Master-slave operation surgical robot system with force feedback

Abstract

The invention provides a master-slave operation surgical robot system with force feedback, which comprises a master manipulator module, a slave actuator module and an upper computer, the master manipulator module and the slave actuator module are both in communication connection with the upper computer, the slave actuator module is provided with a torque sensor, the sensor is used for collecting a torque signal and sending the torque signal to the upper computer, and the upper computer is connected with the master manipulator module. The main manipulator module is provided with a force feedback motor which is used for applying resistance torque. A torque signal is collected from a torque sensor of an actuator module and sent to an upper computer, the torque signal is analyzed and judged by means of the upper computer, and then an instruction is sent to a main manipulator module, so that a force feedback motor of the main manipulator module generates a resistance torque, force feedback of a doctor during operation of the main manipulator module is achieved, and the operation efficiency is improved. Reliability and precision of force feedback of the master manipulator module are guaranteed, and an accurate and reliable surgical operation process is formed between the master manipulator module and the slave actuator module through continuous communication and iteration.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a master-slave operation surgical robot system with force feedback. Background Art

[0002] Minimally invasive surgery is a type of surgery that doctors perform with the help of an endoscope and special surgical instruments without causing large incisions. In order to achieve the effect of less trauma and better postoperative recovery, minimally invasive surgery has gone through a development process from multi-hole and single-hole laparoscopic surgery to natural orifice surgery. Natural orifice laparoscopic surgery is a method of performing surgery by passing a robotic arm through the human cavity to the diseased tissue, which can achieve the effect of leaving no scars on the body surface. At present, the design of endoscopic minimally invasive surgical robots and the research on related key technologies have become one of the research hotspots in the field of surgical robots. Existing endoscopic minimally invasive surgical robots generally adopt a master-slave operation mode. The master operator is a human-machine interaction device between the doctor and the slave actuator. The doctor controls the master operator to enable the slave actuator to perform lesion exploration and human tissue manipulation in the cavity.

[0003] In order to enable doctors to feel the interaction force between the human body tissue, the master manipulator should usually have a force feedback function. Traditional force feedback master manipulators are usually of general design, which have the disadvantages of lack of freedom, mismatch of workspace, limited output range of posture angle, insufficient wrist flexibility, etc. for surgical robot systems. In addition, there are defects such as insufficient force feedback accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a master-slave operation surgical robot system with convenient operation by a master operator and high force feedback accuracy in view of the deficiencies existing in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned object, the present invention provides a master-slave operation surgical robot system with force feedback, comprising a master manipulator module, a slave actuator module and a host computer, wherein the master manipulator module and the slave actuator module are both communicatively connected to the host computer, the slave actuator module is provided with a torque sensor, the sensor is used to collect torque signals and send them to the host computer, the master manipulator module is provided with a force feedback motor, the force feedback motor is used to apply a resistance torque, so that the hand can feel force feedback during the operation; The master operator module includes a master hand yaw component, a master hand pitch component, a master hand rotation component and a master hand shearing component; the master hand yaw component is used to control the overall yaw angle of the slave actuator module, which corresponds to the yaw angle of the wrist during operation; the master hand pitch component is used to control the overall pitch angle of the slave actuator module, which corresponds to the pitch angle of the wrist during operation; the master hand rotation component is used to control the overall rotation angle of the slave actuator module, which corresponds to the rotation angle of the wrist relative to the central axis of the forearm during operation; the master hand shearing component is used to control the opening and closing of the clamping and shearing part of the slave actuator module, which corresponds to the shearing action of the fingers during operation.

[0006] The slave actuator module includes an actuator driving end and an actuator end, and the actuator driving end includes a plurality of actuator driving motors and an actuator driving seat.

[0007] The execution process of the system includes the execution drive motor driving the execution terminal, the torque sensor collecting the torque signal, transmitting the signal to the host computer, the host computer analyzing and judging the torque signal through the trained deep learning model to obtain the state of each degree of freedom of the execution terminal, the host computer sending instructions to the various force feedback motors of the main operator module, the force feedback motor responds, the hand feels the resistance torque of the force feedback motor and adjusts the operation state accordingly, and the process is cyclic.

