Handheld front end and control method

Abstract

The present invention provides a handheld front end and a control method. The handheld front end includes: a housing, a handheld portion for an operator to hold; a power assembly connected to the housing and having a feed portion movably arranged along a preset direction; a first lifting component and a second lifting component, the first and second lifting components being spaced apart and both connected to the power assembly and movably arranged, the first and second lifting components being movably arranged relative to each other; a rotating assembly, a rotating portion connected to the lifting assembly and used to drive the lifting assembly to rotate; a tracking assembly connected to the power assembly; and a control module, the power assembly, the lifting assembly, the rotating assembly, and the tracking assembly being all signal-connected to the control module, the control module being used to adjust the movement direction of the feed portion. This solves the technical problem of low operational precision of handheld surgical robots in related technologies.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a handheld front end and a control method. Background Art

[0002] Traditional surgical robots consist of a robotic arm, an optical camera, and a host computer. The optical camera is equivalent to an eye, which obtains the spatial posture of the end of the robotic arm through a tracer fixed on the robotic arm. The host computer then transmits motion instructions to the robotic arm, driving the guide structure at its end to move precisely to the patient's surgical position, and then the doctor performs subsequent operations.

[0003] Traditional surgical robot arms are large, expensive, and complex to operate, so handheld surgical robots have been developed.

[0004] However, the manual operation accuracy of handheld surgical robots is not high during use.

[0005] Therefore, the prior art needs to be further developed. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a handheld front end and a control method to solve the technical problem of low operating accuracy of handheld surgical robots in related technologies.

[0007] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: a handheld front end is provided, including: a shell, the shell has a handheld part, the handheld part is used for an operator to hold it; a power assembly, the power assembly is connected to the shell, the power assembly has a feed part, and the feed part is movably arranged along a preset direction; a lifting assembly, the lifting assembly includes a first lifting component and a second lifting component, the first lifting component and the second lifting component are arranged at intervals, the first lifting component and the second lifting component are both connected to the power assembly, the first lifting component and the second lifting component are both movably arranged, and the first lifting component and the second lifting component are relatively movably arranged; a rotating assembly, the rotating assembly has a rotating part, the rotating part is rotatably arranged, the rotating part is connected to the lifting assembly, and the rotating part is used to drive the lifting assembly to rotate; a tracking assembly, the tracking assembly is connected to the power assembly, and the tracking assembly is used to indicate the real-time position of the power assembly; a control module, the power assembly, the lifting assembly, the rotating assembly and the tracking assembly are all connected to the control module signal, and the control module is used to adjust the moving direction of the feed part.

[0008] Furthermore, the lifting assembly includes a first lifting cylinder and a second lifting cylinder, and the first lifting cylinder and the second lifting cylinder are arranged at intervals on the rotating part. The first lifting component is connected to the piston rod of the first lifting cylinder, and the second lifting component is connected to the piston rod of the second lifting cylinder. The control module is signal-connected to the first lifting cylinder and the second lifting cylinder to control the lifting of the first lifting cylinder and the second lifting cylinder.

[0009] Furthermore, the first lifting component includes a first connecting plate body and a second connecting plate body; there are two first connecting plate bodies, and the two first connecting plate bodies are respectively arranged on both sides of the power assembly, and the two first connecting plate bodies are provided with a first connecting protrusion on the side close to the power assembly, and the first connecting protrusion is rotatably connected to the power assembly; the two ends of the second connecting plate body are respectively connected to the two first connecting plate bodies, and the side of the second connecting plate body away from the power assembly is connected to the piston rod of the first lifting cylinder body; the second lifting component includes a third connecting plate body and a fourth connecting plate body; there are two third connecting plate bodies, and the two third connecting plate bodies are respectively arranged on both sides of the power assembly, and the two third connecting plate bodies are provided with a second connecting protrusion on the side close to the power assembly, and the second connecting protrusion is rotatably connected to the power assembly; the two ends of the fourth connecting plate body are respectively connected to the two third connecting plate bodies, and the side of the fourth connecting plate body away from the power assembly is connected to the piston rod of the second lifting cylinder body.

[0010] Furthermore, connecting grooves and sliding grooves are provided on both sides of the power component, and the sliding groove extends along the axial direction of the power component; the first connecting protrusion is relatively rotatably connected to the connecting groove; the second connecting protrusion is relatively rotatably connected to the sliding groove, and the second connecting protrusion is movably arranged in the sliding groove.

