Force feedback main manipulator suitable for puncture surgical robot

Abstract

The invention discloses a force feedback main manipulator suitable for a puncture surgery robot, and belongs to the technical field of medical instruments, the force feedback main manipulator comprises a base, a position adjusting mechanism, a posture adjusting mechanism and a grip module, one end of the position adjusting mechanism is connected with the base, and the other end of the position adjusting mechanism is connected with the grip module; one end of the position adjusting mechanism is connected with the handle module, the other end of the position adjusting mechanism is connected with the posture adjusting mechanism, the handle module is arranged on the posture adjusting mechanism, and the position adjusting mechanism comprises a position compensation mechanism and a vertical position adjusting mechanism. According to the force feedback main manipulator suitable for the puncture surgery robot, complete decoupling of the position and the posture of the grip module is achieved, a real puncture surgery method is simulated, force feedback is provided for an operation doctor through the force feedback driving module, and the immediacy, intuition and flexibility of the doctor during operation are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a force feedback main operator suitable for a puncture surgical robot. Background Art

[0002] At present, percutaneous puncture surgery is an effective means of diagnosing and treating cancer in clinical practice. During puncture surgery, CT fluoroscopy is often required to obtain the image guidance required by doctors. At the same time, radioactive particles are required for puncture surgery during cancer treatment. Both will produce radiation that harms the human body. At the same time, doctors will inevitably experience adverse conditions such as hand tremors and fatigue due to long periods of standing during surgery, resulting in reduced puncture accuracy. Therefore, in order to avoid radiation damage to doctors while improving surgical accuracy and efficiency, robotic technology is introduced to replace doctors in performing surgery in a radiation environment.

[0003] Surgical robots mostly adopt a master-slave control mode, that is, during the puncture operation, the doctor controls the master operator on the main console, and transmits the hand movements and posture parameters to the slave robot that actually performs the operation on the slave side through the encoder on the master operator. The slave robot follows the movement of the master operator in real time to perform the operation. In this process, the master operator is a human-machine interaction device for robot-assisted puncture surgery and is of great importance in the puncture robot system. The master operator's flexibility, operability, workspace, intuitiveness, and environmental perception are all key factors affecting the operation. There are currently some public patents and actual products related to the master operator of the robot system, but they cannot meet the surgical requirements of puncture surgery, the operation is poorly intuitive, and the environment during the operation cannot be perceived, and the puncture needle cannot be operated for surgery. Summary of the invention

[0004] The purpose of the present invention is to provide a force feedback master operator suitable for a puncture surgery robot, which is an important component of a master-slave robot system for puncture surgery and solves the technical problems of inconvenient human-machine interaction of the puncture robot and affecting the doctor's sense of presence, intuitiveness and flexibility of operation.

[0005] To achieve the above-mentioned object, the present invention provides a force feedback main manipulator suitable for a puncture surgical robot, comprising a base, a position adjustment mechanism, a posture adjustment mechanism and a grip module, characterized in that: the position adjustment mechanism comprises a first horizontal position joint mechanism, a second horizontal position joint mechanism, a horizontal position compensation mechanism and a vertical position adjustment mechanism; the posture adjustment mechanism comprises a first posture joint mechanism, a second posture joint mechanism and a third posture joint mechanism, the third posture joint mechanism, the second posture joint mechanism and the first posture joint mechanism are connected in sequence so that the rotation axis is perpendicular to a point; One end of the first horizontal position joint mechanism is connected to the base, the other end of the first horizontal position joint mechanism is connected to the second horizontal position joint mechanism, one end of the second horizontal position joint mechanism away from the first horizontal position joint mechanism is connected to the horizontal position compensation mechanism, one end of the horizontal position compensation mechanism away from the second horizontal position joint mechanism is connected to the vertical position adjustment mechanism, the vertical position adjustment mechanism is connected to the third posture joint mechanism, and the handle module is connected to the first posture joint mechanism. Preferably, the first horizontal position joint mechanism includes a first horizontal joint rod, one end of which is fixedly connected to the output shaft of a first drive motor, a first encoder is provided at the end of the first drive motor, and the first drive motor is fixedly connected to the base.

[0006] Preferably, the second horizontal position joint mechanism includes a second horizontal joint rod, one end of which is fixedly connected to the output shaft of the second drive motor, a second encoder is provided at the end of the second drive motor, and the second drive motor is arranged below the first horizontal joint.

