Force feedback master hand for puncture surgery and puncture surgery robot system

Abstract

The present application relates to a kind of force feedback master manipulator for puncture operation and puncture operation robot system, including base, operating device, pose adjustment device and force feedback device, the base has an installation end face;Operating device includes connecting rod and handle, the connecting rod one end is movably connected to the base, the handle can be slidably connected to the connecting rod, the operating device also includes screw nut mechanism;Pose adjustment device includes for the swing of the operating device is converted into two directions regular movement, realize the detection and control of the swing of the operating device, pose adjustment device and force feedback device can help doctor real-time to from operating hand transfer handle corresponding adjustment action and feedback from operating hand corresponding adjustment action when with the contact force of object, so as to provide more real simulation actual hold needle puncture operation feeling for doctor, improve the success rate of operation, ensure patient safety.

Description

Technical Field

[0001] This invention relates to the field of puncture surgery equipment technology, and in particular to a force feedback master hand and puncture surgery robot system for puncture surgery. Background Technology

[0002] In recent years, X-ray computed tomography (CT) imaging technology has made tremendous progress, both in its fundamental technology and in new clinical applications. Significant advancements have been made in all components of CT, such as optical tubes, detectors, slip rings, data acquisition systems, and algorithms. Since the advent of spiral CT and multi-slice CT, many new clinical applications have emerged, offering advantages such as fast scanning time and clear images, making it suitable for examining a wide range of diseases. After more than thirty years of development, CT technology has once again become one of the most exciting diagnostic methods in the field of medical imaging; today, CT is no longer just a simple imaging examination. Driven by the increasingly diversified models of modern medical science, which constantly breaks down the boundaries between disciplines and promotes interdependence and collaborative exploration, CT is also working with various clinical departments to achieve various examinations and treatments, resulting in significant medical outcomes.

[0003] CT-guided percutaneous puncture is a widely used clinical technique. It involves precisely inserting a puncture needle into the lesion under the accurate guidance of a CT scan to obtain diseased tissue. CT-guided puncture, with CT imaging (of the human tissue and the puncture needle), allows for real-time determination of the puncture direction and timely adjustments, significantly improving the success rate, reducing surgical risks, and enhancing patient recovery speed and quality of life. However, CT equipment uses X-rays or gamma rays, and performing surgery on the CT side exposes doctors to radiation for extended periods, posing a significant threat to their health. A master-slave robot-assisted puncture system allows the puncture process to be remotely controlled from outside the CT room by a master operator and performed by a robotic arm. To simulate the puncture process as closely as possible to the doctor holding the needle, a linear motion device (generally 100mm or more) is needed at the master hand end to achieve the required puncture depth.

[0004] As a component of the system that directly operates the robotic arm to complete the puncture surgery, the master operator naturally plays a very important role. Clinical research results show that the closer the master operator in the remotely operated robot-assisted puncture surgery system is to the size of the puncture needle and the closer the puncture process is to the actual puncture situation when holding the needle, the higher the success rate of the puncture surgery. In the current technology, the master operator cannot directly simulate the process of the doctor holding the needle for puncture in conventional puncture surgery, which affects the success rate of the surgery and may even endanger the patient's life in serious cases. Summary of the Invention

[0005] In view of this, it is necessary to provide a force feedback master hand for puncture surgery to solve the technical problem that the master hand in the prior art cannot effectively simulate the actual puncture situation when holding the needle.

[0006] To solve the above-mentioned technical problems, the present invention provides a force feedback master hand for puncture surgery, including a base, an attitude adjustment device, an operating device and a force feedback device;

[0007] The base has a mounting end face;

[0008] The operating device includes a connecting rod and a handle. One end of the connecting rod is movably connected to the base, and the handle is slidably connected to the connecting rod. The operating device also includes a lead screw and nut mechanism.

[0009] The posture adjustment device includes a parallel motion mechanism for converting the swing of the operating device into regular motion in two directions, thereby realizing the detection and control of the swing of the operating device.