[0011] Furthermore, the handheld front end also includes a supporting structure, which includes: a first supporting component and a second supporting component, the first supporting component and the second supporting component are arranged at intervals, the first supporting component has a first axis and a second axis arranged at intervals on a side close to the second supporting component, and the second supporting component has a third axis and a fourth axis arranged at intervals on a side close to the first supporting component; the two first connecting plates are respectively provided with a first moving channel and a third moving channel, the first moving channel is used for the first axis to pass through, and the third moving channel is used for the third axis to pass through; the two third connecting plates are respectively provided with a second moving channel and a fourth moving channel, the second moving channel is used for the second axis to pass through, and the fourth moving channel is used for the fourth axis to pass through.

[0012] Furthermore, a third support component is provided, one end of the third support component is connected to the first support component, and the other end of the third support component is connected to the second support component. A connecting portion is provided on the side of the third support component away from the first support component and the second support component. The connecting portion is rotatably connected to the handheld portion relative to each other, and the third support component has a lifting channel, which is used for the first lifting component and the second lifting component to pass through.

[0013] Furthermore, the rotating assembly includes a rotating motor, which is connected to the control module signal, the control module is used to control the rotation of the rotating motor, and the rotating part is drive-connected to the rotating motor; the rotating part includes: a rotating plate body, which is connected to the motor shaft of the rotating motor; a fixed plate body, which is arranged on the rotating plate body, and the two sides of the fixed plate body are respectively provided with a first fixing part for fixing the first lifting part and a second fixing part for fixing the second lifting part.

[0014] Furthermore, the power assembly includes: a sleeve having an installation cavity therein, the sleeve being rotatably connected to the first lifting component relative to the first lifting component, the sleeve being rotatably connected to the second lifting component relative to the second lifting component, and the sleeve being movably connected to the second lifting component; a movable track, the movable track being arranged on a side of the sleeve close to the installation cavity, the extension direction of the movable track being the same as the axial direction of the installation cavity; a feed cylinder, the feed cylinder being arranged in the installation cavity, the feed part being arranged on the shaft of the feed cylinder, and the feed cylinder driving the feed part to move along the movable track.

[0015] Furthermore, a mounting portion is provided at one end of the movable rail away from the feed cylinder body, and the feed part is arranged inside the mounting portion; a first limiting portion is provided on the side of the mounting portion close to the feed cylinder body, and a second limiting portion is provided on the side of the mounting portion away from the feed cylinder body. The first limiting portion and the second limiting portion are used to limit the movement of the feed part.

[0016] A control method is applicable to the above-mentioned handheld front end, and the control method includes: holding the handheld front end to move the handheld front end to a preset surgical range; the control module controls the rotating component to drive the power component to rotate, so that the preset end point of the feed part of the power component moves to the preset surgical entry point; the control module controls the lifting component to adjust the moving direction of the feed part so that the real-time moving direction of the feed part coincides with the preset direction; the control module controls the feed part to move along the preset direction to complete the operation.

[0017] Beneficial effects:

[0018] The handheld front end of the present invention can be positioned according to the tracking component, and the axis height and direction of the power component can be adjusted according to the positioning and pre-planned surgical path, without the need to manually adjust the needle insertion position, thereby improving the accuracy of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of the internal structure of the handheld front end used in an embodiment of the present invention;

[0020] Figure 2 is a side view of a handheld front end employed in an embodiment of the present invention;

[0021] Figure 3 is a cross-sectional view of a lifting assembly of a handheld front end used in an embodiment of the present invention;

[0022] Figure 4 1 is a schematic structural diagram of a lifting assembly of a handheld front end used in an embodiment of the present invention;

[0023] Figure 5 is a cross-sectional view of a first lifting component of a handheld front end used in an embodiment of the present invention;

[0024] Figure 6 Schematic diagram of the structure of the power assembly of the handheld front end used in an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of the structure of the support structure of the handheld front end used in an embodiment of the present invention;

[0026] Figure 8 Schematic diagram of the internal structure of the power assembly of the handheld front end used in an embodiment of the present invention;

[0027] Figure 9 Schematic diagram of the lower limit of the handheld front end used in an embodiment of the present invention;

[0028] Figure 10 Schematic diagram of the lifting and lowering upper limit of the handheld front end used in an embodiment of the present invention;

[0029] Figure 11 Schematic diagram of the pitch upper limit of the handheld front end used in an embodiment of the present invention;

[0030] Figure 12 Schematic diagram of the pitch lower limit of the handheld front end used in an embodiment of the present invention;

[0031] Figure 13 Schematic diagram of the right rotation limit of the handheld front end used in an embodiment of the present invention;

[0032] Figure 14 It is a schematic diagram of the left rotation limit of the handheld front end adopted in an embodiment of the present invention.