[0007] Preferably, the vertical position adjustment mechanism includes a support frame, a frame base fixedly connected to the support frame, and a support column arranged between the support frame and the support base, a third driving mechanism and a constant force spring are arranged above the support frame, a first synchronous pulley is arranged on the output shaft of the third driving mechanism, a bearing seat is arranged below the frame base, a first rotating shaft is arranged in the bearing seat, a second synchronous pulley is arranged at one end of the rotating shaft, a first synchronous belt is sleeved on the first synchronous belt pulley and the second synchronous belt pulley, a connecting tooth plate is fixedly arranged on the first synchronous belt, a vertical slider is fixedly arranged on the connecting tooth plate, the top of the vertical slider is connected to the constant force spring, a first linear guide is arranged on one side of the support column, and an end of the vertical slider away from the connecting tooth plate is fixedly connected to the slider of the first linear guide.

[0008] Preferably, the third posture joint mechanism includes a third posture joint rod, one end of the third posture joint rod is fixedly connected to the output shaft of a fourth drive motor, a fourth encoder is provided at the end of the fourth drive motor, and the fourth drive motor is fixedly connected to the vertical slider.

[0009] Preferably, the second posture joint mechanism includes a fifth encoder, a fifth drive motor and a second posture joint rod, the fifth drive motor is fixedly connected to the third posture joint rod, the fifth encoder is fixed to the end of the bearing seat of the third posture joint rod, and the second posture joint rod is fixedly connected to the output shaft of the fifth drive motor.

[0010] Preferably, the first posture joint mechanism includes a sixth encoder, a sixth drive motor and a first posture joint rod, the sixth drive motor is fixedly connected to the second posture joint rod, the sixth encoder is fixed to the end of the bearing seat of the second posture joint rod, and the first posture joint rod is fixedly connected to the output shaft of the sixth drive motor.

[0011] Preferably, the handle module includes a right shell, a left shell arranged on the left side of the right shell and a handle frame arranged in the right shell, a second linear guide is fixedly connected to the inner wall of the handle frame, a light shielding plate is arranged on the second linear guide, a puncture needle base is arranged on the light shielding plate, a puncture needle is arranged on the puncture needle base, a first bearing assembly and a second bearing assembly are respectively arranged at the top and bottom ends of the handle frame, a second rotating shaft and a third rotating shaft are respectively arranged in the first bearing assembly and the second bearing assembly, a second synchronous belt is sleeved on the second rotating shaft and the third rotating shaft, a limiting block is arranged on the second synchronous belt, and the limiting block is fixedly connected to the puncture needle base.

[0012] Preferably, the handle module also includes an R-type photoelectric sensor, an L-type photoelectric sensor, a first sensor bracket, a second sensor bracket, a seventh drive motor, a seventh encoder, a motor bracket, an encoder bracket, a first coupling and a second coupling, the seventh drive motor is fixedly connected to the top platform on one side of the handle frame through the motor bracket, the seventh encoder is fixedly connected to the bottom platform on one side of the handle frame through the encoder bracket, the output shaft of the seventh drive motor is fixedly connected to the second rotating shaft through the first coupling, the seventh encoder is fixedly connected to the third rotating shaft through the second coupling, the L-type photoelectric sensor is fixedly connected to the top lower surface of the handle frame through the first sensor bracket, and the R-type photoelectric sensor is fixedly connected to the bottom upper surface of the handle frame through the second sensor bracket.

[0013] Therefore, the present invention adopts the above-mentioned force feedback main manipulator suitable for a puncture surgical robot, which has the following beneficial effects: (1) The position adjustment and posture adjustment are separated and decoupled, which can adjust the position or posture of the grip module separately, increasing the flexibility of the main operator; and through gravity compensation, the main operator can hover in various spatial positions, reducing the accumulation of doctor's operating fatigue; (2) The grip module adopts a linear feed motion mode to provide puncture force feedback, simulating the operation of the puncture needle during puncture surgery, improving intuitiveness, reducing the doctor's learning time, and increasing the sense of presence, intuitiveness and safety of the surgery.

