Force sensing device, medical instrument, medical manipulation system, and master-slave medical manipulation system
By designing flexible drive components and external force sensing modules, the problem of force sensing in medical devices in confined spaces and high-temperature, high-pressure sterilization environments was solved, achieving a stable and reliable force feedback effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
- Filing Date
- 2020-12-29
- Publication Date
- 2026-07-24
AI Technical Summary
Existing medical devices struggle to achieve stable and reliable force sensing in confined spaces, and sensors are easily damaged in high-temperature and high-pressure sterilization environments, hindering the widespread adoption of force sensing functionality.
The system employs flexible drive components and an external force sensing module, including guide components and sensing elements. It obtains the force information of the drive components through geometric relationship calculations and analyzes the components' location on the outside to avoid affecting sterilization.
It achieves stable and reliable force feedback in confined spaces, and the sensor is not damaged during sterilization, providing efficient force sensing.
Smart Images
Figure CN116531107B_ABST
Abstract
Description
[0001] This case is a divisional application filed on December 29, 2020, with application number 202011598102.X and invention titled Force Sensing Device, Medical Device, Medical Control System and Master-Slave Medical Control System. Technical Field
[0002] This application relates to the field of medical device technology, and in particular to a force sensing device, a medical device, a medical control system, and a master-slave medical control system. Background Technology
[0003] Currently, remotely controlled medical devices generally employ a master-slave control method. This means that doctors operate the active end of the robot to remotely control the medical devices on the slave end of the robot in order to diagnose or treat patients.
[0004] Most surgical robots on the market lack stable and reliable force sensing functionality. This is due to two main reasons. First, the size limitations of medical devices (typically within 8mm in diameter) restrict the types of sensors that can be placed within the confined space. Second, medical devices are often reused multiple times, requiring sterilization after each use. Sterilization typically involves immersing the device in an alkaline liquid environment under high temperature and pressure. Such harsh external environments can cause irreversible damage to the sensors installed inside the device. Therefore, these factors have prevented the widespread adoption of force sensing functionality in medical devices, keeping it primarily in the research stage. Summary of the Invention
[0005] Based on this, and in response to the aforementioned technical problems, this application provides a force sensing device, a medical device, a medical control system, and a master-slave medical control system.
[0006] This application provides a force sensing device, comprising:
[0007] A driving component, wherein the driving component is a flexible driving component;
[0008] A force sensing module, connected to the driving component, is used to acquire sensing information related to the forces acting on the driving component during medical operations; and
[0009] An analysis component, connected to the force sensing module, is used to collect the sensing information from the force sensing module and analyze the force exerted on the driving component during the medical operation.
[0010] In one embodiment, the force sensing module includes:
[0011] A guide component, connected to the drive component, is used to guide the drive component to import and export the force sensing module; and
[0012] A sensing element is connected to the driving component, and the sensing element is capable of acquiring force information or displacement information related to the force exerted on the driving component during medical operations.
[0013] In one embodiment, there are two guide components, and the connection position between the sensing element and the driving component is located between the two guide components. The connection position between the sensing element and the driving component is not collinear with the connection position between the driving component and the two guide components.
[0014] In one embodiment, the sensing element includes a displacement sensor or a pressure sensor.
[0015] In one embodiment, the sensing element further includes a connector that is connected to the driving component.
[0016] In one embodiment, the analysis component receives force information or displacement information acquired by the force sensing module, and calculates the force acting on the driving component based on the received force information or displacement information through geometric relationships, wherein the geometric relationships include the geometric relationship of concurrent force balance and the triangular geometric relationship of displacement.
[0017] Based on the same inventive concept, this application provides a medical device, comprising:
[0018] Actuating components for performing medical procedures; and
[0019] A force sensing device, wherein the force sensing device is any one of the force sensing devices described in the above embodiments, is used to detect the operating force of the execution component.
[0020] Based on the same inventive concept, this application provides a medical control system, including:
[0021] A robotic arm used to control surgical procedures;
[0022] The medical device described in the above embodiments is connected to the robotic arm and is used to perform surgical procedures.