[0010] The force feedback device includes an attitude feedback component and a depth feedback component. The attitude feedback component is used for force feedback for attitude adjustment of the handle, and the depth feedback component is used for force feedback for depth adjustment of the handle and needle advance control. The depth feedback component includes a third feedback motor.

[0011] Preferably, the parallel motion mechanism includes a first transmission bar and a second transmission bar. The first transmission bar is rotatably mounted on the base along a first direction, and the second transmission bar is rotatably mounted on the base along a second direction. The rotation axes of the first direction and the second direction are located in the same plane and are perpendicular to each other.

[0012] Preferably, the parallel motion mechanism further includes a first pulley and a second pulley, the first transmission bar is rotatably mounted on the base in a first direction via the first pulley, the second transmission bar is rotatably mounted on the base in a second direction via the second pulley, the first transmission bar connects the first pulley and the connecting rod, and the second transmission bar connects the second pulley and the connecting rod.

[0013] Preferably, both the first transmission bar and the second transmission bar are semi-annular structures. The first transmission bar has a first guide hole formed along its annular direction, and the connecting rod passes through the first guide hole to connect with the base. The second transmission bar has a second guide hole formed along its annular direction, and the connecting rod also passes through the second guide hole to connect with the base.

[0014] Preferably, the lead screw and nut mechanism includes a lead screw and a nut. The lead screw is rotatably installed inside the connecting rod, and the rotation axis of the lead screw coincides with the axis of the connecting rod. The nut is movably threadedly connected to the lead screw, and the handle is fixedly connected to the nut. When the handle drives the nut to slide along the axis of the connecting rod, the lead screw rotates, and the depth feedback component realizes force feedback through the rotation of the lead screw.

[0015] Preferably, one end of the lead screw is coaxially fixed to the output shaft of the third feedback motor. The third feedback motor transmits the piercing action of the handle to the slave operator by changing its own rotation angle, and adjusts its own rotation speed according to the magnitude of the contact force received by the slave operator to achieve force feedback.

[0016] Preferably, the handle is annular and slidably sleeved on the outside of the connecting rod. A limiting protrusion is formed on the inner side of the handle along the axial direction of the connecting rod. A limiting groove is formed on the side wall of the connecting rod along its axial direction. The limiting protrusion is movably disposed in the limiting groove.

[0017] Preferably, one end of the connecting rod is connected to the base via a spherical joint.

[0018] Preferably, one end of the connecting rod is provided with a hinge portion, and a spherical groove is formed on the mounting end face. A spherical hinge structure is formed between the hinge portion and the spherical groove to constitute the spherical pair. The opening diameter of the spherical groove is smaller than the diameter of the hinge portion.

[0019] This application also provides a puncture surgery robot system, which includes a slave manipulator, a communication device, and a force feedback master manipulator for puncture surgery as described above. The slave manipulator transmits force or torque to the force feedback device through the communication device.

[0020] The force feedback master hand for puncture surgery provided by this invention allows the doctor to hold the handle. When the doctor pushes the handle, the handle drives the connecting rod to rotate around the hinge, achieving posture adjustment and effectively simulating the angle and position adjustment movements when actually holding a needle. When the doctor slides and presses the handle on the connecting rod, depth adjustment is achieved, effectively simulating the puncture action when actually holding a needle. The posture adjustment device and force feedback device can help the doctor transmit the corresponding adjustment movements of the handle to the slave hand in real time and provide feedback on the contact force between the slave hand and the object when making corresponding adjustment movements, so as to provide the doctor with a more realistic simulation of the puncture operation feeling when actually holding a needle, improve the success rate of the operation, and ensure the patient's life safety.

[0021] The puncture surgery robot system provided by this invention can simulate the surgical process when a doctor actually holds the needle in a conventional puncture surgery, thereby improving the doctor's user experience, increasing the success rate of the surgery, and ensuring the safety of the patient's life.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the force feedback master hand for puncture surgery provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure after the base is hidden in Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the depth transmission component and the depth feedback component according to Embodiment 1 of the present invention;

[0026] Figure 4 This is a structural schematic diagram from the bottom view of Embodiment 1 of the present invention;

[0027] Figure 5 This is a schematic diagram of the puncture surgery robot system according to Embodiment 2 of the present invention. Detailed Implementation

[0028] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0029] Example 1

[0030] like Figure 1 As shown, this embodiment discloses a force feedback master hand 100 for puncture surgery, which includes a base 1, an operating device 2, an attitude adjustment device 3, and a force feedback device 4.