[0008] Furthermore, the master hand yaw assembly includes a yaw force feedback motor and a support base, the support base is connected to the yaw force feedback motor, and the master hand pitch assembly is connected to the support base. The resistance torque applied by the yaw force feedback motor causes the yaw movement of the support base and wrist to be subjected to a resistance consistent with the execution end.

[0009] Furthermore, the support seat is configured in a semicircular ring shape, which facilitates the placement of the wrist on the support seat during operation.

[0010] Furthermore, the master hand pitch assembly includes a pitch force feedback motor and a connecting rod, the connecting rod is connected to the pitch force feedback motor, the pitch force feedback motor is connected to the support seat, the master hand rotation assembly and the master hand shear assembly are connected to the connecting rod, and the resistance torque applied by the pitch force feedback motor causes the pitch movement of the connecting rod and the wrist to be subjected to resistance consistent with the execution end.

[0011] Furthermore, the connecting rod is configured to be in a gantry shape, the first end of the connecting rod is connected to the pitch force feedback motor, the support seat is also connected to a gravity balance motor, the second end of the connecting rod is connected to the gravity balance motor, and the gravity balance motor is used to generate a balancing torque opposite to the gravity torque formed by the main hand rotation assembly and the main hand shear assembly on the connecting rod.

[0012] Furthermore, the main hand rotation assembly includes a rotational force feedback motor and a rotating seat, the rotational force feedback motor is connected to the connecting rod, the first end of the rotating seat is connected to the rotational force feedback motor, and the second end of the rotating seat is connected to the main hand shearing assembly, and the resistance torque applied by the rotational force feedback motor causes the rotational movement of the rotating seat and wrist to be subjected to resistance consistent with the execution end.

[0013] Furthermore, the main hand shearing assembly includes a shearing force feedback motor, a shearing seat, a handle and a control trigger. The shearing seat is connected to the second end of the rotating seat, the handle is connected to the shearing seat, the shearing force feedback motor is arranged on the shearing seat, the control trigger is connected to the shearing force feedback motor, and the control trigger is provided with a ring. The resistance torque applied by the shearing force feedback motor causes the movement of the shearing seat and fingers to be subjected to resistance consistent with the execution end.

[0014] Furthermore, the rotation axis of the control trigger is arranged parallel to the rotation axis of the main hand pitch assembly, and is arranged orthogonally to the rotation axis of the main hand rotation assembly, so as to conform to the operating habits of the hand and make the wrist pitch and shear operations smooth.

[0015] Furthermore, the execution drive motor includes a yaw drive motor, a pitch drive motor, a rotation drive motor and a shear drive motor, and the yaw drive motor, the pitch drive motor, the rotation drive motor and the shear drive motor are respectively connected to the execution end through corresponding steel wires, and each of the execution drive motors is configured with the torque sensor.

[0016] The above scheme of the present invention has the following beneficial effects: The master-slave operation surgical robot system with force feedback provided by the present invention collects torque signals from the torque sensor of the actuator module and sends them to the host computer, relies on the host computer to analyze and judge the torque signals, and then sends instructions to the master operator module to make the force feedback motor of the master operator module generate resistance torque, thereby realizing force feedback when the doctor operates the master operator module, ensuring the reliability and accuracy of the force feedback of the master operator module, and forming an accurate and reliable surgical operation process through continuous communication and iteration between the master operator module and the slave actuator module; The master-slave operation surgical robot system with force feedback provided by the present invention has four degrees of freedom components of the master operation hand module that conform to the movement habits of human hands, allowing doctors to have better hand operation space. At the same time, each component is reasonably arranged to ensure the comfort, convenience and accuracy of the doctor's operation. Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the present invention; Figure 2 It is an overall schematic diagram of the main operator module of the present invention; Figure 3 It is an overall schematic diagram of the slave actuator module of the present invention; Figure 4 It is a flow chart of the corresponding steps of the present invention.

