target puncture target point, the puncture structure 110 stops working, at this time, the puncture needle can check or treat the target puncture target point and the like. After the puncture operation is completed, the puncture needle can be withdrawn from the patient's body according to the reverse movement of the slip ring 11211, or the automatic reset of the slip ring 11211 can be realized through the reset button 114, and the automatic withdrawal of the puncture needle is realized.

[0091] Referring to Figure 1 、 Figures 5 to 7 In an embodiment, the posture adjusting structure 120 includes a posture adjusting shell 121, a supporting mechanism 122 arranged in the posture adjusting shell 121, and a plurality of posture adjusting touch switches 123. One end of the handle shell 111 is rotatably installed in the supporting mechanism 122, and the plurality of posture adjusting touch switches 123 are arranged along the circumferential side of the handle shell 111, used for detecting the inclination angle of the handle shell 111 and feeding back to the puncture end.

[0092] The posture adjusting shell 121 is the shell of the posture adjusting structure 120, used for installing various parts of the posture adjusting structure 120. The mounting seat 1112 of the handle shell 111 is rotatably installed in the posture adjusting shell 121, and the handle shell 111 is connected with the mounting seat 1112 in the posture adjusting shell 121. Optionally, the posture adjusting shell 121 is provided with a spherical hinge, and the mounting seat 1112 is arranged in the spherical hinge. The handle shell 111 drives the mounting seat 1112 to rotate relative to the posture adjusting shell 121 through the spherical hinge, so as to adjust the angle of the puncture structure 110, and then adjust the spatial posture of the puncture needle, so that the puncture needle can be aligned with the target puncture target point.

[0093] The supporting mechanism 122 is arranged in the posture adjusting shell 121, used for supporting the handle shell 111. The mounting seat 1112 of the handle shell 111 is rotatably arranged on the supporting mechanism 122. When the handle shell 111 is not rotated, the supporting mechanism 122 can support the handle shell 111, so as to avoid the inclination of the handle shell 111 affecting the spatial posture of the puncture needle.

[0094] The plurality of posture adjustment touch switches 123 can detect the inclination angle of the handle shell 111, respectively. The plurality of posture adjustment touch switches 123 are arranged on the support mechanism 122 and surround the circumferential side of the handle shell 111. When the handle shell 111 is inclined towards a certain direction, the posture adjustment touch switch 123 corresponding to the direction can detect the inclination of the handle shell 111, and further detect the inclination angle of the handle shell 111. The posture adjustment touch switch 123 is electrically connected with the main control unit, and the posture adjustment touch switch 123 feeds back the inclination angle of the handle shell 111 to the robot host through the main control unit. The robot host controls the movement of the puncture end according to the inclination angle, so as to adjust the spatial posture of the puncture needle on the puncture end, so that the puncture needle can be aligned with the target puncture target point.

[0095] When the handle shell 111 is inclined, it does not correspond to any one of the posture adjustment touch switches 123, but corresponds to the position between two posture adjustment touch switches 123. At this time, the two posture adjustment touch switches 123 jointly detect the inclination angle of the handle shell 111. The principle of detecting the inclination angle of the handle shell 111 by the two posture adjustment touch switches 123 is substantially the same as that of one touch switch, which will not be described here.

[0096] Exemplarily, the number of posture adjustment touch switches 123 is four, and the support structure has a space for installing the posture adjustment touch switches 123. The four posture adjustment touch switches 123 are uniformly distributed on the circumferential side of the handle shell 111. In the embodiment, the handle shell 111 realizes the spatial posture adjustment of the puncture needle through the four posture adjustment touch switches 123. That is, when the handle shell 111 moves towards any one of the posture adjustment touch switches 123, the adjustment is realized through the posture adjustment touch switch 123 in the direction. When it is still needed to move in other directions, the handle shell 111 moves towards other posture adjustment touch switches 123.

[0097] In an embodiment, the posture adjustment shell 121 includes a bearing base and a posture adjustment shell covering the bearing base. The posture adjustment shell and the posture adjustment base surround a cavity, and the support mechanism 122 and the posture adjustment touch switch 123 are arranged in the cavity.