[0031] The base 1 is used to support and bear the entire main operator 100, and it has a mounting end face 11. Preferably, the mounting end face 11 is located at the upper end of the base 1.

[0032] Combination Figure 2As shown, the operating device 2 includes a connecting rod 21, a hinge 22, and a handle 23. The hinge 22 is located at one end of the connecting rod 21, and the end of the connecting rod 21 away from the hinge 22 is located away from the mounting end face 11. The connecting rod 21 can rotate on the mounting end face 11 with the hinge 22 as the center of rotation. In this embodiment, the hinge 22 is located at the lower end of the connecting rod 21. The connecting rod 21 is hinged to the mounting end face 11 through the hinge 22. In this embodiment, the hinge portion 22 can be a universal joint. In other embodiments, the hinge portion can also be a spherical hinge portion. In this embodiment, the hinge portion is preferably the latter, that is, the hinge portion 22 is spherical, and a spherical groove 11a is formed on the mounting end face 11. A spherical hinge structure is formed between the hinge portion 22 and the spherical groove 11a. In order to prevent the hinge portion 22 from detaching from the spherical groove 11a, the opening diameter of the spherical groove 11a is smaller than the diameter of the hinge portion 22.

[0033] The handle 23 is slidably mounted on the connecting rod 21 along the axial direction of the connecting rod 21.

[0034] In an embodiment of this application, the handle 23 includes a sliding sleeve 231, which is slidably sleeved on the outside of the connecting rod 21. In a preferred embodiment of this application, the inner side of the sliding sleeve 231 has limiting protrusions 232 formed at both ends along the axial direction of the connecting rod 21, and the side wall of the connecting rod 21 has a limiting groove 21a formed along its axial direction. The limiting protrusions 232 are movably disposed in the limiting groove 21a. The setting of the limiting groove 21a can both guide the sliding of the handle 23 and effectively limit the sliding distance of the handle 23.

[0035] The handle 23 can be rotated along the hinge 22 under the action of external force to achieve posture adjustment or slide along the connecting rod 21 to achieve depth adjustment. Specifically, when the handle 23 can be rotated along the hinge 22 under the action of external force, it can effectively simulate the angle and position adjustment action when actually holding the needle; when the handle 23 can be slid along the connecting rod 21 under the action of external force, it can effectively simulate the puncture action when actually holding the needle.

[0036] The posture adjustment device 3 includes a posture transmission component 31 and a depth transmission component 32. Both the posture transmission component 31 and the depth transmission component 32 are connected to the operating device 2 to transmit the force of the handle 23 for posture adjustment and depth adjustment to the force feedback device 4, respectively.

[0037] The force feedback device 4 includes an attitude feedback component 41 and a depth feedback component 42. The attitude feedback component 41 is connected to the attitude transmission component 31 and is used for force feedback for attitude adjustment of the handle 23. The depth feedback component 42 is connected to the depth transmission component 32 and is used for force feedback for depth adjustment of the handle 23.

[0038] In this embodiment, the force feedback includes transmitting the corresponding adjustment action of the handle to the slave operator and feeding back the contact force between the slave operator and the object when the slave operator performs the corresponding adjustment action.

[0039] In the embodiments of this application, such as Figure 1 and Figure 2 As shown, the attitude transmission assembly 31 includes a parallel motion mechanism 311, wherein the parallel motion mechanism 311 includes a first transmission bar 3111, a first pulley 3112, a second transmission bar 3113, and a second pulley 3114.