[0023] Based on the same inventive concept, this application provides a master-slave medical control system, comprising:
[0024] A robotic arm used to control surgical procedures;
[0025] The medical device as described in the above embodiments is connected to the robotic arm for performing surgical procedures; and
[0026] The main operator controls the robotic arm and the medical device to perform surgical operations.
[0027] In one embodiment, the master operator has a force feedback device for feeding back the operating force sensed by the medical device to the master operator, so that the operating force at the execution end is sensed by the control end; the force feedback device can also transmit the control information of the master operator to the robotic arm and the medical device at the execution end, and control the robotic arm and the medical device to perform surgical operations.
[0028] The aforementioned force sensing device, medical device, medical control system, and master-slave medical control system include a driving component, a force sensing module, and an analysis component. The driving component is a flexible driving component. The force sensing module is connected to the driving component and is used to acquire sensing information related to the force experienced by the driving component during medical operations. The analysis component is connected to the force sensing module and is used to collect the sensing information from the force sensing module and analyze the force experienced by the driving component during the medical operation. The force sensing module can convert the force experienced by the driving component at the distal end of the medical device into a physical change that the analysis component can recognize. The force sensing module has a simple structure, low cost, and is easy to manufacture. Furthermore, the portion of the sensing element used to sense force or displacement information related to the force experienced by the driving component during medical operations, along with the analysis component, does not need to be located inside the medical device body. Therefore, the sensing element can withstand sterilization treatment like the medical device body without affecting its performance, thus enabling the aforementioned force sensing device to produce a stable and reliable force feedback effect. Attached Figure Description
[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0030] Figure 1 This is a schematic diagram of the force sensing device structure provided in one embodiment of this application;
[0031] Figure 2 This is a schematic diagram of the force sensing device structure provided in another embodiment of this application;
[0032] Figure 3 This is a schematic diagram of a medical device structure provided in one embodiment of this application;
[0033] Figure 4This is a schematic diagram of a medical control system structure provided in one embodiment of this application;
[0034] Figure 5 This is a schematic diagram of a master-slave medical control system provided in one embodiment of this application.
[0035] Explanation of reference numerals for main components
[0036] 10. Drive component; 20. Force sensing module; 21. Guide component; 22. Sensing element; 221. Connector; 30. Analysis component; 40. Execution component; 50. Robotic arm; 60. Main operator; 61. Operation component; 62. Control component; 70. Medical device. Detailed Implementation
[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0038] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first acquiring module may be referred to as a second acquiring module, and similarly, a second acquiring module may be referred to as a first acquiring module. Both the first acquiring module and the second acquiring module are acquiring modules, but they are not the same acquiring module.
[0039] It should be noted that when a component is said to be "set on" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.
[0040] It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the purpose of the embodiments of this application. As described in the specification, "end" and "distal end" refer to the end that is away from the product operator and close to the patient, while "head end" and "proximal end" refer to the end that is close to the product operator and away from the patient.
[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0042] Because some medical procedures (such as surgery and diagnosis) involve radiation that could harm doctors; and because certain interventional procedures require simultaneous whole-body or localized scans of the patient using medical imaging equipment, in which case doctors cannot enter the medical room, these medical imaging devices can be such as computed tomography (CT) scanners or cone-beam computed tomography (CBCT) scanners. In both of these situations, the corresponding medical procedures can generally be performed by controlling a robot in the medical room (such as the operating room) from a control room; in cases of medical resource shortages, it is even possible to remotely control clinical robots from a different location to perform medical procedures.