[0014] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 A schematic diagram of a position adjustment mechanism according to an embodiment of the present invention; Figure 3 An exploded view of a vertical position adjustment mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a posture adjustment mechanism according to an embodiment of the present invention; Figure 5 This is an exploded view of a handle module according to an embodiment of the present invention; Reference numerals 1. Base; 2. Posture adjustment mechanism; 3. Grip module; 31. Right shell; 32. Left shell; 33. Grip frame; 34. Second linear guide; 35. Sunshade; 36. Puncture needle base; 37. Puncture needle; 38. First bearing assembly; 39. Second bearing assembly; 310. Second rotating shaft; 311. Third rotating shaft; 312. Third synchronous pulley; 313. Fourth synchronous pulley; 314. Second synchronous belt; 315. Limit block; 316. R-type photoelectric sensor; 317. L-type photoelectric sensor; 318. First sensor bracket; 319. Second sensor bracket; 320. Seventh drive motor; 321. Seventh encoder; 322. Motor bracket; 323. Encoder bracket; 324. First coupling; 325. Second coupling; 4. Position adjustment mechanism; 5. First horizontal position joint mechanism; 51. First horizontal joint rod; 52. First A driving motor; 6. A second horizontal position joint mechanism; 61. A second horizontal joint rod; 62. A second driving motor; 7. A horizontal position compensation mechanism; 71. A horizontal position compensation rod; 72. Angle compensation motor; 8. A vertical position adjustment mechanism; 81. A supporting frame; 82. A frame base; 83. A supporting column; 84. A third driving mechanism; 85. A constant force spring; 86. A first synchronous pulley; 87. A second synchronous pulley; 88. A bearing seat; 89. A first rotating shaft; 810. A first synchronous belt; 811. A connecting tooth plate; 812. A vertical slider; 813. A first linear guide rail; 9. A first posture joint mechanism; 91. A first posture joint rod; 92. A sixth driving motor; 10. A second posture joint mechanism; 101. A second posture joint rod; 102. A fifth driving motor; 11. A third posture joint mechanism; 111. A third posture joint rod; 112. A fourth driving motor. DETAILED DESCRIPTION

[0016] The following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1 A force feedback main manipulator suitable for a puncture surgical robot comprises a base 1, a position adjustment mechanism 4, a posture adjustment mechanism 2 and a grip module 3, wherein the position adjustment mechanism 4 comprises a first horizontal position joint mechanism 5, a second horizontal position joint mechanism 6, a horizontal position compensation mechanism 7 and a vertical position adjustment mechanism 84; the posture adjustment mechanism 2 comprises a third posture joint mechanism 11, a second posture joint mechanism 10 and a first posture joint mechanism 9; one end of the first horizontal position joint mechanism 5 is connected to the base 1, the other end of the first horizontal position joint mechanism 5 is connected to the second horizontal position joint mechanism 6, one end of the second horizontal position joint mechanism 6 is connected to the horizontal position compensation mechanism 7, the other end of the horizontal position compensation mechanism 7 is connected to the vertical position adjustment mechanism 84, the vertical position adjustment mechanism 84 is connected to the third posture joint mechanism 11, the third posture joint mechanism 11, the first posture joint mechanism 9 and the second posture joint mechanism 10 are connected to the first posture joint mechanism 9; The second posture joint mechanism 10 and the first posture joint mechanism 9 are connected in sequence to form a posture adjustment mechanism 2 with a rotation axis perpendicular to a point. The handle module 3 is connected to the first posture joint mechanism 9. The position adjustment mechanism 4 controls the position of the handle module 3 in three-dimensional space. The posture adjustment mechanism 2 controls the posture of the handle module 3 in three-dimensional space. The position adjustment mechanism 4 includes a horizontal position compensation mechanism 7. The horizontal position compensation mechanism 7 actively moves by reading the sum of the yaw angles of the first horizontal position joint mechanism 5 and the second horizontal position joint mechanism 6, thereby ensuring that the yaw angle of the handle module 3 relative to the base coordinate system will not be changed by the movement of the position adjustment mechanism 4. The vertical position adjustment mechanism 84 adopts linear motion, thereby ensuring that the pitch angle of the handle module 3 relative to the base coordinate system will not be changed by the movement of the position adjustment mechanism 4, thereby achieving complete decoupling of the position adjustment and posture adjustment of the handle module 3.

[0018] like Figure 2 The first horizontal position joint mechanism 5 includes a first encoder, a first drive motor 52 and a first horizontal joint rod 51. The first drive motor 52 is fixedly connected to the base 1 through a motor bracket 322. The first encoder is installed at the end of the first drive motor 52. The first horizontal joint rod 51 is fixedly connected to the output shaft of the first drive motor 52.