[0033] The above drawings include the following reference numerals:

[0034] 1. Housing; 11. Handle; 2. Power assembly; 21. Feeding unit; 22. Sleeve; 221. Mounting cavity; 23. Moving track; 24. Feed cylinder; 25. Mounting unit; 251. First limiting unit; 252. Second limiting unit; 26. Connecting groove; 27. Sliding groove; 3. Lifting assembly; 31. First lifting component; 311. First connecting plate; 3111. First moving channel; 3112. Third moving channel; 312. Second connecting plate; 313. Third connecting plate; 3131. Second moving channel; 3132. Fourth Moving channel; 314, fourth connecting plate; 315, first connecting protrusion; 316, second connecting protrusion; 32, second lifting component; 33, first lifting cylinder; 34, second lifting cylinder; 4, rotating assembly; 41, rotating part; 411, rotating plate; 412, fixed plate; 4121, first fixed part; 4122, second fixed part; 5, tracking assembly; 6, supporting structure; 61, first supporting component; 611, first axis; 612, second axis; 62, second supporting component; 63, third supporting component; 631, connecting part. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0036] According to an embodiment of the present invention, a handheld front end is provided. Figures 1 to 14, comprising: a housing 1, the housing 1 having a handheld portion 11, the handheld portion 11 being used for being held by an operator; a power assembly 2, the power assembly 2 being connected to the housing 1, the power assembly 2 having a feed portion 21, the feed portion 21 being movably arranged along a preset direction; a lifting assembly 3, the lifting assembly 3 comprising a first lifting component 31 and a second lifting component 32, the first lifting component 31 and the second lifting component 32 being arranged at intervals, the first lifting component 31 and the second lifting component 32 being both connected to the power assembly 2, and the first lifting component 31 and the second lifting component 32 being movably arranged , the first lifting component 31 and the second lifting component 32 are relatively movably arranged; the rotating component 4, the rotating component 4 has a rotating part 41, the rotating part 41 is rotatably arranged, the rotating part 41 is connected to the lifting component 3, and the rotating part 41 is used to drive the lifting component 3 to rotate; the tracking component 5, the tracking component 5 is connected to the power component 2, and the tracking component 5 is used to indicate the real-time position of the power component 2; the control module, the power component 2, the lifting component 3, the rotating component 4 and the tracking component 5 are all connected to the control module signal, and the control module is used to adjust the moving direction of the feed part 21.

[0037] With this setup, the operator grasps the handheld portion 11 and moves the handheld front end. When the tracking assembly 5 detects that the handheld front end has moved within the pre-set surgical range, the control module controls the rotation assembly 4 and the lifting assembly 3 to adjust the forward direction of the power assembly 2 so that the forward direction of the power assembly 2 coincides with the preset needle insertion direction. The control module then controls the feed unit 21 to move forward, performing the needle insertion operation. In this way, the miniaturized handheld front end adjusts the needle insertion direction through the control module, eliminating the need for manual adjustment of the needle insertion position and angle, thereby improving surgical precision.

[0038] In the handheld front end of this embodiment, see Figures 1 to 3 The lifting assembly 3 includes a first lifting cylinder 33 and a second lifting cylinder 34, which are spaced apart and arranged on the rotating portion 41. The first lifting component 31 is connected to the piston rod of the first lifting cylinder 33, and the second lifting component 32 is connected to the piston rod of the second lifting cylinder 34. The control module is connected to the first lifting cylinder 33 and the second lifting cylinder 34 by signals to control the lifting and lowering of the first lifting cylinder 33 and the second lifting cylinder 34. In this way, when the control module determines that the power assembly 2 needs to be pitched based on the real-time position information of the power assembly 2 transmitted by the tracking component 5, the control module adjusts the pitch angle of the power assembly 2 by controlling the difference in the moving distances of the first lifting cylinder 33 and the second lifting cylinder 34.