[0043] The surgical robot system comprises a master device and a slave device. The master and slave devices communicate via wired or wireless means, allowing the master device to remotely control the slave device to perform medical procedures such as diagnosis, image acquisition, and surgery on the patient. The slave device includes a robotic arm and medical instruments connected to the robotic arm 50. The joints at the distal end of the medical instruments are driven by the pushing and pulling of ropes or threads. The driving source for the movement of the ropes or threads is a cylinder located near the instrument. The force sensing principle involves measuring the pressure difference in the cylinders using barometers installed in the air lines of each cylinder, thereby deriving the axial force of the rope or thread, and finally calculating the force on each joint at the distal end of the medical instrument. However, this method of installing barometers in the air lines of each cylinder, due to limited space and difficulty in withstanding harsh sterilization environments, results in an inability to achieve stable and reliable force sensing.
[0044] This application provides a force sensing device. The force sensing device includes a driving component 10, a force sensing module 20, and an analysis component 30. The driving component 10 is a flexible driving component. The force sensing module 20 is connected to the driving component 10 and is used to acquire sensing information related to the force experienced by the driving component 10 during medical operations. The analysis component 30 is connected to the force sensing module 20 and is used to collect the sensing information from the force sensing module 20 and analyze it to obtain the force experienced by the driving component 10 during the medical operation.
[0045] It is understood that the drive component 10 and at least part of the force sensing module 20 are disposed in the medical device 70. The structure of the drive component 10 is not specifically limited. The drive component 10 can be any flexible drive component that transmits power through a guide rope, guide belt, or guide wire. The structure of the force sensing module 20 is not specifically limited, as long as it can convert the force acting on the drive component 10 at the distal end of the medical device 70 into a physical change that can be identified by the analysis component 30.
[0046] In one embodiment, the force sensing module 20 includes a guide component 21 and a sensing element 22. The guide component 21 is connected to the drive component 10. The guide component 21 is used to guide the drive component 10 to enter and exit the force sensing module 20. The sensing element 22 is connected to the drive component. The sensing element 22 is capable of acquiring force information or displacement information related to the force exerted on the drive component 10 during medical operations.
[0047] It is understood that a base (not shown in the figure) is provided on the medical device. The guide component 21 and part of the sensing element 22 are fixed to the base. Specifically, the portion of the sensing element 22 for connecting with the drive component 10 is fixed to the base. The portion of the sensing element 22 for sensing force or displacement information related to the force exerted on the drive component during medical operations is located outside the medical device. Therefore, the sensing element 22 can withstand sterilization treatment like the medical device body without affecting its performance, and thus the force sensing module 20 can produce a stable and reliable force feedback effect.
[0048] Optionally, there are two guide components 21. The connection position between the sensing element 22 and the driving component 10 is located between the two guide components 21, and the connection position between the sensing element 22 and the driving component 10 is not collinear with the connection position between the driving component 10 and the two guide components 21. In this case, the two guide components 21 and the connection position between the sensing element 22 and the driving component 10 form a V-shaped structure.
[0049] Optionally, please see Figure 1 The sensing element 22 includes a connector 221 and a displacement sensor. The connector 221 is an elastic element. One end of the elastic element is fixed to the base, and the other end is connected to the driving component 10. The displacement sensor can be located outside the medical device. The elastic element converts parameter information related to the force exerted on the driving component 10 during the medical operation into a displacement signal.
[0050] Specifically, taking the rotation of a distal joint of a drive device as an example, a rope (drive component 10) is wound around the drive source M on the left. This rope passes around the drive source M, through a guide component 21 on the force sensing module 20, then through the end of an elastic element, through another guide component 21, and finally coupled to the rotating shaft of the device. At this point, the two guide components 21 and the end of the elastic element form a V-shaped structure. The elastic element here is exemplified by a tension spring. When the rope is subjected to increased tension, the tension spring is stretched by the force of the rope. At this time, a displacement sensor located outside the device measures the amount of spring stretch. The displacement sensor sends the measured spring stretch to the analysis component 30. The analysis component 30 uses geometric calculations based on the spring stretch to determine the change in rope tension. These geometric relationships include the geometric relationship of concurrent force balance and the triangular geometric relationship of displacement. It is understood that the analysis component 30 can be a separately configured processor. In this case, the analysis component 30 is located outside the medical device and is electrically connected to the displacement sensor. The analysis component 30 can also be directly integrated into the processor of the displacement sensor. Because the displacement sensor is located outside the medical device (e.g., fixed to the robotic arm 50), there are few limitations on its size. Therefore, there are many options for the displacement sensor; for example, eddy current distance sensors, laser distance sensors, ultrasonic distance sensors, etc., can be used. There are also various options for the elastic element used for force sensing, such as tension springs, torsion springs, rubber bands, etc.
