A force feedback master hand suitable for use with a surgical robot

Abstract

The application discloses a force feedback master operating hand suitable for a puncture surgical robot and belongs to the technical field of medical devices, which comprises a base, a position adjusting mechanism, a posture adjusting mechanism and a handle module, one end of the position adjusting mechanism is connected with the base, 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. The force feedback master operating hand suitable for the puncture surgical robot is provided, the position and the posture of the handle module are completely decoupled, a real puncture surgical method is simulated, force feedback is provided for an operating doctor through a force feedback driving module, and the sense of presence, intuitiveness and flexibility during operation of the doctor are enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a force feedback master operating hand suitable for a puncture surgery robot. BACKGROUND

[0002] At present, in the clinic, percutaneous puncture surgery is an effective means for diagnosing and treating cancer. In the puncture surgery, CT fluoroscopy is often used to obtain the images required by the doctor for guidance, and radioactive particles are used for puncture surgery when treating cancer. Both of them will cause radiation damage to the human body. At the same time, the doctor will inevitably have hand tremor, fatigue and other adverse conditions due to long-term standing during the surgery, resulting in reduced puncture accuracy. Therefore, in order to avoid radiation damage to the doctor and improve the accuracy and efficiency of the surgery, the robot technology is introduced to replace the doctor to perform the surgery in the radiation environment.

[0003] The surgery robot usually adopts a master-slave operation control mode, that is, during the puncture surgery, the doctor controls the master operating hand on the master console, and the motion and pose parameters of the hand are transmitted to the slave robot actually performing the surgery through the encoder on the master operating hand, so that the slave robot follows the motion of the master operating hand in real time to perform the surgery. In this process, the master operating hand as a human-computer interaction device for robot-assisted puncture surgery has high importance in the puncture robot system. The flexibility, operability, working space, intuitiveness and environment perception of the master operating hand are key factors affecting the surgery. At present, there are some related public patents and actual products of master operating hands of robot systems, but they cannot meet the surgery requirements of puncture surgery, the surgery intuitiveness is poor, the surgery process cannot be perceived, and the puncture needle cannot be operated to perform the surgery. SUMMARY

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

[0005] To achieve the above-mentioned purpose, the present application provides a force feedback master operating hand suitable for a puncture surgery robot, which comprises a base, a position adjusting mechanism, a pose adjusting mechanism and a grip module, characterized in that: the position adjusting mechanism comprises a first horizontal position joint mechanism, a second horizontal position joint mechanism, a horizontal position compensation mechanism and a vertical position adjusting mechanism; the pose adjusting mechanism comprises a first pose joint mechanism, a second pose joint mechanism and a third pose joint mechanism, and the third pose joint mechanism, the second pose joint mechanism and the first pose joint mechanism are connected in sequence so that the rotation axis is perpendicular to a point.

[0006] One end of the first horizontal position joint mechanism is connected with the base, the other end of the first horizontal position joint mechanism is connected with the second horizontal position joint mechanism, the end of the second horizontal position joint mechanism away from the first horizontal position joint mechanism is connected with the horizontal position compensation mechanism, the end of the horizontal position compensation mechanism away from the second horizontal position joint mechanism is connected with the vertical position adjustment mechanism, the vertical position adjustment mechanism is connected with the third attitude joint mechanism, the handle module is connected with the first attitude joint mechanism,

[0007] Preferably, the first horizontal position joint mechanism comprises a first horizontal joint rod, one end of the first horizontal joint rod is fixedly connected with the output shaft of a first driving motor, the end of the first driving motor is provided with a first encoder, and the first driving motor is fixedly connected with the base.

[0008] Preferably, the second horizontal position joint mechanism comprises a second horizontal joint rod, one end of the second horizontal joint rod is fixedly connected with the output shaft of a second driving motor, the end of the second driving motor is provided with a second encoder, and the second driving motor is arranged below the first horizontal joint.

[0009] Preferably, the vertical position adjustment mechanism comprises a support frame, a frame base fixedly connected with 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 pulley and the second synchronous pulley, a connecting tooth plate is fixedly arranged on the first synchronous belt, a vertical sliding block is fixedly arranged on the connecting tooth plate, the top end of the vertical sliding block is connected with the constant force spring, a first linear guide rail is arranged on one side of the support column, and one end of the vertical sliding block away from the connecting tooth plate is fixedly connected with the sliding block of the first linear guide rail.

