Rope-driven parallel multi-degree-of-freedom master manipulator and working method

Abstract

The application relates to a rope-driven parallel multi-degree-of-freedom master manipulator and a working method, a position detection-force feedback mechanism comprising at least three groups of first fisheye joints which are uniformly arranged on a vertical plate in a circumferential direction, a supporting frame being arranged at the center of the first fisheye joints, the supporting frame rotating around a vertical shaft, a telescopic rod penetrating through the supporting frame and being engaged with a gear, the telescopic rod rotating around a horizontal shaft, the vertical shaft, the horizontal shaft and the gear being respectively connected with corresponding servo motors and encoders; a posture detection-force feedback mechanism comprising a handle disc, one side of the handle disc being connected with a handle and the other side being connected with the telescopic rod; the handle disc being uniformly provided with at least three groups of second fisheye joints in a circumferential direction, each group of the second fisheye joints being connected with corresponding first fisheye joints through driving wires, the first fisheye joints being internally provided with winding wheels, servo motors and encoders which are connected with the driving wires in a corresponding mode. Feedback forces of corresponding positions and postures are generated to the handle through the encoders and the servo motors.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a rope-driven parallel multi-degree-of-freedom master manipulator and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Minimally invasive surgical robots reach the surgical site through minimally invasive incisions or natural cavities in the human body. During robotic minimally invasive surgery, a master-slave control mode is generally adopted. The surgeon operates the master hand to control the distal robotic arm to perform the surgery. The part operated by the surgeon is called the master hand (master operator), and the distal part that performs the actions is called the slave hand.

[0004] The master-slave separation design relies on the motion mapping between the master hand and the slave hand. Although it has greater flexibility and can handle some complex surgical operations, it lacks force feedback for the master hand part operated by the doctor, which affects the doctor's precision in controlling the master hand to perform surgical operations. Although some existing technologies can achieve force feedback, they have many problems such as complex structure, large rotational inertia, and high price. Summary of the Invention

[0005] To address the technical problems mentioned above, this invention provides a rope-driven parallel multi-degree-of-freedom master manipulator and its working method. By combining the drive wire between two sets of fisheye joints and the telescopic rod connected to the handle, the spatial position and attitude of the handle can be calculated, and force feedback can be provided to the handle in three positional degrees of freedom and three orientation degrees of freedom.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a rope-driven parallel multi-degree-of-freedom master operator, including a base, with a mounting plate connected to the upper surface of the base;

[0008] The position detection-force feedback mechanism includes at least three sets of first fisheye joints evenly arranged along the circumference on the mounting plate. A support frame that rotates around a vertical axis is provided at the center of the circle formed by the first fisheye joints. A gear is rotatably connected to the support frame. A telescopic rod with a rack passes through the support frame and rotates around a horizontal axis. The horizontal axis is connected to the support frame. The rack meshes with the gear. The vertical axis, horizontal axis and gear are respectively connected to the corresponding servo motors. All servo motors are equipped with encoders.

[0009] The posture detection-force feedback mechanism comprises a handle disc, one side of the handle disc is connected with a handle, and the other side is connected with one end of an extension rod through a universal joint; at least three groups of second fisheye joints are evenly arranged on the side of the handle disc connected with the extension rod in the circumferential direction, each group of second fisheye joints is connected with a corresponding first fisheye joint through a driving wire, a winding wheel corresponding to the driving wire is arranged in the first fisheye joint, the winding wheel is connected with the rotating shaft of a driving wire servo motor, and a driving wire servo encoder is arranged on the driving wire servo motor.

[0010] Further, when the horizontal rotation angle and the vertical rotation angle of the extension rod are both zero, the projection center of the second fisheye joint on the stand plate and the projection center of the first fisheye joint on the stand plate form a connecting line, and the connecting lines are arranged at a set angle.

[0011] Further, the servo motor comprises a horizontal swing servo motor, a vertical swing servo motor and a front-back moving servo motor, the rotating shaft of the horizontal swing servo motor is connected with the vertical shaft, the rotating shaft of the vertical swing servo motor is connected with the horizontal shaft, a gear is connected with the rotating shaft of the front-back moving servo motor, and all the servo motors are connected with corresponding encoders.

[0012] Further, the extension rod passes through the support frame and is connected with a sliding sleeve on the horizontal shaft, and the cross sections of the sliding sleeve and the extension rod are rectangular.