[0018] [Description of Reference Numerals] 10-main operator module; 11-yaw force feedback motor; 12-support seat; 13-pitch force feedback motor; 14-connecting rod; 15-rotational force feedback motor; 16-rotating seat; 17-shear force feedback motor; 18-shear seat; 19-handle; 110-control trigger; 111-gravity balance motor; 20-slave actuator module; 21-torque sensor; 22-yaw drive motor; 23-pitch drive motor; 24-rotation drive motor; 25-shear drive motor; 26-execution drive seat; 30-host computer. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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 work are within the scope of protection of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] like Figure 1 As shown, an embodiment of the present invention provides a master-slave operation surgical robot system with force feedback, including a master operator module 10, a slave actuator module 20 and a host computer 30. Among them, the master operator module 10 is used for direct operation by the doctor's hand, and the slave actuator module 20 is used to control and perform lesion exploration and human tissue operation in the cavity. The master operator module 10 and the slave actuator module 20 are both connected to the host computer 30 for communication. The torque sensor 21 set on the slave actuator module 20 collects the torque signal and sends it to the host computer 30. The host computer 30 analyzes and judges the torque signal, and then sends instructions to the master operator module 10 to make the master operator module 10 generate a resistance torque, so as to realize the force feedback of the doctor when the master operator module 10 is operated. Therefore, in this embodiment, the force feedback is judged based on the host computer 30, and the host computer 30 can analyze the torque signal, and then accurately control the master operator module 10 to improve the reliability and accuracy of the force feedback.

[0023] In this embodiment, the master operator module 10 includes a master hand yaw component, a master hand pitch component, a master hand rotation component and a master hand shear component. Among them, the master hand yaw component, the master hand pitch component, the master hand rotation component and the master hand shear component correspond to a degree of freedom of the master operator module 10 respectively. The master hand yaw component is used to control the overall yaw angle of the slave actuator module 20, which corresponds to the yaw angle of the wrist during operation; the master hand pitch component is used to control the overall pitch angle of the slave actuator module 20, which corresponds to the pitch angle of the wrist during operation; the master hand rotation component is used to control the overall rotation angle of the slave actuator module 20, that is, the rotation angle relative to the central axis of the slave actuator module 20 itself, which corresponds to the rotation angle of the wrist relative to the central axis of the forearm during operation; the master hand shear component is used to control the opening and closing of the clamping shearing part of the slave actuator module 20, which corresponds to the shearing action of the fingers during operation. The setting of these four degrees of freedom conforms to the movement habits of the human hand, allowing doctors to have better hand operation space.

[0024] As described above, in this embodiment, the master hand yaw component, the master hand pitch component, the master hand rotation component and the master hand shear component are interconnected with the corresponding execution components of the slave actuator module 20 using a signal interconnection method based on the host computer 30. Each component of the master operator module 10 is provided with a force feedback motor, and a resistance torque is applied by the force feedback motor, so that the hand can feel the resistance torque during the operation, thereby achieving the purpose of force feedback.

[0025] At the same time Figure 2 As shown, the master hand yaw assembly includes a yaw force feedback motor 11 and a support seat 12, and the support seat 12 is connected to the yaw force feedback motor 11. As a preferred embodiment, the support seat 12 in this embodiment is set to a semicircular ring shape to facilitate the wrist to be placed on the support seat 12 and maintain a comfortable posture. When the wrist yaws, it can drive the support seat 12 to rotate relative to the yaw force feedback motor 11. The yaw force feedback motor 11 sends a signal to the host computer 30, and the host computer 30 sends a signal to control the yaw drive motor 22 of the slave actuator module 20, so that the yaw drive motor 22 drives the same angle, and the resistance torque applied by the yaw force feedback motor 11 can make the yaw movement of the support seat 12 and the wrist subject to resistance. Therefore, the consistency of the yaw movement and force feedback of the master hand yaw assembly and the slave actuator module 20 is ensured.