[0039] Specifically, see Figure 11 and Figure 12When the power assembly 2 needs to be tilted upward, the rising distance of the first lifting cylinder 33 is greater than the rising distance of the second lifting cylinder 34; when the power assembly 2 needs to be tilted downward, the rising distance of the first lifting cylinder 33 is less than the rising distance of the second lifting cylinder 34.

[0040] In the handheld front end of this embodiment, see Figure 4 、 Figure 5 The first lifting component 31 includes a first connecting plate body 311 and a second connecting plate body 312; there are two first connecting plate bodies 311, and the two first connecting plate bodies 311 are respectively arranged on both sides of the power assembly 2. The two first connecting plate bodies 311 are each provided with a first connecting protrusion 315 on the side close to the power assembly 2, and the first connecting protrusion 315 is rotatably connected to the power assembly 2; the two ends of the second connecting plate body 312 are respectively connected to the two first connecting plate bodies 311, and the side of the second connecting plate body 312 away from the power assembly 2 is connected to the piston rod of the first lifting cylinder body ; The second lifting component 32 includes a third connecting plate body 313 and a fourth connecting plate body 314; there are two third connecting plate bodies 313, and the two third connecting plate bodies 313 are respectively arranged on both sides of the power component 2, and the two third connecting plate bodies 313 are respectively provided with a second connecting protrusion 316 on the side close to the power component 2, and the second connecting protrusion 316 is rotatably connected to the power component 2; the two ends of the fourth connecting plate body 314 are respectively connected to the two third connecting plate bodies 313, and the side of the fourth connecting plate body 314 away from the power component 2 is connected to the piston rod of the second lifting cylinder body. In this way, a first connecting protrusion 315 is inserted on both sides of the power component 2, and the first connecting protrusion 315 is rotatably arranged in the power component 2. Therefore, the first connecting plate body 311 is rotatably arranged relative to the power component 2, and the second connecting plate body 312 is connected to the two first connecting plate bodies 311. When the piston rod of the first lifting cylinder body performs a lifting movement, it drives the second connecting plate body 312 and the two first connecting plate bodies 311 to rotate relative to the power component 2; similarly, when the piston rod of the second lifting cylinder body performs a lifting movement, the third connecting plate body 313 and the fourth connecting plate body 314 also rotate relative to the power component 2.

[0041] In the handheld front end of this embodiment, see Figure 6The power assembly 2 is provided with a connecting groove 26 and a sliding groove 27 on both sides. The sliding groove 27 extends along the axis of the power assembly 2. The first connecting protrusion 315 is relatively rotatably connected to the connecting groove 26. The second connecting protrusion 316 is relatively rotatably connected to the sliding groove 27. The second connecting protrusion 316 is movably arranged in the sliding groove 27. In this way, when the power assembly 2 needs to be pitched, the first connecting protrusion 315 rotates in the connecting groove 26, and the second connecting protrusion 316 rotates in the sliding groove 27 while moving along the sliding groove 27. The connecting groove 26 and the sliding groove 27 can generate a height difference through the lifting and lowering movement of the first and second lifting cylinders, thereby completing the pitch adjustment of the power assembly 2.

[0042] In the handheld front end of this embodiment, see Figure 7The handheld front end also includes a supporting structure 6, which includes: a first supporting part 61 and a second supporting part 62, the first supporting part 61 and the second supporting part 62 are arranged at intervals, and the first supporting part 61 has a first axis 611 and a second axis 612 arranged at intervals on the side close to the second supporting part 62, and the second supporting part 62 has a third axis and a fourth axis arranged at intervals on the side close to the first supporting part 61; the two first connecting plates 311 are respectively provided with a first moving channel 3111 and a third moving channel 3112, the first moving channel 3111 is used for the first axis 611 to pass through, and the third moving channel 3112 is used for the third axis to pass through; the two third connecting plates 313 are respectively provided with a second moving channel 3131 and a fourth moving channel 3132, the second moving channel 3131 is used for the second axis 612 to pass through, and the fourth moving channel 3132 is used for the fourth axis to pass through. In this way, the support structure 6 is sleeved on the outside of the first lifting component 31 and the second lifting component 32. The first lifting component 31 is movably connected to the support structure 6 through the first shaft 611 and the third shaft, and the second lifting component 32 is movably connected to the support structure 6 through the second shaft 612 and the fourth shaft. At the same time, the first shaft 611 and the third shaft are connected to the first lifting component 31 through the first moving channel 3111 and the third moving channel 3112 respectively. The first shaft 611 passes through the first moving channel 3111, and the third shaft passes through the third moving channel 3112, so that the first lifting component 31 can be moved freely. The lifting component 31 can only move relative to the support structure 6 along the extension direction of the first axis 611 and the third axis, and plays a limiting role in other directions; the second axis 612 and the fourth axis are connected to the second lifting component 32 through the second moving channel 3131 and the fourth moving channel 3132 respectively, and the second axis 612 passes through the second moving channel 3131, and the fourth axis passes through the fourth moving channel 3132, so that the second lifting component 32 can only move relative to the support structure 6 along the extension direction of the second axis 612 and the fourth axis, and plays a limiting role in other directions.