[0013] Further, a rack is arranged on the extension rod, the rack is meshed with a gear on the support frame, the gear is connected with the rotating shaft of the front-back moving servo motor, the front-back moving servo motor is fixed on the sliding sleeve, and the front-back moving servo motor is connected with a corresponding encoder.

[0014] Further, the handle disc is connected with one end of the extension rod through a disc universal joint.

[0015] Further, a second fisheye driving wire guide tube is arranged on the second fisheye joint, one end of the driving wire is fixedly connected with the second fisheye joint, the other end of the driving wire passes out from the second fisheye driving wire guide tube, passes through a first fisheye driving wire guide tube in the first fisheye joint and is connected with a driving wire length measuring device and a tension adjusting device in the first fisheye joint.

[0016] Further, the driving wire length measuring device and the tension adjusting device comprise a driving wire winding wheel, a driving wire servo motor and a driving wire servo encoder; the driving wire entering the first fisheye joint is wound on the driving wire winding wheel, the driving wire winding wheel is connected with the rotating shaft of the driving wire servo motor, the driving wire servo motor is connected with the driving wire servo encoder, and the driving wire length change is measured through the driving wire servo encoder.

[0017] Further, a handle rotating servo motor is arranged at the center of the handle disc, a rotating shaft of the handle rotating servo motor is connected with the handle, the handle rotating servo motor is connected with an encoder, the rotating angle of the handle around the center axis of the handle disc is measured through the encoder, and feedback force is output to the handle by the handle rotating servo motor.

[0018] The second aspect of the application provides a working method of the rope-driven parallel multi-freedom master manipulator, comprising the following steps:

[0019] When the handle and the telescopic rod change positions, the rotating angle of the support frame around the vertical shaft, the rotating angle of the telescopic rod around the horizontal shaft, and the rotating angle of the gear driven by the rack are obtained through the corresponding encoders, the position of the center of the handle disc is calculated, and further, feedback force in the corresponding direction is generated to the handle by the telescopic rod through the servo motor corresponding to the encoder under the cooperation of the position detection-force feedback mechanism;

[0020] When the handle and the telescopic rod change postures, the length change of the driving wire is obtained through the winding wheel and the encoder in the first fisheye joint under the condition that the position of the center of the handle disc is known, the rotating angles of the handle disc in the horizontal and vertical directions are obtained, and the posture adjustment force in the horizontal and vertical directions is fed back to the handle through the servo motor connected with the winding wheel under the cooperation of the servo motor in the position detection-force feedback mechanism.

[0021] The rotating angle of the handle around the center axis of the handle disc is obtained through the encoder, and feedback force is output to the handle by the corresponding handle rotating servo motor.

[0022] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0023] The handle action of the master manipulator is divided into position change and posture change, two groups of fisheye joints arranged in parallel and connected through the driving wire and the cooperating telescopic rod are used, so that the horizontal angle change, the vertical angle change and the front and back length change caused by the position change can be captured by the encoders arranged on the vertical shaft, the horizontal shaft and the gear, so that feedback force of the position change is generated to the handle by the corresponding servo motor under the cooperation of the driving wire; the position change and the posture change of the handle are separated, the length change of the driving wire caused by the posture change of the manipulator can be separated under the premise that the position of the handle disc is known, the length change of the driving wire is obtained through the winding wheel and the encoder in the first fisheye joint, the rotating angles of the handle in the horizontal and vertical directions are obtained, and the length and the tension of the driving wire are changed by the servo motor in the first fisheye joint to provide feedback force caused by the posture change to the handle under the cooperation of the servo motor in the position detection-force feedback mechanism, so that the overall structure is simpler. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated into and constitute a part of the specification. The embodiments of the application, and their

[0025] Figure 1 is a structural schematic diagram of the front side view of the main operating hand provided by one or more embodiments of the application;

[0026] Figure 2 is a structural schematic diagram of the back side view of the main operating hand provided by one or more embodiments of the application;

[0027] Figure 3 is a structural schematic diagram of the first fisheye joint of the main operating hand provided by one or more embodiments of the application;

[0028] Figure 4 is a structural schematic diagram of the second fisheye joint of the main operating hand provided by one or more embodiments of the application.