[0026] The main hand pitch assembly includes a pitch force feedback motor 13 and a connecting rod 14. Among them, the connecting rod 14 is preferably set to a gantry shape, and the end of the connecting rod 14 is connected to the pitch force feedback motor 13, and the pitch force feedback motor 13 is set at the semicircular end position of the support seat 12. The center position of the connecting rod 14 is used to install the main hand rotation assembly, the main hand shear assembly, etc. When the wrist pitches, since the fingers are held on the main hand shear assembly, the connecting rod 14 can be driven to rotate relative to the pitch force feedback motor 13. Similarly, the pitch force feedback motor 13 sends a signal to the host computer 30, and the host computer 30 sends a signal to control the pitch drive motor 23 of the actuator module 20, so that the pitch drive motor 23 drives the same angle, and the resistance torque applied by the pitch force feedback motor 13 can make the pitch movement of the connecting rod 14 and the wrist subject to consistent resistance.

[0027] The main hand rotation assembly includes a rotation force feedback motor 15 and a rotating seat 16. The rotation force feedback motor 15 is arranged at the center position of the connecting rod 14, the first end of the rotating seat 16 is connected to the rotation force feedback motor 15, and the second end of the rotating seat 16 is connected to the main hand shearing assembly. When the wrist rotates, the rotating seat 16 can be driven to rotate relative to the rotation force feedback motor 15 because the fingers are held on the main hand shearing assembly. Similarly, the rotation force feedback motor 15 sends a signal to the host computer 30, and the host computer 30 sends a signal to control the rotation drive motor 24 of the actuator module 20, so that the rotation drive motor 24 drives the same angle, and the resistance torque applied by the rotation force feedback motor 15 can make the rotational movement of the rotating seat 16 and the wrist receive consistent resistance.

[0028] In this embodiment, the main hand shearing assembly includes a shearing force feedback motor 17, a shearing seat 18, a grip 19 and a control trigger 110. Among them, the shearing seat 18 is fixedly connected to the second end of the rotating seat 16, and the grip 19 is fixedly connected to the shearing seat 18 (integrated structure), which is used for palm gripping. The shearing force feedback motor 17 is arranged on the shearing seat 18, and the control trigger 110 is connected to the shearing force feedback motor 17. When operating, the index finger is usually placed in the ring buckle of the control trigger 110. When the clamping shearing part needs to be sheared, the index finger is tightened to rotate the control trigger 110 relative to the shearing force feedback motor 17 and the shearing seat 18. Similarly, the shearing force feedback motor 17 sends a signal to the host computer 30, and the host computer 30 sends a signal to control the shearing drive motor 25 of the actuator module 20, so that the shearing drive motor 25 drives the same angle, and the resistance torque applied by the shearing force feedback motor 17 can make the shearing seat 18 and the index finger move with consistent resistance.

[0029] As described above, the main operator module 10 provided in this embodiment ensures the rationality and convenience of human hand operation through the specific setting of the four-degree-of-freedom components, and the corresponding force feedback motor can accurately provide angle feedback and apply resistance torque, thereby ensuring the consistency of movement and force feedback between the main operator module 10 and the slave actuator module 20.

[0030] It should be noted that, in this embodiment, the rotation axis of the control trigger 110 of the main hand shearing assembly is arranged parallel to the rotation axis of the main hand pitching assembly, and is arranged orthogonally to the rotation axis of the main hand rotating assembly, which is more in line with the operating habits of the hand, making the wrist pitch and shearing operations smoother without causing any discomfort.

[0031] As a preferred implementation, in this embodiment, for the main hand pitch assembly, one of the two ends of the support seat 12 is provided with a gravity balancing motor 111, which relies on the gravity balancing motor 111 to generate a balancing torque opposite to the gravity torque generated by the main hand rotation assembly and the main hand shear assembly on the connecting rod 14, thereby ensuring that the pitch force feedback motor 13 at the other end is not interfered by the outside world, and can generate real and effective pitch force feedback, further improving the accuracy of force feedback. Considering the direction of gravity, other components do not need to be provided with a gravity balancing motor 111 to generate a balancing torque (the gravity of the control trigger 110 itself is small and has little effect), so the gravity balance of the entire main operating hand module 10 can be ensured by the gravity balancing motor 111 provided at one end of the support seat 12.