[0040] The first pulley 3112 is rotatably mounted on the base 1 about a first direction, and the second pulley 3114 is rotatably mounted on the base 1 about a second direction. The first transmission bar 3111 connects the first pulley 3112 and the connecting rod 21, and the second transmission bar 3113 connects the second pulley 3114 and the connecting rod 21. When the connecting rod 21 rotates, the first pulley 3112 and the second pulley 3114 rotate about the first direction and the second direction, respectively. The attitude feedback component 41 is used to generate resistance that is opposite to the rotation trend of the first pulley 3112 and the second pulley 3114 and is adjustable in magnitude. The rotation axes of the first direction and the second direction are located in the same plane and are perpendicular to each other.

[0041] For ease of description, in the embodiments of this application, the rotation axis in the first direction is set as the X-axis, and the rotation axis in the second direction is set as the Y-axis. Both the X-axis and the Y-axis are parallel to the mounting end face 11. The first pulley 3112 rotates around the X-axis, and the second pulley 3114 rotates along the Y-axis.

[0042] In some embodiments of this application, the first transmission bar 3111 and the second transmission bar 3113 are both semi-annular structures. The first pulley 3112 is fixedly installed at both ends of the first transmission bar 3111, and the second pulley 3114 is fixedly installed at both ends of the second transmission bar 3113. The end of the connecting rod 21 away from the hinge portion 22 passes through the first transmission bar 3111. A first guide hole 311a is formed on the first transmission bar 3111 along its annular direction. The end of the connecting rod 21 away from the hinge portion 22 passes through the second transmission bar 3113. A second guide hole 311b is formed on the second transmission bar 3113 along its annular direction.

[0043] To ensure the consistency of the connecting rod's rotation in all directions, the first guide hole 311a is symmetrical about the middle position of the first transmission bar 3111; the second guide hole 311b is symmetrical about the middle position of the second transmission bar 3113.

[0044] The first transmission bar 3111 has two rotatably mounted on opposite sides of the base 1, and the second transmission bar 3113 has two rotatably mounted on the other opposite sides of the base 1. When an external force pushes the handle 23 to rotate the connecting rod 21 around the hinge 22 about the X-axis, the part of the connecting rod 21 passing through the second transmission bar 3113 moves within the second guide hole 311b. Simultaneously, the part of the connecting rod 21 passing through the first transmission bar 3111 pushes the first transmission bar 3111 and the connecting rod 21 to rotate synchronously, thereby realizing the rotation of the first pulley 3111. When an external force pushes the handle 23 to rotate the connecting rod 21 around the hinge 22 about the Y-axis... When in motion, the portion of connecting rod 21 passing through the first transmission bar 3111 moves within the first guide hole 311a, while the portion of connecting rod 21 passing through the second transmission bar 3113 pushes the second transmission bar 3113 to rotate synchronously with connecting rod 21, thereby realizing the rotation of the second pulley 3114. Due to the existence of the above structure, when the handle 23 is pushed under the action of external force, causing connecting rod 21 to rotate along the hinge 22 in any direction, it can be decomposed into a first component motion rotating around the X-axis and a second component motion rotating around the Y-axis in a vertical decomposition manner, thereby driving the first pulley 3112 and the second pulley 3114 to rotate by the corresponding angle.

[0045] Accordingly, the attitude feedback component 41 includes a first feedback unit 411 and a second feedback unit 412. The first feedback unit 411 is connected to the first transmission bar 3111 and is used to generate a resistance that is opposite to the rotation trend of the first pulley 3112 and is adjustable in magnitude. The second feedback unit 412 is connected to the second transmission bar 3113 and is used to generate a resistance that is opposite to the rotation trend of the second pulley 3114 and is adjustable in magnitude.