[0029] In the figure: 1 base, 2 first fisheye joint, 3 handle disc, 4 driving wire, 5 handle rotation servo motor, 6 handle, 7 telescopic rod, 8 horizontal swing servo motor, 9 forward and backward movement servo motor, 10 vertical swing servo motor, 11 gear, 12 support frame, 13 second fisheye joint, 14 second fisheye cover, 15 vertical shaft, 16 horizontal shaft, 17 sliding sleeve, 18 first fisheye cover, 19 fisheye ball socket, 20 assembled stand, 21 disc universal joint, 22 second fisheye driving wire guide tube, 2-1 first fisheye joint shell, 2-2 first fisheye driving wire guide tube, 2-3 driving wire winding wheel, 2-4 driving wire servo motor, 2-5 driving wire servo encoder. DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings and embodiments.

[0031] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application pertains.

[0032] Term explanation:

[0033] Rope drive refers to the use of the bending and tension of the rope to realize the movement of the object. The rope is made of flexible metal or non-metal driving wire, such as steel wire rope, nylon rope, etc.

[0034] Fisheye joint refers to a spherical outer ring with a group of spherical rollers forming a movable joint, which can be realized by a fisheye bearing, capable of bearing larger radial load in smaller installation space, and also capable of coping with axial load.

[0035] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0036] As introduced in the background, the master-slave separation surgical robot design relies on the action mapping between the master hand and the slave hand, although it has higher flexibility and can cope with some complex surgical operations, but the master hand part operated by the doctor lacks force feedback, which affects the accuracy of the doctor controlling the master hand to operate the surgery. Some existing technologies can realize force feedback, but there are many problems such as complex structure, large rotational inertia, high price and so on.

[0037] Therefore, the following embodiments give a rope-driven parallel multi-degree-of-freedom master operating hand and a working method, which can provide force feedback to the handle in three position degrees of freedom and three attitude degrees of freedom of the handle by combining the driving wire between the two groups of fish eye joints and the telescopic rod connected with the handle.

[0038] Embodiment one:

[0039] As shown in Figure 1 A rope-driven parallel multi-degree-of-freedom master operating hand, comprising a base 1, a mounting stand 20 is connected to the upper surface of the base 1, at least three groups of first fish eye joints 2 are uniformly arranged on the mounting stand 20 in the circumferential direction, a support frame 12 is arranged at the center of the circle surrounded by the first fish eye joints 2, the support frame 12 rotates around the vertical shaft 15, the telescopic rod 7 passes through the sliding sleeve 17, engages with the gear 11, and rotates around the horizontal shaft 16;

[0040] One end of the telescopic rod 7 passes through the sliding sleeve 17, and the other end is connected to one side of the handle disc 3 through the disc universal joint 21, a handle rotating servo motor 5 is installed at the center of the other side of the handle disc 3, and the handle rotating servo motor 5 is connected with the handle 6; at least three groups of second fish eye joints 13 are uniformly arranged on the side of the handle disc 3 connected with the telescopic rod 7 in the circumferential direction, and each group of second fish eye joints 13 is connected with the corresponding first fish eye joint 2 through the driving wire 4;

[0041] When the horizontal rotation angle and the vertical rotation angle of the telescopic rod 7 are both zero, the projection center of the second fish eye joint 13 on the mounting stand 20 and the projection center of the first fish eye joint 2 on the mounting stand 20 form a connecting line, and the connecting lines are mutually arranged at a set angle.

[0042] In this embodiment, a mounting plate 20 is provided on the base 1, and three sets of fish-eye sockets 19 are evenly arranged on the mounting plate 20 along the circumferential direction to accommodate the corresponding first fish-eye joint 2.

[0043] The mounting plate 20 is provided with a vertical shaft 15, the support frame 12 rotates around the vertical shaft 15, the vertical shaft 15 is connected to a horizontal swing servo motor 8, and the horizontal swing servo motor 8 is provided with an encoder.

[0044] Combination Figure 1 , Figure 2 The working principle of position detection-force feedback is explained below. The mounting plate 20 has mounting holes for a vertical shaft 15. The support frame 12 rotates horizontally around the vertical shaft 15, and the vertical shaft 15 is fixedly connected to the shaft of the horizontal swing servo motor 8. The horizontal swing servo motor 8 is fixedly mounted on the mounting plate 20. Therefore, the horizontal swing angle of the telescopic rod 7 can be detected by the encoder at the end of the horizontal swing servo motor 8. With the cooperation of the drive wire 4, the horizontal swing servo motor 8 can provide horizontal feedback force to the handle 6 through the telescopic rod 7.