[0032] At the same time Figure 3 As shown, the slave actuator module 20 includes an execution drive end and an execution terminal. Among them, the execution drive end drives and controls each degree of freedom of the execution terminal through execution drive motors such as yaw drive motor 22, pitch drive motor 23, rotation drive motor 24, and shear drive motor 25. The yaw drive motor 22, pitch drive motor 23, rotation drive motor 24, and shear drive motor 25 are all arranged on the execution drive seat 26, and are connected to the execution terminal through corresponding steel wires for driving and control. At the same time, the execution drive motors are all equipped with torque sensors 21. During the driving process, the execution terminal transmits the reaction torque generated by human tissue to the corresponding torque sensor 21 through the steel wire. The torque sensor 21 collects the reaction torque and transmits the reaction torque of each degree of freedom to the host computer 30. After receiving the reaction torque signal, the host computer 30 analyzes and judges the signal, and then sends the instruction to each force feedback motor of the main operator module 10, so as to generate accurate resistance torque in the main operator module 10, so that the hand can truly feel the state of each degree of freedom of the execution terminal.

[0033] As described above, the master-slave operation surgical robot system with force feedback provided in this embodiment has the following whole process: Figure 4 As shown, it includes the execution drive motor driving the execution terminal → the torque sensor 21 collects the torque signal → the signal is transmitted to the host computer 30 → the host computer 30 analyzes and judges the torque signal → the host computer 30 analyzes the state of each degree of freedom of the execution terminal, and accurately sends instructions to each force feedback motor of the main operator module 10 → the force feedback motor responds quickly → the hand feels the resistance torque of the force feedback motor, realizes force feedback and adjusts the operation state accordingly, and then the process is repeated. At the same time, in this process, the main operator module 10 and the slave actuator module 20 form an accurate and reliable surgical operation process through continuous communication and iteration.

[0034] It is understandable that due to the complexity of human tissue and the operation itself, the anti-torque signal collected by the torque sensor 21 may contain noise, etc., so the host computer 30 needs to process the signal and then analyze and determine the state of each degree of freedom of the execution terminal. Obviously, the stronger the signal processing capability of the host computer 30, the higher the force feedback accuracy of the main operator module 10. Based on this, in this embodiment, the signal processing capability of the host computer 30 is improved by establishing a deep learning model. In the force feedback process, the deep learning model can be used to analyze the anti-torque signal from the execution terminal and optimize the accuracy and safety of the system.

[0035] In this embodiment, the constructed deep learning model may be a CNN (convolutional neural network), which can be used to analyze force feedback data, including: Input layer: Set the input data as force feedback signal ,in are different sensor dimensions, is the length of the time series; Convolutional layer: extract feature representation ,in, is the convolution kernel, is the activation function (such as ReLU), It is the feature map after convolution; Pooling layer: reduces the feature dimension through pooling operation ,in It is the feature map after pooling; Fully connected layer: The calculation formula of the final output layer ,in is the weight of the fully connected layer, To predict the output, is the bias vector of the fully connected layer.

[0036] At the same time, for the force feedback prediction task in this embodiment, the mean square error (MSE) is used as the loss function: ; in, represents the true value of the sample, Represents the predicted value of the sample. At the same time, the model parameters are updated through an optimizer (such as SGD or Adam): ; in, is the learning rate, is the weight parameter, is the updated weight parameter.

[0037] In this embodiment, the performance of the deep learning model is evaluated by the ROC curve, especially for the force feedback response in different surgical scenarios. The ROC curve is drawn to display and evaluate by calculating the false positive rate and true positive rate under different thresholds.

[0038] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0039] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A master-slave operation surgical robot system with force feedback, characterized in that: It includes a master operator module, a slave actuator module and a host computer. The master operator module and the slave actuator module are both connected to the host computer for communication. The slave actuator module is provided with a torque sensor, which is used to collect torque signals and send them to the host computer. The master operator module is provided with a force feedback motor, which is used to apply a resistance torque so that the hand can feel force feedback during the operation. The master manipulator module includes a master hand yaw component, a master hand pitch component, a master hand rotation component and a master hand shearing component; the master hand yaw component is used to control the overall yaw angle of the slave actuator module, which corresponds to the yaw angle of the wrist during operation; the master hand pitch component is used to control the overall pitch angle of the slave actuator module, which corresponds to the pitch angle of the wrist during operation; the master hand rotation component is used to control the overall rotation angle of the slave actuator module, which corresponds to the rotation angle of the wrist relative to the central axis of the forearm during operation; the master hand shearing component is used to control the opening and closing of the clamping shearing part of the slave actuator module, which corresponds to the shearing action of the fingers during operation; The slave actuator module includes an actuator drive end and an actuator end, and the actuator drive end includes a plurality of actuator drive motors and an actuator drive seat; The execution process of the system includes the execution drive motor driving the execution terminal, the torque sensor collecting the torque signal, transmitting the signal to the host computer, the host computer analyzing and judging the torque signal through the trained deep learning model to obtain the state of each degree of freedom of the execution terminal, the host computer sending instructions to the various force feedback motors of the main operator module, the force feedback motor responds, the hand feels the resistance torque of the force feedback motor and adjusts the operation state accordingly, and the process is cyclic.