[0043] Preferably, rollers are provided in the first moving channel 3111 , the third moving channel 3112 , the second moving channel 3131 and the fourth moving channel 3132 .

[0044] In the handheld front end of this embodiment, see Figure 7The third support member 63 has one end connected to the first support member 61 and the other end connected to the second support member 62. A connecting portion 631 is provided on the side of the third support member 63 away from the first and second support members 61, 62. The connecting portion 631 is rotatably connected to the handheld portion 11. The third support member 63 has a lifting passage for the first and second lifting members 31, 32 to pass through. In this way, the first and second lifting members 31, 32 are movably connected to the support structure 6, allowing them to move in the lifting direction within the support structure 6.

[0045] Preferably, a bearing is provided between the connecting portion 631 and the handle portion 11. In this way, the bearing not only lubricates the rotation between the connecting portion 631 and the handle portion 11, but also limits the movement of the first lifting component 31 and the second lifting component 32 in directions other than the lifting direction.

[0046] In the handheld front end of this embodiment, see Figure 1 、 Figure 3 The rotating assembly 4 includes a rotating motor, which is connected to the control module signal, the control module is used to control the rotation of the rotating motor, and the rotating part 41 is driven and connected to the rotating motor; the rotating part 41 includes: a rotating plate 411, the rotating plate 411 is connected to the motor shaft of the rotating motor; a fixed plate 412, the fixed plate 412 is arranged on the rotating plate 411, and the two sides of the fixed plate 412 are respectively provided with a first fixing part 4121 for fixing the first lifting component 31 and a second fixing part 4122 for fixing the second lifting component 32. In this way, when the control module determines that the power component 2 needs to rotate to adjust the moving direction of the feed part 21, the rotating motor drives the rotating part 41 to rotate around the rotating axis of the rotating motor, and the fixed plate 412 fixes the first lifting component 31 and the second lifting component 32 on the rotating part 41. When the rotating part 41 rotates around the motor axis, it drives the first lifting component 31 and the second lifting component 32 to rotate together. The first lifting component 31 and the second lifting component 32 drive the power component 2 to rotate along the motor axis to complete the adjustment of the moving direction of the feed part 21.

[0047] Specifically, see Figure 13 and Figure 14 When the power assembly 2 needs to be rotated and adjusted, the rotating motor drives the fixed plate 412 to rotate as a whole through the rotating plate 411.

[0048] In the handheld front end of this embodiment, see Figure 1 、 Figure 3 、 Figure 8The power assembly 2 includes: a sleeve 22, which has a mounting cavity 221 therein, the sleeve is rotatably connected to the first lifting component 31, the sleeve 22 is rotatably connected to the second lifting component 32, and the sleeve 22 is movably connected to the second lifting component 32; a movable rail 23, which is arranged on the side of the sleeve close to the mounting cavity 221, and the extension direction of the movable rail 23 is the same as the axial direction of the mounting cavity 221; a feed cylinder 24, which is arranged in the mounting cavity 221, and the feed part 21 is arranged on the shaft of the feed cylinder 24, and the feed cylinder 24 drives the feed part 21 to move along the movable rail 23. In this way, the feed cylinder 24 is arranged in the mounting cavity 221. When the control module adjusts the axis of the power assembly 2 to coincide with the preset axis, the control module controls the feed cylinder 24 to push the feed part 21 to feed along the movable rail 23, and the movable rail 23 guides the feeding of the feed part 21.