[0045] The support frame 12 is provided with a horizontal shaft 16. The telescopic rod 7 passes through the sliding sleeve 17 and is connected to the support frame 12 via the horizontal shaft 16. The sliding sleeve 17 rotates around the horizontal shaft 16. The horizontal shaft 16 is connected to the vertical swing servo motor 10, and the vertical swing servo motor 10 is connected to the encoder.

[0046] like Figure 1 As shown, a horizontal shaft 16 mounting hole is provided at the vertical center of the support frame 12, and a sliding sleeve 17 is provided at the center of the horizontal shaft 16. The sliding sleeve 17 is fixedly connected to the horizontal shaft 16. The telescopic rod 7 can rotate around the horizontal shaft 16. The horizontal shaft 16 is fixedly connected to the rotating shaft of the vertical swing servo motor 10. The vertical swing servo motor 10 is fixed on the support frame 12. The angle of the telescopic rod 7 swinging up and down can be measured by the encoder at the end of the vertical swing servo motor 10. With the cooperation of the drive wire 4, the vertical swing servo motor 10 can provide vertical feedback force to the handle 6 through the telescopic rod 7.

[0047] The telescopic rod 7 is equipped with a rack, which meshes with the gear 11 on the support frame 12. The gear 11 is connected to the shaft of the forward and backward servo motor 9. The forward and backward servo motor 9 is fixed on the sliding sleeve 17 and is connected to the corresponding encoder.

[0048] like Figure 1 As shown, the forward and backward displacement of the telescopic rod 7 can be measured by the encoder at the end of the forward and backward servo motor 9. With the cooperation of the drive wire 4, the forward and backward servo motor 9 can provide feedback force in the forward and backward direction to the handle 6 through the telescopic rod 7.

[0049] Combination Figure 2The working principle of the attitude detection-force feedback is explained by Figure 2 It can be seen that the handle disc 3 is connected to one end of the telescopic rod 7 through the disc universal joint 21, and the cross section of the telescopic rod 7 and the sliding sleeve 17 are rectangular, so the handle disc 3 can be adjusted in attitude around the horizontal rotation shaft and the vertical rotation shaft at the end of the telescopic rod 7, but cannot rotate.

[0050] The position of the end of the telescopic rod 7 is available under the measurement of the encoders installed on the horizontal swing servo motor 8, the front-back moving servo motor 9 and the vertical swing servo motor 10, and the lengths of the three driving wires 4 are available when the attitude of the handle disc 3 does not change.

[0051] It is known that the change of the position of the handle disc 3 will cause the change of the length of the driving wire 4, and the horizontal and vertical rotation angles of the handle disc 3 are obtained by measuring the change of the length of the driving wire 4. Further, under the cooperation of the output forces of the horizontal swing servo motor 8, the front-back moving servo motor 9 and the vertical swing servo motor 10, the attitude adjustment force in the horizontal and vertical directions can be fed back to the handle 6 by changing the tension of the three groups of driving wires 4.

[0052] The working principle of the length measurement and tension adjustment of the driving wire 4 is explained in combination with Figure 2 , Figure 3 As shown in Figure 2 , the handle disc 3 is uniformly provided with three groups of second fish-eye joint sockets in the circumferential direction, the second fish-eye joint 13 is arranged in the second fish-eye joint socket and fixed through the second fish-eye cover 14, the second fish-eye joint 13 is provided with a second fish-eye driving wire guide pipe 22, the driving wire 4 is fixedly connected with the second fish-eye joint 13 and passes out from the second fish-eye driving wire guide pipe 22 and passes into the first fish-eye driving wire guide pipe 2-2 of the first fish-eye joint 2, and the length measurement device and the tension adjustment device of the driving wire 4 are arranged in the first fish-eye joint 2.

[0053] When the horizontal rotation angle and the vertical rotation angle of the telescopic rod 7 are both zero, the connecting line between the projection center of the second fish-eye joint 13 on the mounting vertical plate 20 and the projection center of the first fish-eye joint 2 on the mounting vertical plate 20 forms an included angle of 120 degrees between the connecting lines. The second fish-eye joint 13 and the first fish-eye joint 2 can freely rotate in the respective fish-eye sockets, and when the driving wire 4 maintains a certain tension, the center axes of the first fish-eye driving wire guide pipe 2-2 and the second fish-eye driving wire guide pipe 22 are always collinear under the guidance of the first fish-eye driving wire guide pipe 2-2 and the second fish-eye driving wire guide pipe 22.