[0046] In different embodiments, the aforementioned resistance can be generated in different ways, such as by electromagnetic rotation between the stator and rotor, by the expansion and contraction of air pressure, or by hydraulic compression. In this embodiment, the resistance is generated in the first way, wherein the first feedback unit 411 includes a first active turntable 4111, a first driven turntable 4112, and a first feedback motor 4113. The first active turntable 4111 is mounted on the first transmission bar 3111 and is coaxially fixedly mounted with the first pulley 3112. The first driven turntable 4112 is coaxially fixedly mounted with the first transmission bar 3111. The first active turntable 4111 is driven by the first driven turntable 4112, which is mounted on the output shaft of the first feedback motor 4113. The second feedback unit 412 includes a second active turntable 4121, a second driven turntable 4122, and a second feedback motor 4123. The second active turntable 4121 is mounted on the second transmission bar 3113 and is coaxially fixedly mounted with the second pulley 3114. The second driven turntable 4122 is coaxially fixedly mounted on the output shaft of the second feedback motor 4123. The second active turntable 4121 and the second driven turntable 4122 are driven by each other.

[0047] The attitude adjustment action of the handle 23 is decomposed vertically into a first component motion rotating around the X-axis and a second component motion rotating around the Y-axis via the parallel motion mechanism 311. The first and second component motions drive the first driving turntable 4111 and the second driving turntable 4121 to rotate, thereby driving the rotation of the first driven turntable 4112 and the second driven turntable 4122. Since the first driven turntable 4112 is coaxially fixedly mounted on the output shaft of the first feedback motor 4113, and the second driven turntable 4122 is coaxially fixedly mounted on the output shaft of the second feedback motor 4123, the rotation of the first driven turntable 4112 and the second driven turntable 4122 will respectively drive the first driving turntable 4111 and the second driven turntable 4122 to rotate. The output shafts of the first feedback motor 4113 and the second feedback motor 4123 rotate. When the stators of the first feedback motor 4113 and the second feedback motor 4123 are energized, the electromagnetic interaction between the stator and the rotor applies a rotational electromagnetic force to the stator. This electromagnetic force drives the corresponding output shaft to have another rotational tendency, thus forming a resistance that hinders the rotation of the first pulley 3112 and the second pulley 3114. The first feedback motor 4113 and the second feedback motor 4123 are configured such that the magnitude of their stator current is related to the magnitude of the contact force received when adjusting the operator's posture. The magnitude of this stator current is controlled by a control system 50, thereby making the magnitude of the resistance adjustable.

[0048] In further embodiments of this application, such as Figure 4As shown, to facilitate the installation of the first feedback motor 4113 and the second feedback motor 4123, the base 1 has a retaining edge 12 on its outer side. The first active turntable 4111 and the second active turntable 4121 are respectively installed on the outer side of the retaining edge. The first feedback motor 4113 and the second feedback motor 4123 are installed inside the retaining edge 12 and located at the lower end of the base 1. The first feedback motor 4113 and the second feedback motor 4123 extend from the inside of the retaining edge 12 and are respectively installed with the corresponding first driven turntable 4112 and the second driven turntable 4122. The empty part of the retaining edge 12 can be used to install the chip that integrates the above-mentioned control system 50.

[0049] It is understood that the transmission connection between the first active turntable 4111 and the first driven turntable 4112, and the transmission connection between the second active turntable 4121 and the second driven turntable 4122, can be achieved through the engagement of precision gears or other transmission methods. In this embodiment, taking the transmission connection between the first active turntable 4111 and the first driven turntable 4112 as an example, the first active turntable 4111 is a sheet-like structure formed by an arc-shaped side with an included angle greater than 180° and a straight side. A steel wire rope 4114 is provided along the length of the arc-shaped side. The two ends of the steel wire rope 4114 are respectively fixed to the straight side by a tensioning wheel 4115. The outer side of the steel wire rope is coupled to the outer side of the first driven turntable 4112. The transmission connection between the second active turntable 4121 and the second driven turntable 4122 also adopts the above structure, which will not be described in detail here.

[0050] like Figure 3 As shown, the depth transmission assembly 32 includes a lead screw and nut mechanism, which includes a lead screw 321 and a nut 322. The lead screw 321 is rotatably mounted inside the connecting rod 21, and the rotation axis of the lead screw 321 coincides with the axis of the connecting rod 21. The nut 322 is movably threadedly connected to the lead screw 321. The handle 23 is fixedly connected to the nut 322. When the handle 23 drives the nut 322 to slide along the axis of the connecting rod 21, the lead screw 321 rotates. The depth feedback assembly 42 is used to generate resistance that is opposite to the rotation direction of the lead screw 321 and is adjustable in magnitude.