[0098] In an embodiment, the support mechanism 122 includes a support frame 1221 and a plurality of support elastic members 1222. The support frame 1221 has a mounting space for mounting the mounting seat 1112, and the mounting seat 1112 is located in the mounting space. The plurality of support elastic members 1222 surround the circumferential side of the mounting seat 1112 and connect the support frame 1221 and the mounting seat 1112.

[0099] The support frame 1221 is arranged on the bearing base of the posture adjustment shell 121, and a middle region of the support frame 1221 has a mounting space, and the mounting seat 1112 is rotatably mounted in the mounting space of the support frame 1221 through a spherical hinge. That is, the movement relationship between the posture adjustment structure 120 and the puncture structure 110 is established through the support frame 1221, so that the puncture structure 110 can move relative to the handle structure. Moreover, there is a certain space between the inner wall of the mounting space and the mounting seat 1112, which facilitates the rotation of the handle shell 111 and avoids interference between the handle shell 111 and the support frame 1221.

[0100] The support elastic members 1222 elastically connect the mounting seat 1112 and the support frame 1221, and support the mounting seat 1112 through the support elastic members 1222, so as to limit the automatic rotation of the handle shell 111 under no external force. A plurality of support elastic members 1222 are arranged around the mounting seat 1112, so as to ensure that the handle shell 111 maintains a balanced state. For example, the number of support elastic members 1222 is four, and the four support elastic members 1222 are uniformly distributed around the mounting seat 1112. Alternatively, the support elastic members 1222 are springs.

[0101] When the posture adjustment action is performed, the medical staff slides the ring 11211 or other positions of the handle shell 1111, and then swings the handle shell 111. When the mounting seat 1112 triggers any posture adjustment trigger switch 123 around the side, the handle shell 111 swings along the axial direction (in-layer) of the execution motor 1131 and the direction perpendicular thereto (inter-layer). When the handle shell 111 contacts and triggers any one of the four posture adjustment trigger switches 123 around the side, the puncture tip will be driven to adjust the posture of the puncture needle in the direction.

[0102] Two of the four posture adjustment trigger switches 123 are arranged along the axial direction of the execution motor 1131, and the other two are arranged along the direction perpendicular to the axial direction of the execution motor 1131. That is, two of the posture adjustment trigger switches 123 are arranged along the axial direction of the execution motor 1131 as in-layer positive and negative directions, and the other two posture adjustment trigger switches 123 are arranged along the direction perpendicular to the axial direction of the execution motor 1131 as inter-layer positive and negative directions. In this way, when the handle shell 111 is rotated, the puncture needle can be driven to rotate in any direction of the in-layer positive and negative directions and the inter-layer positive and negative directions, so as to adjust the spatial posture of the puncture needle.

[0103] Specifically, the posture adjustment trigger switch 123 will feed back the inclination angle of the handle shell 111 to the robot host through the main control unit, and drive the puncture tip to rotate in the direction of the inclination angle of the handle shell 111 through the robot host, so as to adjust the spatial posture of the puncture needle. By continuously triggering the four posture adjustment trigger switches 123 through the handle shell 111 to adjust the spatial posture of the puncture needle, the puncture direction of the puncture needle coincides with the target puncture target point, and then the puncture action is performed, so as to complete the puncture operation.

[0104] In an embodiment, the attitude adjustment structure 120 further comprises a locking mechanism 124 arranged in the attitude adjustment housing 121 for locking or unlocking the handle housing 111. When the locking mechanism 124 is unlocked, the handle housing 111 can rotate relative to the attitude adjustment housing 121. The locking mechanism 124 can realize the locking and unlocking of the mounting seat 1112. The locking mechanism 124 is arranged in the interior of the attitude adjustment housing 121, and can be in contact with or separated from the mounting seat 1112.

[0105] When the locking mechanism 124 locks the mounting seat 1112, the locking mechanism 124 can be in contact with the mounting seat 1112, and the mounting seat 1112 cannot rotate relative to the support frame 1221. At this time, the handle housing 111 cannot be rotated, and the spatial attitude of the puncture needle cannot be adjusted. When it is necessary to adjust the spatial attitude of the puncture needle, the locking mechanism 124 unlocks the mounting seat 1112, so that the locking mechanism 124 is separated from the mounting seat 1112. At this time, the mounting seat 1112 can rotate relative to the support frame 1221. When rotating, the handle housing 111 tilts to overcome the elastic force of the support elastic member 1222, so as to adjust the spatial attitude of the puncture needle.