[0010] Preferably, the third attitude joint mechanism comprises a third attitude joint rod, one end of the third attitude joint rod is fixedly connected with the output shaft of a fourth driving motor, the end of the fourth driving motor is provided with a fourth encoder, and the fourth driving motor is fixedly connected with the vertical sliding block.

[0011] Preferably, the second attitude joint mechanism comprises a fifth encoder, a fifth driving motor and a second attitude joint rod, the fifth driving motor is fixedly connected with the third attitude joint rod, the fifth encoder is fixed at the end of the bearing seat of the third attitude joint rod, and the second attitude joint rod is fixedly connected with the output shaft of the fifth driving motor.

[0012] Preferably, the first posture joint mechanism comprises a sixth encoder, a sixth driving motor and a first posture joint rod, the sixth driving motor is fixedly connected with the second posture joint rod, the sixth encoder is fixed at the end of the bearing seat of the second posture joint rod, and the first posture joint rod is fixedly connected with the output shaft of the sixth driving motor.

[0013] Preferably, the handle module comprises 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 rail is fixedly connected to the inner wall of the handle frame, a light shield is arranged on the second linear guide rail, a puncture needle base is arranged on the light shield, a puncture needle is arranged on the puncture needle base, a first bearing assembly and a second bearing assembly are arranged at the top end and the bottom end of the handle frame respectively, a second rotating shaft and a third rotating shaft are arranged in the first bearing assembly and the second bearing assembly respectively, 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 with the puncture needle base.

[0014] Preferably, the handle module further comprises an R-shaped photoelectric sensor, an L-shaped photoelectric sensor, a first sensor support, a second sensor support, a seventh driving motor, a seventh encoder, a motor support, an encoder support, a first coupling and a second coupling, the seventh driving motor is fixedly connected with one side of the top end platform of the handle frame through the motor support, the seventh encoder is fixedly connected with one side of the bottom platform of the handle frame through the encoder support, the output shaft of the seventh driving motor is fixedly connected with the second rotating shaft through the first coupling, the seventh encoder is fixedly connected with the third rotating shaft through the second coupling, the L-shaped photoelectric sensor is fixedly connected with the top lower surface of the handle frame through the first sensor support, and the R-shaped photoelectric sensor is fixedly connected with the bottom upper surface of the handle frame through the second sensor support.

[0015] Therefore, the force feedback master operating hand suitable for the puncture robot has the following beneficial effects:

[0016] (1) The position adjustment and posture adjustment separation type decoupling design is adopted, the position or posture of the handle module can be adjusted independently, the flexibility of the master operating hand is increased, and hovering of the master operating hand in various spatial postures is realized through gravity compensation, so that the operation fatigue accumulation of the doctor is reduced;

[0017] (2) The handle module adopts a linear feeding movement mode to provide puncture force feedback, simulates the puncture needle operation mode during a puncture operation, improves intuitiveness, reduces the learning time of the doctor, and increases the immediacy, intuitiveness and safety of the operation.

[0018] The technical solutions of the present application are described in further detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the position adjustment mechanism of an embodiment of the present application.

[0021] Figure 3 It is an exploded view of the vertical position adjustment mechanism of an embodiment of the present application.

[0022] Figure 4 It is a schematic diagram of the posture adjustment mechanism of an embodiment of the present application.

[0023] Figure 5 It is an exploded view of the grip module of an embodiment of the present application.

[0024] REFERENCE NUMERALS

[0025] 1, base; 2, posture adjustment mechanism; 3, grip module; 31, right shell; 32, left shell; 33, grip frame; 34, second linear guide rail; 35, light shield; 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 support; 319, second sensor support; 320, seventh driving motor; 321, seventh encoder; 322, motor support; 323, encoder support; 324, first coupling; 325, second coupling; 4, position adjustment mechanism; 5, first horizontal position joint mechanism; 51, first horizontal joint rod; 52, first driving motor; 6, second horizontal position joint mechanism; 61, second horizontal joint rod; 62, second driving motor; 7, horizontal position compensation mechanism; 71, horizontal position compensation rod; 72, angle compensation motor; 8, vertical position adjustment mechanism; 81, support frame; 82, frame base; 83, support column; 84, third driving mechanism; 85, constant force spring; 86, first synchronous pulley; 87, second synchronous pulley; 88, bearing seat; 89, first rotating shaft; 810, first synchronous belt; 811, connecting toothed plate; 812, vertical sliding block; 813, first linear guide rail; 9, first posture joint mechanism; 91, first posture joint rod; 92, sixth driving motor; 10, second posture joint mechanism; 101, second posture joint rod; 102, fifth driving motor; 11, third posture joint mechanism; 111, third posture joint rod; 112, fourth driving motor. DETAILED DESCRIPTION

[0026] The following detailed description of embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. Based upon the embodiments in the application, all other embodiments that a person of ordinary skill in the art obtains without creative work are within the scope of the application.