[0049] In the handheld front end of this embodiment, see Figure 1 、 Figure 3 、 Figure 8 The end of the movable rail 23 away from the feed cylinder 24 is provided with a mounting portion 25, and the feed unit 21 is disposed within the mounting portion 25. A first limiting portion 251 is provided on the side of the mounting portion 25 close to the feed cylinder 24, and a second limiting portion 252 is provided on the side of the mounting portion 25 away from the feed cylinder 24. The first limiting portion 251 and the second limiting portion 252 are used to limit the movement of the feed unit 21. In this way, the mounting portion 25 is mounted on the movable rail 23, and the feed unit 21 moves within the mounting portion 25, which can improve the smoothness of movement and feeding accuracy of the feed unit 21.

[0050] Specifically, see Figure 3 When the power assembly 2 needs to be fed, the feed cylinder 24 pushes the feed part 21 to move in the mounting part 25 to achieve feeding. The mounting part 25 is installed on the moving track 23 to ensure smooth movement and structural accuracy.

[0051] This embodiment provides a control method, which is applicable to the above-mentioned handheld front end, and the control method includes: holding the handheld front end 11 by hand to move the handheld front end to the preset surgical range; the control module controls the rotating component 4 to drive the power component 2 to rotate, so that the preset end point of the feeding part 21 of the power component 2 moves to the preset surgical entry point; the control module controls the lifting component 3 to adjust the moving direction of the feeding part 21, so that the real-time moving direction of the feeding part 21 coincides with the preset direction; the control module controls the feeding part 21 to move along the preset direction to complete the operation.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0054] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0055] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0056] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A handheld front end, characterized in that: include: A housing (1), the housing (1) having a hand-held portion (11), the hand-held portion (11) being used for being held by an operator; A power assembly (2), the power assembly (2) being connected to the housing (1), the power assembly (2) having a feeding portion (21), the feeding portion (21) being movably arranged along a preset direction; A lifting assembly (3), the lifting assembly (3) comprising a first lifting component (31) and a second lifting component (32), the first lifting component (31) and the second lifting component (32) being arranged at intervals, the first lifting component (31) and the second lifting component (32) being connected to the power assembly (2), the first lifting component (31) and the second lifting component (32) being movably arranged, and the first lifting component (31) and the second lifting component (32) being relatively movably arranged; A rotating assembly (4), the rotating assembly (4) having a rotating portion (41), the rotating portion (41) being rotatably arranged, the rotating portion (41) being connected to the lifting assembly (3), and the rotating portion (41) being used to drive the lifting assembly (3) to rotate; A tracking component (5), the tracking component (5) being connected to the power component (2), and the tracking component (5) being used to indicate the real-time position of the power component (2); A control module, wherein the power component (2), the lifting component (3), the rotating component (4) and the tracking component (5) are all connected to the control module by signal, and the control module is used to adjust the moving direction of the feeding part (21); The rotating assembly (4) includes a rotating motor, the rotating motor is connected to the control module signal, the control module is used to control the rotation of the rotating motor, the rotating part (41) is drivingly connected to the rotating motor; the rotating part (41) includes: A rotating plate (411), the rotating plate (411) being connected to the motor shaft of the rotating motor; A fixed plate body (412) is provided on the rotating plate body (411), and two sides of the fixed plate body (412) are respectively provided with a first fixing portion (4121) for fixing the first lifting component (31) and a second fixing portion (4122) for fixing the second lifting component (32).

2. The handheld front end according to claim 1, characterized in that The lifting assembly (3) includes a first lifting cylinder (33) and a second lifting cylinder (34), wherein the first lifting cylinder (33) and the second lifting cylinder (34) are arranged on the rotating part (41) at intervals, the first lifting component (31) is connected to the piston rod of the first lifting cylinder (33), and the second lifting component (32) is connected to the piston rod of the second lifting cylinder (34), and the control module is signal-connected to the first lifting cylinder (33) and the second lifting cylinder (34) to control the lifting of the first lifting cylinder (33) and the second lifting cylinder (34).

3. The handheld front end according to claim 2, characterized in that: The first lifting component (31) includes a first connecting plate body (311) and a second connecting plate body (312); there are two first connecting plate bodies (311), and the two first connecting plate bodies (311) are respectively arranged on both sides of the power component (2); the two first connecting plate bodies (311) are each provided with a first connecting protrusion (315) on a side close to the power component (2), and the first connecting protrusion (315) is rotatably connected to the power component (2); the two ends of the second connecting plate body (312) are respectively connected to the two first connecting plate bodies (311), and the side of the second connecting plate body (312) away from the power component (2) is connected to the piston rod of the first lifting cylinder body; The second lifting component (32) includes a third connecting plate body (313) and a fourth connecting plate body (314); there are two third connecting plate bodies (313), and the two third connecting plate bodies (313) are respectively arranged on both sides of the power component (2); the two third connecting plate bodies (313) are each provided with a second connecting protrusion (316) on a side close to the power component (2), and the second connecting protrusion (316) is rotatably connected to the power component (2); the two ends of the fourth connecting plate body (314) are respectively connected to the two third connecting plate bodies (313), and the side of the fourth connecting plate body (314) away from the power component (2) is connected to the piston rod of the second lifting cylinder body.