[0019] The second horizontal position joint mechanism 6 includes a second encoder, a second drive motor 62 and a second horizontal joint rod 61. The second drive motor 62 is installed on the lower surface of the first horizontal joint rod 51 through a motor bracket 322. The output shaft of the second drive motor 62 is horizontally arranged, and the transmission direction is changed to a vertical arrangement through a bevel gear, which is used to optimize the rotational inertia of the first horizontal joint rod 51. The second encoder is installed at the end of the second drive motor 62, and one end of the second horizontal joint rod 61 is fixedly connected to the output shaft of the second drive motor 62. The first horizontal joint rod 51 and the base 1 and the second horizontal joint rod 61 and the first horizontal joint rod 51 are arranged vertically relative to the rotation axis to realize gravity compensation of the position adjustment mechanism 4, and reinforcing ribs are used to increase rigidity and improve the position accuracy of the handle module 3. The first drive motor 52 and the second drive motor 62 provide force feedback in the horizontal direction for the handle module 3.

[0020] The horizontal position compensation mechanism 7 includes an angle compensation encoder, an angle compensation motor 72 and a horizontal position compensation rod 71. The angle compensation motor 72 is fixedly connected to the second horizontal joint rod 61. The angle compensation encoder is installed at the end of the angle compensation motor 72. One end of the horizontal position compensation rod 71 is fixedly connected to the output shaft of the angle compensation motor 72. The angle compensation motor 72 outputs a negative angle of the sum of the swing angles of the first encoder and the second encoder, so that the posture of the handle module 3 is only affected by the posture adjustment module and has nothing to do with the position adjustment module.

[0021] like Figure 3The vertical position adjustment mechanism 84 includes a support frame 81, a frame base 82, a vertical slider 812, a third drive mechanism 84, a first linear guide 813, a constant force spring 85, a first synchronous belt 810, a first synchronous pulley 86, a bearing seat 88, a first rotating shaft 89 and a connecting toothed plate 811. The support frame 81 is fixedly connected to the frame base 82, the third drive mechanism 84 is fixedly mounted on one end of the top of the support frame 81 through a bracket, the first synchronous pulley 86 is mounted on the output shaft of the third drive mechanism 84, the bearing seat 88 assembly is mounted on the lower surface of the frame base 82, the first rotating shaft 89 is mounted in the bearing seat 88 assembly, the second synchronous pulley 87 is mounted on the first rotating shaft 89, and the first synchronous belt 810 is sleeved on the first synchronous pulley 86 and the second synchronous pulley 87, one end of the vertical slider 812 is fixedly connected to the first synchronous belt 810 through the connecting tooth plate 811, and the other end of the vertical slider 812 is fixedly connected to the slider of the first linear guide 813, and the first linear guide 813 is fixedly connected to the support column 83 of the support frame 81, and the top of the vertical slider 812 is connected to the constant force spring 85, and the constant force spring 85 is installed on the top surface of the support frame 81. The constant force spring 85 is used to realize gravity compensation of the handle module 3 to reduce the hand burden of the doctor's operation. The vertical slider 812 obtains horizontal position limitation and support through the linear guide, so that it only moves in the vertical direction, and the third driving mechanism 84 provides vertical force feedback for the handle module 3 through the first synchronous belt 810.

[0022] like Figure 4 The third posture joint mechanism 11 includes a fourth encoder, a fourth drive motor 112 and a third posture joint rod 111. The fourth drive motor 112 is fixedly connected to the vertical slider 812. The fourth encoder is installed at the end of the fourth drive motor 112. The third posture joint rod 111 is fixedly connected to the output shaft of the fourth drive motor 112.

[0023] The second posture joint mechanism 10 includes a fifth encoder, a fifth drive motor 102 and a second posture joint rod 101. The fifth drive motor 102 is fixedly connected to the third posture joint rod 111. The fifth encoder is fixed to the end of the bearing seat 88 of the third posture joint rod 111. The second posture joint rod 101 is fixedly connected to the output shaft of the fifth drive motor 102.

[0024] The first posture joint mechanism 9 includes a sixth encoder, a sixth drive motor 92 and a first posture joint rod 91. The sixth drive motor 92 is fixedly connected to the second posture joint rod 101. The sixth encoder is fixed at the end of the bearing seat 88 of the second posture joint rod 101. The first posture joint rod 91 is fixedly connected to the output shaft of the sixth drive motor 92. The posture adjustment module uses the fourth drive motor 112, the fifth drive motor 102 and the sixth drive motor 92 to realize gravity compensation and force feedback of the grip module 3, thereby improving the doctor's presence during operation and reducing fatigue.