[0051] It is understandable that the displacement sensors in sensing element 22 do not necessarily need to be used in pairs; they can also be used individually to measure the force on the rope. Furthermore, the arrangement of the elastic element in force sensing module 20 is not limited to the above-mentioned method; there can be various configuration positions. As long as the tension on the rope can be converted into displacement deformation of the elastic element, it can be included in this variation.
[0052] Optionally, please see Figure 2 The sensing element 22 includes a connector 221 and a pressure sensor. The connector 221 is a rigid element. One end of the rigid element is connected to the pressure sensor, and the other end is connected to the drive component 10. The pressure sensor can be located outside the medical device. The rigid element converts parameter information related to the force experienced by the drive component 10 during the medical operation into a pressure signal.
[0053] Specifically, taking the rotation of a distal joint of a drive device as an example, a rope (drive component 10) is wound around the drive source M on the left. This rope passes around the drive source M, through a guide component 21 on the force sensing module 20, then through the end of a rigid element, then through another guide component 21, and finally is coupled to the rotating shaft of the device. At this point, the two guide components 21 and the end of the rigid element form a V-shaped structure. This embodiment differs from the previous embodiment in that a rigid element with high rigidity is arranged radially along the rope. When the rope is subjected to increased tension, the rigid element is compressed by the force of the rope. At this time, a pressure sensor located outside the device measures the pressure information of the rigid element. The pressure sensor sends the measured pressure information of the rigid element to the analysis component 30. The analysis component 30 uses geometric calculations based on the pressure information of the rigid element to determine the change in rope tension. These geometric relationships include the geometric relationship of concurrent force balance and the triangular geometric relationship of displacement. It is understood that the analysis component 30 can be a separately configured processor. In this case, the analysis component 30 is located outside the medical device and is electrically connected to the pressure sensor. The analysis component 30 can also be directly integrated into the processor of the pressure displacement sensor.
[0054] In this embodiment, the force sensing module 20 can convert the force exerted on the driving component 10 at the distal end of the medical device into a physical change that can be identified by the analysis component 30. The force sensing module 20 has a simple structure, low cost, and is easy to manufacture. Furthermore, the analysis component 30 does not need to be installed inside the medical device body. Therefore, the above-mentioned force sensing device can produce a stable and reliable force feedback effect.
[0055] Please see Figure 3 Based on the same inventive concept, this application provides a medical device 70. The medical device 70 includes an actuating component 40 and a force sensing device.
[0056] The actuating component 40 is used to perform medical operations. The force sensing device is any one of the force sensing devices described in the above embodiments, used to detect the operating force of the actuating component 40. The actuating component 40 is driven by the pushing and pulling of the driving component 10. The actuating component 40 can be a distal joint. The analysis component 30 determines the change in tension of the driving component 10 through geometric calculations based on the spring tension or the pressure information of the rigid element, and can then deduce the force value of the actuating component 40.
[0057] When the driven distal joint (actuator 40) moves under no-load, the distance parameters detected by the two proximal sensors will have a difference. This difference is caused by friction on the rope and the inertial torque of the medical device. By reducing harmful friction from the design of the mechanical structure and compensating for the inertial torque of the medical device, the impact of this difference on the test accuracy can be reduced to a very low level.
[0058] When the distal joint of a medical device is subjected to external forces transmitted from internal tissues during surgery, the distance parameters detected by the two proximal sensors will differ significantly from those in the unloaded state. This difference includes the aforementioned cable friction, the inertial torque of the device itself, and the force transmitted to the device by the actual external load. By compensating for this difference through the internal calculations of component 30, we can obtain the result of the external force acting on the distal joint.