[0106] When the puncture needle is aligned with the target puncture target point, the locking mechanism 124 locks the mounting seat 1112, so that the spatial attitude of the puncture needle does not change, and the handle housing 1111 is prevented from rotating relative to the support frame 1221 to affect the spatial attitude of the puncture needle. Then, the puncture structure 110 controls the self-advancing needle operation of the puncture needle.

[0107] In an embodiment, the locking mechanism 124 comprises a plurality of electromagnets 1241 and a state detection unit 1242 connected to the electromagnets 1241. The electromagnets 1241 are arranged on the support frame 1221 and surround the peripheral side of the mounting seat 1112. When the electromagnets 1241 are powered off, the extension shafts of the electromagnets 1241 can be in abutment with the mounting seat 1112 to limit the rotation of the mounting seat 1112. The state detection unit 1242 is used to detect the working state of the electromagnets 1241.

[0108] The electromagnets 1241 have extension shafts. When the electromagnets 1241 are powered off, the extension shafts of the electromagnets 1241 remain in an extended state and can be in contact with the mounting seat 1112 to limit the rotation of the mounting seat 1112 in the direction of the extension shafts. When the electromagnets 1241 are powered on, the extension shafts of the electromagnets 1241 are retracted, and the end portions of the extension shafts are separated from the mounting seat 1112. At this time, the restraint of the mounting seat 1112 in the direction of the extension shafts is released, and the mounting seat 1112 can move in the direction of the extension shafts.

[0109] The number of electromagnets 1241 is multiple, and the multiple electromagnets 1241 are uniformly distributed along the circumference of the mounting seat 1112. The mounting seat 1112 is locked by the multiple electromagnets 1241 to ensure reliable locking of the mounting seat 1112. For example, the number of electromagnets 1241 is four, and the four electromagnets 1241 are uniformly distributed on the circumferential side of the mounting seat 1112. When the four electromagnets 1241 are extended, the mounting seat 1112 is locked. Optionally, the electromagnets 1241 are fixed to the support frame 1221 by screws or other components. The support elastic member 1222 can keep the handle shell 111 in a vertical state and provide a restoring force for movement when adjusting the posture in the retracted state of the electromagnet 1241.

[0110] The state detection unit 1242 can detect the working state of the electromagnet 1241 in real time and feed back to the main control unit. The state detection unit 1242 can detect whether the electromagnet 1241 is working normally, thereby improving the safety of the whole machine. When the electromagnet 1241 is powered off, the state detection unit 1242 detects that the electromagnet 1241 locks the mounting seat 1112. At this time, the state detection unit 1242 feeds back a signal that the mounting seat 1112 is locked to the main control unit, indicating that the handle shell 111 cannot be rotated. When the electromagnet 1241 is powered on, the state detection unit 1242 detects that the electromagnet 1241 unlocks the mounting seat 1112. At this time, the state detection unit 1242 feeds back a signal that the mounting seat 1112 is unlocked to the main control unit, indicating that the handle shell 111 can be rotated. Optionally, the state detection unit 1242 is a photoelectric switch or other components that can detect the state of the electromagnet 1241.

[0111] In an embodiment, the locking mechanism 124 further comprises an adjustment switch 1243, which is arranged in the adjustment shell 121. The adjustment switch 1243 is electrically connected with the electromagnet 1241 and can control the power-on and power-off of the electromagnet 1241. The adjustment switch 1243 is electrically connected with the main control unit and is located on the upper surface of the adjustment shell 121.

[0112] When the adjustment switch 1243 is operated, the adjustment switch 1243 controls the power-on of the electromagnet 1241, so that the extension shaft of the electromagnet 1241 is separated from the mounting seat 1112, the mounting seat 1112 is unlocked, and the mounting seat 1112 can be rotated relative to the support frame. When the adjustment switch 1243 is operated again, the adjustment switch 1243 controls the power-off of the electromagnet 1241, and the extension shaft of the electromagnet 1241 is extended under the action of the extension shaft spring to lock the mounting seat 1112. The locking and unlocking control of the mounting seat 1112 is realized by the power-on and power-off of the electromagnet 1241.