[0025] like Figure 5 The grip module 3 includes a right shell 31, a left shell 32, a grip frame 33, a second linear guide 34, a puncture needle 37, an R-type photoelectric sensor 316, an L-type photoelectric sensor 317, a first sensor bracket 318, a second sensor bracket 319, a light shielding plate 35, a puncture needle base 36, a limit block 315, a first bearing assembly 38, a second bearing assembly 39, a second rotating shaft 310, a third rotating shaft 311, a third synchronous pulley 312, a fourth synchronous pulley 313, a second synchronous belt 314, and a seventh The drive motor 320, the seventh encoder 321, the motor bracket 322, the encoder bracket 323, the first coupling 324 and the second coupling 325, the right shell 31 is fixedly connected to the handle frame 33, the left shell 32 is fixedly connected to the right shell 31, the second linear guide 34 is fixedly connected to the inner wall of the handle frame 33, the puncture needle base 36 is fixedly connected through the shading plate 35 and the second linear guide 34 slider, the puncture needle 37 is fixedly connected to the puncture needle base 36, and the first bearing group is installed at the top and bottom of the handle frame 33 The seventh drive motor 320 is fixedly connected to the top platform of the side surface of the handle frame 33 through the motor bracket 322 and the third synchronous belt pulley 314. Then, the seventh encoder 321 is fixedly connected to the bottom platform of the side surface of the handle frame 33 through the encoder bracket 323, the output shaft of the seventh drive motor 320 is fixedly connected to the rotating shaft through the first coupling 324, the seventh encoder 321 is fixedly connected to the rotating shaft through the second coupling 325, the L-type photoelectric sensor 317 is fixedly connected to the top lower surface of the handle frame 33 through the first sensor bracket 318, and the R-type photoelectric sensor 316 is fixedly connected to the bottom upper surface of the handle frame 33 through the second sensor bracket 319.

[0026] The seventh driving motor 320 drives the second synchronous belt 314 through the third synchronous pulley 312 and the fourth synchronous pulley 313 to provide puncture force feedback for the puncture needle 37, and records the displacement speed of the puncture needle 37 through the seventh encoder 321. When the shading plate 35 triggers the R-type photoelectric sensor 316, the slave robot will maintain the displacement speed of the seventh encoder 321 and continue to move forward. When the shading plate 35 triggers the L-type photoelectric sensor 317, the slave robot will maintain the displacement speed of the seventh encoder 321 and continue to retreat.

[0027] Therefore, the present invention adopts the above-mentioned force feedback main operator suitable for the puncture surgical robot, and realizes the hovering of the main operator in various spatial positions through gravity compensation, thereby reducing the doctor's operating fatigue accumulation, reducing the doctor's learning time, and increasing the presence, intuitiveness and safety of the operation.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A force feedback main manipulator suitable for a puncture surgical robot, comprising a base, a position adjustment mechanism, a posture adjustment mechanism and a grip module, characterized in that: The position adjustment mechanism includes a first horizontal position joint mechanism, a second horizontal position joint mechanism, a horizontal position compensation mechanism and a vertical position adjustment mechanism; the posture adjustment mechanism includes a first posture joint mechanism, a second posture joint mechanism and a third posture joint mechanism, and the third posture joint mechanism, the second posture joint mechanism and the first posture joint mechanism are connected in sequence so that the rotation axis is perpendicular to one point; One end of the first horizontal position joint mechanism is connected to the base, the other end of the first horizontal position joint mechanism is connected to the second horizontal position joint mechanism, one end of the second horizontal position joint mechanism away from the first horizontal position joint mechanism is connected to the horizontal position compensation mechanism, one end of the horizontal position compensation mechanism away from the second horizontal position joint mechanism is connected to the vertical position adjustment mechanism, the vertical position adjustment mechanism is connected to the third posture joint mechanism, and the handle module is connected to the first posture joint mechanism.

2. A force feedback main manipulator suitable for a puncture surgery robot according to claim 1, characterized in that: The first horizontal position joint mechanism includes a first horizontal joint rod, one end of which is fixedly connected to the output shaft of a first drive motor, a first encoder is provided at the end of the first drive motor, and the first drive motor is fixedly connected to the base.

3. The force feedback main manipulator suitable for a puncture surgery robot according to claim 2, characterized in that: The second horizontal position joint mechanism includes a second horizontal joint rod, one end of which is fixedly connected to the output shaft of the second drive motor, a second encoder is provided at the end of the second drive motor, and the second drive motor is arranged below the first horizontal joint.