[0027] Referring to Figure 1 A force feedback master hand suitable for a puncture surgical robot, comprising a base 1, a position adjusting mechanism 4, a posture adjusting mechanism 2 and a grip module 3, the position adjusting mechanism 4 comprising a first horizontal position joint mechanism 5, a second horizontal position joint mechanism 6, a horizontal position compensation mechanism 7 and a vertical position adjusting mechanism 8; the posture adjusting mechanism 2 comprising 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 with the base 1, the other end of the first horizontal position joint mechanism 5 is connected with the second horizontal position joint mechanism 6, one end of the second horizontal position joint mechanism 6 is connected with the horizontal position compensation mechanism 7, the other end of the horizontal position compensation mechanism 7 is connected with the vertical position adjusting mechanism 8, the vertical position adjusting mechanism 8 is connected with the third posture joint mechanism 11, the third posture joint mechanism 11, the second posture joint mechanism 10 and the first posture joint mechanism 9 are connected in sequence to form the posture adjusting mechanism 2 with the rotation axis perpendicular to a point, the grip module 3 is connected with the first posture joint mechanism 9, the position adjusting mechanism 4 controls the position of the grip module 3 in the three-dimensional space, the posture adjusting mechanism 2 controls the posture of the grip module 3 in the three-dimensional space, the position adjusting mechanism 4 comprises the horizontal position compensation mechanism 7, the horizontal position compensation mechanism 7 actively moves by reading the sum of the deflection angles of the first horizontal position joint mechanism 5 and the second horizontal position joint mechanism 6, so as to ensure that the deflection angle of the grip module 3 relative to the base coordinate system will not change due to the movement of the position adjusting mechanism 4, the vertical position adjusting mechanism 8 adopts linear motion, so as to ensure that the pitch angle of the grip module 3 relative to the base coordinate system will not change due to the movement of the position adjusting mechanism 4, and the position adjustment and the posture adjustment of the grip module 3 are completely decoupled.

[0028] As Figure 2 The first horizontal position joint mechanism 5 comprises a first encoder, a first driving motor 52 and a first horizontal joint rod 51, the first driving motor 52 is fixedly connected with the base 1 through a motor support 322, the first encoder is installed at the end of the first driving motor 52, and the first horizontal joint rod 51 is fixedly connected with the output shaft of the first driving motor 52.

[0029] The second horizontal position joint mechanism 6 comprises a second encoder, a second driving motor 62 and a second horizontal joint rod 61. The second driving motor 62 is installed on the lower surface of the first horizontal joint rod 51 through a motor support 322. The output shaft of the second driving motor 62 is horizontally arranged, and is changed to be vertically arranged through a bevel gear, so as to optimize the rotational inertia of the first horizontal joint rod 51. The second encoder is installed on the end of the second driving motor 62. One end of the second horizontal joint rod 61 is fixedly connected with the output shaft of the second driving motor 62. The rotation axes of 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 vertically arranged relative to the rotation axis, so as to realize the gravity compensation of the position adjustment mechanism 4, increase the rigidity through a reinforcing rib, improve the position precision of the grip module 3, and provide the grip module 3 with force feedback in the horizontal direction through the first driving motor 52 and the second driving motor 62.

[0030] The horizontal position compensation mechanism 7 comprises an angle compensation encoder, an angle compensation motor 72 and a horizontal position compensation rod 71. The angle compensation motor 72 is fixedly connected with the second horizontal joint rod 61. The angle compensation encoder is installed on the end of the angle compensation motor 72. One end of the horizontal position compensation rod 71 is fixedly connected with the output shaft of the angle compensation motor 72. The angle compensation motor 72 outputs a negative angle of the sum of the deflection angles of the first encoder and the second encoder, so as to realize that the posture of the grip module 3 is only affected by the posture adjustment module and is irrelevant to the position adjustment module.