[0054] As shown in Figure 3 , the first fish-eye joint 2 is disassembled to explain the working principle of the driving wire 4. The driving wire 4 passes into the first fish-eye driving wire guide pipe 2-2 and connects with the length measurement device and the tension adjustment device after entering the first fish-eye joint shell 2-1.

[0055] In this embodiment, the length measuring device and the tension adjusting device include a driving wire winding wheel 2-3, a driving wire servo motor 2-4, and a driving wire servo encoder 2-5. Specifically, the driving wire 4 entering the first fish-eye joint shell 2-1 is wound on the driving wire winding wheel 2-3, the driving wire winding wheel 2-3 is fixedly connected with the driving wire servo motor 2-4, the driving wire servo motor 2-4 is provided at the end with the driving wire servo encoder 2-5 to measure the length change amount of the driving wire, and the length and tension of the driving wire 4 can be changed through the driving wire servo motor 2-4. The first fish-eye bottom plate is provided with a motor mounting bracket, the driving wire servo motor 2-4 is fixedly connected with the first fish-eye bottom plate through the motor mounting bracket. The first fish-eye bottom plate is fixedly connected with the first fish-eye joint shell 2-1 through bolts.

[0056] Through Figure 1 Further, the working principle of the posture detection / force feedback is described as follows. The handle disc 3 is fixedly provided with a handle rotating servo motor 5 at the center position, the handle 6 is fixed on the rotating shaft of the handle rotating servo motor 5, the rotating angle of the handle around the center axis of the handle disc 3 can be measured through the end encoder of the handle rotating servo motor 5, and the output feedback force of the handle rotating servo motor 5 can be transmitted to the handle 6.

[0057] In the above structure, the handle action of the master manipulator is divided into position change and posture change, two groups of fish-eye joints arranged in parallel and connected through driving wires and the matched telescopic rods are used to make the horizontal position change, the vertical position change and the front-back position change of the handle be captured by the encoders matched on the vertical shaft, the horizontal shaft and the gear, so that the feedback force of the position change of the handle is generated to the handle by using the corresponding servo motors under the cooperation of the driving wires; since the position of the handle is known, the length change of the driving wire caused by the position change of the handle is also available, the length change amount of the driving wire is further obtained through the winding wheel and the encoder in the first fish-eye joint, the posture angle of the handle in the horizontal and vertical directions is calculated and separated, and the feedback force caused by the posture change of the handle is provided to the handle by using the servo motor in the first fish-eye joint to drive the winding wheel to change the length and tension of the driving wire under the cooperation of the servo motor in the position detection-force feedback mechanism, so that the overall structure is simpler. Compared with the master manipulator constructed by rigid connecting rods (parallel / series), the use of wire driving reduces the processing complexity, reduces the mass of the mechanism, and reduces the moment of inertia of the master hand. At the same time, most of the motors are installed on the equipment vertical plate, which reduces the mass of the end of the master hand, which further reduces the moment of inertia of the moving end of the master hand.

[0058] Embodiment two:

[0059] The working method of the above-mentioned rope-driven parallel multi-degree-of-freedom master manipulator is given, which includes the following steps:

[0060] When the handle changes position together with the telescopic rod, the angle of rotation of the support frame around the vertical axis, the angle of rotation of the telescopic rod around the horizontal axis, and the angle of rotation of the gear driven by the rack are obtained by the corresponding encoders, and under the cooperation of the driving wire in the position detection-force feedback mechanism, a corresponding direction feedback force is generated to the handle by the telescopic rod through the servo motor corresponding to the encoder;

[0061] When the handle changes position together with the telescopic rod, the angle of rotation of the support frame around the vertical axis, the angle of rotation of the telescopic rod around the horizontal axis, and the angle of rotation of the gear driven by the rack are obtained by the corresponding encoders, and under the cooperation of the driving wire in the position detection-force feedback mechanism, a corresponding direction feedback force is generated to the handle by the telescopic rod through the servo motor corresponding to the encoder;

[0062] The rotation angle of the handle around the handle disc center axis is obtained by the encoder, and the handle output feedback force is output by the corresponding handle rotation servo motor.