[0113] Before the posture adjustment action is performed, the electromagnet 1241 is unlocked through the posture adjustment switch 1243, and the extension shaft of the electromagnet 1241 is retracted from the mounting seat 1112 of the puncture structure 110. At this time, the mounting seat 1112 can move, and the spatial posture of the puncture needle can be adjusted. When the extension shaft is in contact with the mounting seat 1112, the handle shell 111 cannot be rotated to avoid triggering the posture adjustment action by mistake when the puncture action is performed. In addition, according to clinical requirements, the handle shell 111 cannot be rotated during the puncture process to ensure the stability of the puncture process and the puncture effect. Therefore, the posture adjustment action is performed before the puncture action is performed. After the posture adjustment action is performed, the handle shell 111 is locked through the posture adjustment switch 1243, and the puncture action is performed. Of course, the posture adjustment action and the puncture action can be performed alternately, as long as the extension shaft of the electromagnet 1241 is retracted before the posture adjustment action is performed, and the extension shaft of the electromagnet 1241 is extended before the puncture action is performed.

[0114] In an embodiment, the master controller 100 further comprises an emergency stop switch 140 and a whole machine switch 130, and the emergency stop switch 140 and the whole machine switch 130 are respectively electrically connected to the master control unit. The emergency stop switch 140 can control the emergency stop of the master controller 100 to avoid the situation that the operation cannot be stopped when an accident occurs. The whole machine switch 130 is used to realize the on-off operation of the master controller 100.

[0115] In an embodiment, the master controller 100 further comprises a state indication unit and a plurality of indicator lights, including but not limited to a handle rotation indicator light and a slider 11212 movement indicator light. The state indication unit is used to control the on-off of each indicator light.

[0116] When the handle rotation indicator light is in a flashing state, the master control unit can receive the triggered handle shell 111 signal, otherwise the signal is shielded. Then the electromagnet 1241 for locking the handle shell 111 is unlocked, and the state of the electromagnet 1241 can be detected by the state detection unit 1242 at the tail end and reported to the master control unit. The direction of the handle shell 111 can be identified by the posture adjustment touch switch 123 and reported to the master control unit. When the slider 11212 movement indicator light is in a flashing state, the master control unit can receive the triggered slip ring 11211 movement signal. The motor control unit 1134 outputs an equal amount of resistance acting on the human hand according to the real-time force information transmitted by the robot host to realize force feedback.

[0117] When the master controller 100 of the present application is used, first, the spatial pose of the puncture needle is adjusted by the pose adjusting structure 120, then the pose adjusting structure 120 is locked, and then the puncture structure 110 is used to control the puncture needle to perform the needle insertion operation. After the puncture operation is completed, the puncture structure 110 controls the puncture needle to perform the needle withdrawal operation. It is worth noting that the process of adjusting the spatial pose of the puncture needle by the pose adjusting structure 120 and the process of controlling the puncture needle by the puncture structure 110 have been mentioned above, and will not be repeated here.

[0118] The master controller 100 described above simulates the clinical puncture process through the puncture structure 110, performs the puncture function, and adjusts the spatial pose of the puncture needle at the puncture end through the pose adjusting structure 120, so that the needle insertion route of the puncture needle coincides with the target puncture target point. The master controller 100 integrates the puncture function and the pose adjusting function, and all operations can be completed by one hand. Specifically, the master controller 100 adopts the design scheme of a small-section handle shell 1111 externally connected to a sliding ring 11211, and the pose adjustment and needle insertion operation of the puncture needle can be completed by two fingers of one hand. The action structure will not be disturbed, the operation is simple and intuitive, and it is easy to use.

[0119] Moreover, the simulated puncture motion of the master controller 100 can achieve a 1:1 mapping relationship with the puncture end, that is, moving the sliding ring 11211 will cause the puncture needle at the puncture end to move by an equal distance, which better simulates the puncture action at the master controller end and improves the puncture success rate. Of course, in other embodiments of the present application, the mapping ratio can also be adjusted in software control, such as 1:1.2. In addition, the mechanical sliding contact is used to realize the operation of the enable button 11231, so that the puncture needle at the puncture end will move only when the enable button 11231 is pressed and the sliding ring 11211 is moved synchronously, preventing accidental triggering of unexpected dangers.