[0051] The handle 23 is fixedly connected to the nut 322 in the following way: a receiving cavity is formed inside the sliding sleeve 231, and the nut 322 is fixedly embedded inside the receiving cavity.

[0052] Due to the existence of the above structure, when the handle 23 is pressed under the action of external force, the nut 322 moves downward and engages with the lead screw 321 through a threaded connection. The lead screw 321 rotates under the drive of the nut, and the direction of rotation of the lead screw is determined by the direction of movement of the nut 322.

[0053] In an embodiment of this application, the depth feedback component 42 includes a third feedback motor 421, and one end of the lead screw 321 is coaxially fixedly mounted on the output shaft of the third feedback motor 421.

[0054] The depth adjustment action of the handle 23 is converted into the rotation of the lead screw 321 through the lead screw and nut mechanism. Since the lead screw 321 is coaxially fixed on the output shaft of the third feedback motor 421, the rotation of the lead screw will drive the output shaft of the third feedback motor 421 to have a rotational tendency. When the stator of the third feedback motor 421 is energized, the electromagnetic interaction between the stator and the rotor applies an electromagnetic force to the stator to rotate. This electromagnetic force drives its output shaft to have another rotational tendency, forming a resistance that hinders the rotation of the lead screw 321. The third feedback motor 421 is configured such that the magnitude of its stator current is related to the magnitude of the contact force when the operator penetrates to a certain depth, thereby realizing the adjustable magnitude of the resistance.

[0055] In this embodiment, when in use, the doctor holds the handle 23. When the doctor pushes the handle 23, the handle 23 drives the connecting rod 21 to rotate around the hinge 22 as the rotation center, realizing posture adjustment, which can effectively simulate the angle and position adjustment action when actually holding a needle. When the doctor slides and presses the handle 23 on the connecting rod 21, the depth adjustment is realized, which can effectively simulate the puncture action when actually holding a needle. The posture adjustment device 3 and the force feedback device 4 can help the doctor transmit the corresponding adjustment action of the handle to the operator's hand in real time and provide feedback on the contact force between the operator's hand and the object when making the corresponding adjustment action, so as to provide the doctor with a more realistic simulation of the puncture operation feeling when actually holding a needle, improve the success rate of the operation, and ensure the safety of the patient's life.

[0056] Example 2

[0057] like Figure 1 and Figure 5 As shown in the figure, this embodiment discloses a puncture surgery robot system, which includes a master manipulator 100, a slave manipulator 200 and a communication device 300 as described in the embodiment, wherein the slave manipulator 200 transmits force or torque to the force feedback device 4 through the communication device 300.

[0058] Combination Figure 2In some embodiments, the first feedback motor 4113, the second feedback motor 4123, and the third feedback motor 421 are all connected to the communication device 300 through a control system 50. The force applied by the user to the handle 23 of the main operating hand 100 is decomposed and transmitted to the first feedback motor 4113, the second feedback motor 4123, and the third feedback motor 421 respectively. At the same time, the resistance when performing surgical operations from the operating hand 200 is fed back to the handle 23 through the resistance torque generated by the first feedback motor 4113, the second feedback motor 4123, and the third feedback motor 421, thereby realizing force feedback for surgical operations.

[0059] The puncture surgery robot system provided by this invention can simulate the surgical process when a doctor actually holds the needle in a conventional puncture surgery, thereby improving the doctor's user experience, increasing the success rate of the surgery, and ensuring the safety of the patient's life.