[0059] In this embodiment, a force sensing module 20 is provided at the proximal end of the medical device 70. This force sensing module 20 can convert the external force information received by the driving component 10 at the distal end of the medical device 70 into a physical change that can be identified by the analysis component 30. The force sensing module 20 has a simple structure, low cost, and is easy to manufacture. Furthermore, the force sensing module 20 can withstand sterilization treatment like the medical device 70 body without affecting its performance, and the analysis component 30 does not need to be located inside the medical device 70 body. Therefore, the medical device 70 can produce a stable and reliable force feedback effect.
[0060] Please see Figure 4 Based on the same inventive concept, this application provides a medical control system. The medical control system includes a robotic arm 50 for controlling surgical operations and a medical device 70 as described in the above embodiments. The medical device 70 is connected to the robotic arm 50 and is used to perform surgical operations.
[0061] It is understood that the robotic arm 50 controls the medical device 70 to perform surgical operations. The displacement sensor, pressure sensor, or analysis component 30 in the medical device 70 can be mounted on the robotic arm 50. Since the displacement sensor, pressure sensor, or analysis component 30 is located outside the medical device, there are few limitations on their size. Therefore, there are many options for the displacement sensor, pressure sensor, and analysis component 30. Furthermore, the force sensing module 20 can withstand sterilization treatment like the medical device 70 itself without affecting its performance, and the analysis component 30 does not need to be located inside the medical device 70 itself. Therefore, the medical device 70 can produce a stable and reliable force feedback effect.
[0062] Please see Figure 5 Based on the same inventive concept, this application provides a master-slave medical control system. The master-slave medical control system includes a robotic arm 50 for controlling surgical operations, a medical device 70 as described in the above embodiments, and a master hand 60 for controlling the robotic arm 50 and the medical device 70 to perform surgical operations. The medical device 70 is connected to the robotic arm 50 and is used to perform surgical operations.
[0063] In one embodiment, the master operator 60 has a force feedback device for feeding back the operating force sensed by the medical device 70 to the master operator 60, so that the operating force at the execution end is sensed by the control end; the force feedback device can also transmit the control information of the master operator 60 to the robotic arm 50 and the medical device 70 at the execution end, and control the robotic arm 50 and the medical device 70 to perform surgical operations.
[0064] Optionally, the force feedback device includes an operating component 61 and a control component 62. The operating component 61 may include a knob or a control handle. The operating component 61 simulates the operating force sensed by the medical device 70 on the main device, so that the feedback presented when the medical device 70 is operated by the main operating hand 60 is synchronized and the same as the feedback received when the robotic arm 50 operates the medical device 70. The parameter information of this real-time feedback may include various resistances (such as pressure, friction, etc.) experienced by the medical device 70 during medical operations.
[0065] The control unit 62 is electrically connected to the robotic arm 50 and the operating unit 61, respectively. The operating unit 61 controls the robotic arm 50 and the medical device 70 to perform surgical operations via the control unit 62. The control unit 62 is also communicatively connected to the analysis unit 30 for fusing and processing the operating forces sensed by the medical device 70. The operating unit 61 can provide tactile feedback based on the parameter information output by the fusing and processing by the control unit 62. Furthermore, the control unit 62 can also transmit the control information of the main manipulator 60 to the robotic arm 50 and the medical device 70 at the execution end, controlling the robotic arm 50 and the medical device 70 to perform surgical operations.
[0066] The control unit 62 can be wired to the host of the robotic arm 50 (which can be equivalent to the drive source in the embodiment of this application) via optical fiber or cable based on protocols such as PCIe and TCP / IP, or it can be connected to a wireless communication network built on TCP / IP or 5G.