4. The force feedback main manipulator suitable for a puncture surgery robot according to claim 3, characterized in that: The horizontal position compensation mechanism includes an angle compensation encoder, an angle compensation motor and a horizontal position compensation rod. The angle compensation motor is fixedly connected to the second horizontal joint rod, the angle compensation encoder is arranged at the end of the angle compensation motor, one end of the horizontal position compensation rod is fixedly connected to the output shaft of the angle compensation motor, and the angle compensation motor outputs a negative angle of the sum of the swing angles of the first encoder and the second encoder.

5. The force feedback main manipulator suitable for a puncture surgery robot according to claim 1, characterized in that: The vertical position adjustment mechanism comprises a supporting frame, a frame base fixedly connected to the supporting frame, and a supporting column arranged between the supporting frame and the supporting base, wherein a third driving mechanism and a constant force spring are arranged above the supporting frame, a first synchronous pulley is arranged on the output shaft of the third driving mechanism, a bearing seat is arranged below the frame base, a first rotating shaft is arranged in the bearing seat, a second synchronous pulley is arranged at one end of the first rotating shaft, a first synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley, a connecting tooth plate is fixedly arranged on the first synchronous belt, a vertical slider is fixedly arranged on the connecting tooth plate, the top end of the vertical slider is connected to the constant force spring, a first linear guide is arranged on one side of the supporting column, and an end of the vertical slider away from the connecting tooth plate is fixedly connected to the slider of the first linear guide.

6. The force feedback main manipulator suitable for a puncture surgery robot according to claim 5, characterized in that: The third posture joint mechanism includes a third posture joint rod, one end of which is fixedly connected to the output shaft of a fourth drive motor, a fourth encoder is provided at the end of the fourth drive motor, and the fourth drive motor is fixedly connected to the vertical slider.

7. The force feedback main manipulator suitable for a puncture surgery robot according to claim 6, characterized in that: The second posture joint mechanism includes a fifth encoder, a fifth drive motor and a second posture joint rod, the fifth drive motor is fixedly connected to the third posture joint rod, the fifth encoder is fixed to the end of the bearing seat of the third posture joint rod, and the second posture joint rod is fixedly connected to the output shaft of the fifth drive motor.

8. The force feedback main manipulator suitable for a puncture surgery robot according to claim 7, characterized in that: The first posture joint mechanism includes a sixth encoder, a sixth drive motor and a first posture joint rod, the sixth drive motor is fixedly connected to the second posture joint rod, the sixth encoder is fixed to the end of the bearing seat of the second posture joint rod, and the first posture joint rod is fixedly connected to the output shaft of the sixth drive motor.

9. The force feedback main manipulator suitable for a puncture surgery robot according to claim 1, characterized in that: The handle module includes a right shell, a left shell arranged on the left side of the right shell and a handle frame arranged in the right shell, a second linear guide is fixedly connected to the inner wall of the handle frame, a light shielding plate is arranged on the second linear guide, a puncture needle base is arranged on the light shielding plate, and a puncture needle is arranged on the puncture needle base, the top and bottom ends of the handle frame are respectively provided with a first bearing assembly and a second bearing assembly, the first bearing assembly and the second bearing assembly are respectively provided with a second rotating shaft and a third rotating shaft, one end of the second rotating shaft and the third rotating shaft are both provided with a second synchronous pulley and a third synchronous pulley, the second synchronous pulley and the third synchronous pulley are sleeved with a second synchronous belt, a limiting block is arranged on the second synchronous belt, and the limiting block is fixedly connected to the puncture needle base.

10. The force feedback main manipulator suitable for a puncture surgery robot according to claim 9, characterized in that: The handle module also includes an R-type photoelectric sensor, an L-type photoelectric sensor, a first sensor bracket, a second sensor bracket, a seventh drive motor, a seventh encoder, a motor bracket, an encoder bracket, a first coupling and a second coupling. The seventh drive motor is fixedly connected to the top platform on one side of the handle frame through the motor bracket, the seventh encoder is fixedly connected to the bottom platform on one side of the handle frame through the encoder bracket, the output shaft of the seventh drive motor is fixedly connected to the second rotating shaft through the first coupling, the seventh encoder is fixedly connected to the third rotating shaft through the second coupling, the L-type photoelectric sensor is fixedly connected to the top lower surface of the handle frame through the first sensor bracket, and the R-type photoelectric sensor is fixedly connected to the bottom upper surface of the handle frame through the second sensor bracket.

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