[0060] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A force feedback master hand for puncture surgery, characterized in that, include: Base (1), attitude adjustment device (3), operating device (2) and force feedback device (4); The base (1) has a mounting end face (11); The operating device (2) includes a connecting rod (21) and a handle (23). One end of the connecting rod (21) is movably connected to the base (1), and the handle (23) is slidably connected to the connecting rod (21). The operating device (2) also includes a lead screw and nut mechanism. The posture adjustment device (3) includes a parallel motion mechanism (311) for converting the swing of the operating device (2) into regular motion in two directions, thereby realizing the detection and control of the swing of the operating device (2). The force feedback device (4) includes an attitude feedback component (41) and a depth feedback component (42). The attitude feedback component (41) is used for force feedback of the handle (23) for attitude adjustment. The depth feedback component (42) is used for force feedback of the handle for depth adjustment and needle insertion control. The depth feedback component (42) includes a third feedback motor. The handle (23) is ring-shaped and slidably sleeved on the outside of the connecting rod (21). A limiting protrusion (232) is formed on the inner side of the handle (23) along the axial direction of the connecting rod (21). A limiting groove (21a) is formed on the side wall of the connecting rod (21) along its axial direction. The limiting protrusion (232) is movably disposed in the limiting groove (21a). The parallel motion mechanism (311) includes a first transmission bar (3111) and a second transmission bar (3113). The first transmission bar (3111) is rotatably mounted on the base (1) along a first direction, and the second transmission bar (3113) is rotatably mounted on the base (1) along a second direction. The rotation axes of the first direction and the second direction are located in the same plane and are perpendicular to each other. The parallel motion mechanism (311) further includes a first pulley (3112) and a second pulley (3114). The first transmission bar (3111) is rotatably mounted on the base (1) in a first direction via the first pulley (3112). The second transmission bar (3113) is rotatably mounted on the base (1) in a second direction via the second pulley (3114). The first transmission bar (3111) connects the first pulley (3112) and the connecting rod (21). The second transmission bar (3113) connects the second pulley (3114) and the connecting rod (21).

2. The force feedback master hand for puncture surgery according to claim 1, characterized in that, Both the first transmission bar (3111) and the second transmission bar (3113) are semi-annular structures. The first transmission bar (3111) has a first guide hole (311a) formed along its annular direction. The connecting rod (21) passes through the first guide hole (311a) and is connected to the base (1). The second transmission bar (3113) has a second guide hole (311b) formed along its annular direction. The connecting rod (21) also passes through the second guide hole (311b) and is connected to the base (1).

3. The force feedback master hand for puncture surgery according to claim 1, characterized in that, The lead screw and nut mechanism includes a lead screw (321) and a nut (322). The lead screw (321) is rotatably installed inside the connecting rod (21). The rotation axis of the lead screw (321) coincides with the axis of the connecting rod (21). The nut (322) is movably threadedly connected to the lead screw (321). The handle (23) is fixedly connected to the nut (322). When the handle (23) drives the nut (322) to slide along the axis of the connecting rod (21), the lead screw (321) rotates. The depth feedback component (42) realizes force feedback through the rotation of the lead screw (321).

4. The force feedback master hand for puncture surgery according to claim 3, characterized in that, One end of the lead screw (321) is coaxially fixed to the output shaft of the third feedback motor (421). The third feedback motor (421) transmits the piercing action of the handle (23) to the slave hand (200) through the change of its own rotation angle, and adjusts its own rotation speed according to the magnitude of the contact force received by the slave hand (200) to achieve force feedback.

5. The force feedback master hand for puncture surgery according to claim 1, characterized in that, One end of the connecting rod (21) is connected to the base (1) via a spherical joint.

6. The force feedback master hand for puncture surgery according to claim 5, characterized in that, One end of the connecting rod (21) is provided with a hinge part (22), and a spherical groove (11a) is formed on the mounting end face (11). A spherical hinge structure is formed between the hinge part (22) and the spherical groove (11a) to form the spherical pair. The opening diameter of the spherical groove (11a) is smaller than the diameter of the hinge part (22).

7. A puncture surgical robot system, characterized in that, It includes a slave manipulator (200), a communication device (300), and a force feedback master manipulator (100) for puncture surgery as described in any one of claims 1 to 6, wherein the slave manipulator (200) transmits force or torque to the force feedback device (4) via the communication device (300).

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