[0120] Moreover, the linear motion assembly 1122 of the master controller 100 of the present application achieves force feedback of the puncture action through the connection rope 11223, and the feedback force is the same as the force generated by the interaction between the puncture needle at the puncture end and the human tissue, which can maximize the clinical puncture experience of the doctor, improve the operation precision, and ensure that the operation process is safer and more efficient. In addition, the pose adjusting action of the puncture needle is triggered by the four pose adjusting touch switches 123, which is simple and intuitive.

[0121] The present application also provides a puncture robot, which comprises a robot host, a puncture end, and a master controller 100 according to any one of the above embodiments. The puncture end carries a puncture needle and is arranged on the robot host, and the master controller 100 is electrically connected with the puncture end and is used to control the puncture end to drive the puncture needle to perform a puncture operation.

[0122] In actual use, the robot host is located in the scanning room. Optionally, the robot host is a mechanical arm body for driving the puncture end to move to adjust the posture of the puncture needle in the puncture end. The puncture end is arranged on the robot host and is used to perform the puncture action. The control room is arranged adjacent to or spaced apart from the scanning room. An operating table of the imaging device is arranged in the control room, and there is a concrete wall between the control room and the scanning room to shield the rays. In addition, the master hand controller 100 is arranged in the control room, and the doctor controls the robot host in the scanning room by operating the master hand controller 100 in the control room, thereby completing the master-slave remote operation type puncture surgery.

[0123] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict each other, they should be considered within the scope of the present disclosure.

[0124] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A master controller, characterized in that, include: The puncture structure includes a handle housing, a puncture actuator movably disposed in the handle housing, and a force feedback mechanism disposed at the bottom of the handle housing. The force feedback mechanism is connected to the puncture actuator and is used to feed back the needle insertion resistance at the puncture end to the puncture actuator. as well as An adjustment structure is provided at the bottom of the puncture structure. The adjustment structure can swing to install the handle housing for adjusting the posture of the puncture end. The puncture actuator includes a sliding component and a linear motion component disposed within the handle housing, the sliding component being connected to the linear motion component; the sliding component includes a slip ring and a slider connected to the slip ring, the slip ring being sleeved on the outside of the handle housing; The linear motion component includes a first roller, a second roller spaced apart from the first roller, and a connecting rope connecting the first roller and the second roller, and the slider is connected to the connecting rope; The force feedback mechanism includes an actuator motor and a position detection unit. The second roller is connected to the actuator motor and the position detection unit respectively. The position detection unit is used to convert the movement of the slip ring into a rotational variable and feed it back to the puncture end. The actuator motor is used to convert the puncture force fed back from the puncture end into torque and apply it to the connecting rope.

2. The master controller according to claim 1, characterized in that, The master controller also includes a master control unit, and the puncture actuator includes a puncture enabling component disposed on the sliding component. The puncture enabling component is electrically connected to the master control unit and can feed back the puncture enabling signal to the puncture robot through the master control unit.

3. The master controller according to claim 1, characterized in that, The linear motion assembly further includes a first limiting member and a second limiting member, which are respectively disposed at the first roller and the second roller to limit the movement stroke of the slip ring.

4. The master controller according to claim 2, characterized in that, The puncture enabling component includes an enabling button that is pressable and located on the slip ring. When the enabling button is in the triggered state, it can feed back the puncture enabling signal to the puncture robot through the main control unit.

5. The master controller according to claim 1, characterized in that, The force feedback mechanism further includes two couplings. The actuator motor is connected to the second roller through one of the couplings, and the position detection unit is connected to the second roller through the other coupling.

6. The master controller according to any one of claims 1 to 5, characterized in that, The posture adjustment structure includes a posture adjustment housing, a support mechanism disposed in the posture adjustment housing, and a plurality of posture adjustment touch switches. One end of the handle housing is rotatably mounted in the support mechanism. The plurality of posture adjustment touch switches are disposed along the periphery of the handle housing and are used to detect the tilt angle of the handle housing and provide feedback to the puncture end.

7. A puncture robot, characterized in that, Includes a robot main unit, a puncture tip, and a master hand controller as described in any one of claims 1 to 6; The puncture end carries the puncture needle and is located on the robot host. The main controller is electrically connected to the puncture end and is used to control the puncture end to drive the puncture needle to perform the puncture operation.

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