[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0068] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A force sensing device, characterized in that, include: A driving component, wherein the driving component is a flexible driving component; wherein the driving component includes a rope; Two force sensing modules, connected to the driving component, are used to acquire sensing information related to the forces acting on the driving component during medical operations; and An analysis component, connected to the force sensing module, is used to collect the sensing information from the force sensing module and analyze the force exerted on the driving component during the medical operation. The analysis component includes a compensation module, which is used to compensate for the difference in the sensing information obtained by the two force sensing modules. When the sensed information is a distance parameter, the compensation module is further configured to acquire the difference between the sensed information acquired by the two force sensing modules when the execution component driven by the driving component moves without load, and to acquire the difference between the sensed information acquired by the two force sensing modules when the execution component is subjected to force; wherein, when the execution component driven by the driving component moves without load, the difference in the distance parameter includes the friction on the rope and the inertial torque of the medical device; when the execution component is subjected to force, the difference in the distance parameter includes the friction on the rope, the inertial torque of the medical device, and the force transmitted to the device by the actual external load; The compensation module is also used to compensate for the difference in the sensing information obtained by the two force sensing modules when the actuator is under force, based on the difference in the sensing information obtained by the two force sensing modules when the actuator is in no-load motion.
2. The force sensing device according to claim 1, characterized in that, The force sensing module includes: A sensing element is connected to the driving component, and the sensing element is used to acquire force information or displacement information related to the force exerted on the driving component during medical operations. A guide component, connected to the drive component, is used to guide the drive component to import and export the force sensing module.
3. The force sensing device according to claim 2, characterized in that, There are two guide components. The connection position between the sensing element and the driving component is located between the two guide components. The connection position between the sensing element and the driving component is not collinear with the connection position between the driving component and the two guide components.
4. The force sensing device according to claim 3, characterized in that, The sensing element includes a displacement sensor or a pressure sensor.
5. The force sensing device according to claim 4, characterized in that, The sensing element further includes a connector, which is connected to the driving component.
6. The force sensing device according to claim 5, characterized in that, The driving component is a flexible driving component that transmits power through a guide rope, guide belt, or guide wire.
7. The force sensing device according to claim 6, characterized in that, The connector is an elastic element. For any of the force sensing modules, the driving component passes through one of the guide components, through the end of the elastic element, and then through another guide component. The elastic element converts the sensed information related to the force exerted on the driving component during medical operations into a displacement signal; When the driving component is subjected to a larger tension, the elastic element is stretched by the force of the driving component. The displacement sensor obtains the amount of stretching of the elastic element and sends the amount of stretching of the elastic element to the analysis component.
8. The force sensing device according to claim 6, characterized in that, The connector is a rigid element. For any of the force sensing modules, one end of the rigid element is connected to the pressure sensor, and the other end of the rigid element is connected to the driving component. The driving component passes through one of the guide components, through the end of the rigid element, and then through another guide component. The rigid element converts the sensed information related to the force exerted on the driving component during medical operations into a pressure signal; When the driving component is subjected to a larger tension, the rigid element is compressed by the force of the driving component. The pressure sensor obtains the pressure information of the rigid element and sends the pressure information of the rigid element to the analysis component.
9. A medical device, characterized in that, include: Actuating components used to perform medical procedures; as well as A force sensing device, wherein the force sensing device is the force sensing device according to any one of claims 1-8, is used to detect the operating force of the actuating component.
10. A medical control system, characterized in that, include: A robotic arm used to control surgical procedures; The medical device of claim 9, wherein the medical device is connected to the robotic arm for performing surgical procedures.
11. A master-slave medical control system, characterized in that, include: A robotic arm used to control surgical procedures; The medical device of claim 9, wherein the medical device is connected to the robotic arm for performing surgical procedures; and The main operator controls the robotic arm and the medical device to perform surgical operations.
12. The master-slave medical control system as described in claim 11, characterized in that, The main operator has a force feedback device for feeding back the operating force sensed by the medical device to the main operator, so that the operating force at the execution end can be sensed by the control end; the force feedback device can also transmit the control information of the main operator to the robotic arm and the medical device at the execution end, and control the robotic arm and the medical device to perform surgical operations.