2. A master-slave operation surgical robot system with force feedback according to claim 1, characterized in that: The master hand yaw assembly includes a yaw force feedback motor and a support base, the support base is connected to the yaw force feedback motor, and the master hand pitch assembly is connected to the support base. The resistance torque applied by the yaw force feedback motor causes the yaw movement of the support base and wrist to be subjected to resistance consistent with the execution end.

3. A master-slave operation surgical robot system with force feedback according to claim 2, characterized in that: The support seat is configured in a semicircular ring shape, so that the wrist can be placed on the support seat conveniently during operation.

4. A master-slave operation surgical robot system with force feedback according to claim 2, characterized in that: The master hand pitch assembly includes a pitch force feedback motor and a connecting rod, the connecting rod is connected to the pitch force feedback motor, the pitch force feedback motor is connected to the support seat, the master hand rotation assembly and the master hand shear assembly are connected to the connecting rod, and the resistance torque applied by the pitch force feedback motor causes the pitch movement of the connecting rod and the wrist to be subjected to resistance consistent with the execution end.

5. A master-slave operation surgical robot system with force feedback according to claim 4, characterized in that: The connecting rod is configured in a gantry shape, the first end of the connecting rod is connected to the pitch force feedback motor, the support seat is also connected to a gravity balance motor, the second end of the connecting rod is connected to the gravity balance motor, and the gravity balance motor is used to generate a balancing torque opposite to the gravity torque formed by the main hand rotation assembly and the main hand shear assembly on the connecting rod.

6. A master-slave operation surgical robot system with force feedback according to claim 4, characterized in that: The main hand rotation assembly includes a rotational force feedback motor and a rotating seat, the rotational force feedback motor is connected to the connecting rod, the first end of the rotating seat is connected to the rotational force feedback motor, and the second end of the rotating seat is connected to the main hand shearing assembly. The resistance torque applied by the rotational force feedback motor causes the rotational movement of the rotating seat and wrist to be subjected to resistance consistent with the execution end.

7. A master-slave operation surgical robot system with force feedback according to claim 6, characterized in that: The main hand shearing assembly includes a shearing force feedback motor, a shearing seat, a handle and a control trigger. The shearing seat is connected to the second end of the rotating seat, the handle is connected to the shearing seat, the shearing force feedback motor is arranged on the shearing seat, the control trigger is connected to the shearing force feedback motor, and the control trigger is provided with a ring. The resistance torque applied by the shearing force feedback motor causes the movement of the shearing seat and fingers to be subjected to resistance consistent with the execution end.

8. A master-slave operation surgical robot system with force feedback according to claim 7, characterized in that: The rotation axis of the control trigger is arranged parallel to the rotation axis of the main hand pitch component and orthogonal to the rotation axis of the main hand rotation component to meet the operating habits of the hand and make the wrist pitch and shear operations smooth.

9. The master-slave operation surgical robot system with force feedback according to claim 1, characterized in that: The execution drive motor includes a yaw drive motor, a pitch drive motor, a rotation drive motor and a shear drive motor. The yaw drive motor, the pitch drive motor, the rotation drive motor and the shear drive motor are respectively connected to the execution end through corresponding steel wires. Each of the execution drive motors is configured with the torque sensor to detect the reaction torque generated by the human tissue transmitted by the execution end through the steel wire.

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