4. The handheld front end according to claim 3, characterized in that: Connecting grooves (26) and sliding grooves (27) are provided on both sides of the power assembly (2), and the sliding grooves (27) extend along the axial direction of the power assembly (2); The first connecting protrusion (315) is rotatably connected to the connecting groove (26); The second connecting protrusion (316) is rotatably connected to the sliding groove (27), and the second connecting protrusion (316) is movably arranged in the sliding groove (27).

5. The handheld front end according to claim 3, characterized in that: The handheld front end further comprises a support structure (6), the support structure (6) comprising a first support component (61) and a second support component (62), the first support component (61) and the second support component (62) being arranged at intervals, the first support component (61) having a first shaft (611) and a second shaft (612) arranged at intervals on a side close to the second support component (62), and the second support component (62) having a third shaft and a fourth shaft arranged at intervals on a side close to the first support component (61); A first movable channel (3111) and a third movable channel (3112) are respectively provided on the two first connecting plate bodies (311); the first movable channel (3111) is used for allowing the first shaft body (611) to pass through, and the third movable channel (3112) is used for allowing the third shaft body to pass through; A second movable channel (3131) and a fourth movable channel (3132) are respectively provided on the two third connecting plate bodies (313); the second movable channel (3131) is used for allowing the second shaft body (612) to pass through; and the fourth movable channel (3132) is used for allowing the fourth shaft body to pass through.

6. The handheld front end according to claim 5, characterized in that: The support structure (6) includes a third support component (63), one end of the third support component (63) is connected to the first support component (61), and the other end of the third support component (63) is connected to the second support component (62). A connecting portion (631) is provided on a side of the third support component (63) away from the first support component (61) and the second support component (62), and the connecting portion (631) is relatively rotatably connected to the handheld portion (11). The third support component (63) has a lifting channel, and the lifting channel is used for the first lifting component (31) and the second lifting component (32) to pass through.

7. The handheld front end according to claim 1, wherein: The power assembly (2) comprises: A sleeve (22), wherein the sleeve (22) has a mounting cavity (221), the sleeve (22) is relatively rotatably connected to the first lifting component (31), the sleeve (22) is relatively rotatably connected to the second lifting component (32), and the sleeve (22) is relatively movably connected to the second lifting component (32); a movable track (23), the movable track (23) being arranged on a side of the sleeve (22) close to the mounting cavity (221), and the extending direction of the movable track (23) being the same as the axial direction of the mounting cavity (221); A feed cylinder (24), wherein the feed cylinder (24) is arranged in the installation cavity (221), the feed portion (21) is arranged on the shaft of the feed cylinder (24), the feed cylinder (24) drives the feed portion (21) to move along the movable track (23), the feed cylinder (24) is connected to the control module signal, and the control module controls the piston rod of the feed cylinder (24) to extend and retract along a preset direction.

8. The handheld front end according to claim 7, characterized in that: An end of the movable rail (23) away from the feed cylinder (24) is provided with a mounting portion (25), and the feed portion (21) is arranged in the mounting portion (25); A first limiting portion (251) is provided on a side of the mounting portion (25) close to the feed cylinder (24), and a second limiting portion (252) is provided on a side of the mounting portion (25) away from the feed cylinder (24). The first limiting portion (251) and the second limiting portion (252) are used to limit the movement of the feed portion (21).

9. A control method, characterized in that: Applicable to the handheld front end according to any one of claims 1 to 8, the control method includes: Holding the handheld portion (11) by hand, the handheld front end is moved to a preset surgical range; The control module controls the rotating assembly (4) to drive the power assembly (2) to rotate, so that the preset end point of the feeding part (21) of the power assembly (2) moves to a preset surgical entry point; The control module controls the lifting component (3) to adjust the moving direction of the feeding portion (21) so that the real-time moving direction of the feeding portion (21) coincides with the preset direction; The control module controls the feeding portion (21) to move along a preset direction.

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