[0063] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A rope-driven parallel multi-degree-of-freedom master manipulator characterized by, The base is provided with a mounting plate on the upper surface thereof; The position detection-force feedback mechanism comprises at least three groups of first fisheye joints arranged uniformly in the circumferential direction on the mounting plate, a support frame provided at the center of the circle formed by the first fisheye joints and rotating about a vertical axis, a gear rotatingly connected to the support frame, a rack-and-pinion telescopic rod penetrating through the support frame and rotating about a horizontal axis, the horizontal axis being connected to the support frame, the rack being engaged with the gear, the vertical axis, the horizontal axis and the gear being respectively connected to corresponding servo motors, and all the servo motors being provided with encoders. The attitude detection-force feedback mechanism comprises a handle disc, the handle disc being connected to a handle on one side and connected to one end of the telescopic rod through a universal joint on the other side, the handle disc being provided with at least three groups of second fisheye joints uniformly arranged in the circumferential direction on one side of the handle disc connected to the telescopic rod, each group of the second fisheye joints being connected to the corresponding first fisheye joint through a driving wire, the first fisheye joint being provided with a wire reel corresponding to the driving wire, the wire reel being connected to the rotating shaft of a driving wire servo motor, and the driving wire servo motor being provided with a driving wire servo encoder.

2. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator according to claim 1, characterized in that When the horizontal rotation angle and the vertical rotation angle of the telescopic rod are both zero, the projection center of the second fisheye joint on the mounting plate and the projection center of the first fisheye joint on the mounting plate form a connecting line, and the connecting lines are mutually arranged at a set angle.

3. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, The vertical axis is connected to the rotating shaft of a horizontal swing servo motor, the horizontal axis is connected to the rotating shaft of a vertical swing servo motor, the gear is connected to the rotating shaft of a forward-and-backward movement servo motor, and all the servo motors are respectively connected to corresponding encoders.

4. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, The telescopic rod penetrates through the support frame and is connected to a sliding sleeve on the horizontal axis, and the cross sections of the telescopic rod and the sliding sleeve are rectangular.

5. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, The telescopic rod is provided with a rack, the rack is engaged with the gear on the support frame, the gear is connected to the rotating shaft of the forward-and-backward movement servo motor, the forward-and-backward movement servo motor is fixed on the sliding sleeve, and the forward-and-backward movement servo motor is connected to a corresponding encoder.

6. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, The handle disc is connected to one end of the telescopic rod through a disc universal joint.

7. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, The second fisheye joint is provided with a second fisheye driving wire guide tube, one end of the driving wire is fixedly connected to the second fisheye joint, the other end of the driving wire penetrates out of the second fisheye driving wire guide tube, penetrates through a first fisheye driving wire guide tube in the first fisheye joint, and is connected to a driving wire length measuring device and a tension adjusting device in the first fisheye joint.

8. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 7, wherein, The driving wire length measuring device and the tension adjusting device comprise a driving wire reel, a driving wire servo motor and a driving wire servo encoder; the driving wire entering the first fisheye joint is wound on the driving wire reel, the driving wire reel is connected to the rotating shaft of the driving wire servo motor, the driving wire servo motor is connected to the driving wire servo encoder, and the driving wire length change is measured through the driving wire servo encoder.

9. The rope-driven parallel kinematic multi-degree-of-freedom master manipulator of claim 1, wherein, A handle rotation servo motor is arranged at the center of the handle disc, the rotating shaft of the handle rotation servo motor is connected to the handle, the handle rotation servo motor is connected to an encoder, the rotation angle of the handle about the center axis of the handle disc is measured through the encoder, and the handle rotation servo motor is used to output a feedback force to the handle.

10. A method of operating a rope-driven parallel kinematic multi-degree-of-freedom master manipulator according to any one of claims 1 to 9, characterized in that The method comprises the following steps: When the handle changes position together with the telescopic rod, the angle of the support frame rotating around the vertical axis, the angle of the telescopic rod rotating around the horizontal axis, and the angle of the gear rotating driven by the rack are obtained by the corresponding encoders, and the feedback force corresponding to the direction is generated to the handle by the telescopic rod through the cooperation of the driving wire in the posture detection-force feedback mechanism and the servo motor corresponding to the encoder; When the handle changes posture together with the telescopic rod, the length change of the driving wire is obtained by the winding wheel and the encoder in the first fisheye joint, and the rotating angles of the handle disc in the horizontal and vertical directions are obtained, and the posture adjustment force in the horizontal and vertical directions is fed back to the handle through the servo motor connected with the winding wheel under the cooperation of the servo motor in the position detection-force feedback mechanism. The rotating angle of the handle around the handle disc center axis is obtained by the encoder, and the feedback force is output to the handle by the corresponding handle rotating servo motor.

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