[0031] As Figure 3The vertical position adjusting mechanism 8 comprises a support frame 81, a frame base 82, a vertical sliding block 812, a third driving mechanism 84, a first linear guide rail 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 tooth plate 811. The support frame 81 is fixedly connected with the frame base 82. The third driving mechanism 84 is fixedly installed at one end of the top of the support frame 81 through a support. The first synchronous pulley 86 is installed on the output shaft of the third driving mechanism 84. The bearing seat 88 assembly is installed on the lower surface of the frame base 82. The first rotating shaft 89 is installed in the bearing seat 88 assembly. The second synchronous pulley 87 is installed on the first rotating shaft 89. The first synchronous belt 810 is sleeved on the first synchronous pulley 86 and the second synchronous pulley 87. One end of the vertical sliding block 812 is fixedly connected with the first synchronous belt 810 through the connecting tooth plate 811. The other end of the vertical sliding block 812 is fixedly connected with the sliding block of the first linear guide rail 813. The first linear guide rail 813 is fixedly connected with the support column 83 of the support frame 81. The top end of the vertical sliding block 812 is connected with the constant force spring 85. The constant force spring 85 is installed on the top end surface of the support frame 81. The constant force spring 85 is used for realizing gravity compensation of the handle module 3, reducing the hand burden of the doctor in operation, the vertical sliding block 812 obtains horizontal direction position limitation and support through the linear guide rail, so that it only performs vertical direction displacement. The third driving mechanism 84 provides force feedback in the vertical direction for the handle module 3 through the first synchronous belt 810.

[0032] As Figure 4 The third attitude joint mechanism 11 comprises a fourth encoder, a fourth driving motor 112 and a third attitude joint rod 111. The fourth driving motor 112 is fixedly connected with the vertical sliding block 812. The fourth encoder is installed at the end of the fourth driving motor 112. The third attitude joint rod 111 is fixedly connected with the output shaft of the fourth driving motor 112.

[0033] The second attitude joint mechanism 10 comprises a fifth encoder, a fifth driving motor 102 and a second attitude joint rod 101. The fifth driving motor 102 is fixedly connected with the third attitude joint rod 111. The fifth encoder is fixed at the end of the bearing seat 88 of the third attitude joint rod 111. The second attitude joint rod 101 is fixedly connected with the output shaft of the fifth driving motor 102.

[0034] The first attitude joint mechanism 9 comprises a sixth encoder, a sixth driving motor 92 and a first attitude joint rod 91. The sixth driving motor 92 is fixedly connected with the second attitude joint rod 101. The sixth encoder is fixed at the end of the bearing seat 88 of the second attitude joint rod 101. The first attitude joint rod 91 is fixedly connected with the output shaft of the sixth driving motor 92. The attitude adjusting module uses the fourth driving motor 112, the fifth driving motor 102 and the sixth driving motor 92 to realize gravity compensation and force feedback of the handle module 3, improves the immediacy when the doctor operates and reduces the fatigue feeling.

[0035] As Figure 5 , the handle module 3 comprises a right shell 31, a left shell 32, a handle frame 33, a second linear guide rail 34, a puncture needle 37, an R-type photoelectric sensor 316, an L-type photoelectric sensor 317, a first sensor support 318, a second sensor support 319, a light shield 35, a puncture needle base 36, a limiting 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, a seventh drive motor 320, a seventh encoder 321, a motor support 322, an encoder support 323, a first coupling 324 and a second coupling 325, the right shell 31 is fixedly connected with the handle frame 33, the left shell 32 is fixedly connected with the right shell 31, the second linear guide rail 34 is fixedly connected with the inner wall of the handle frame 33, the puncture needle base 36 is fixedly connected through the light shield 35 and the sliding block of the second linear guide rail 34, the puncture needle 37 is fixedly connected with the puncture needle base 36, the handle frame 33 is provided with the first bearing assembly 38 and the second bearing assembly 39 at the top end and the bottom, for bearing the second rotating shaft 310 and the third rotating shaft 311, and the third synchronous pulley 312 and the fourth synchronous pulley 313 are respectively installed on the second rotating shaft 310 and the third rotating shaft 311, the second synchronous belt 314 is installed on the third synchronous pulley 312 and the fourth synchronous pulley 313, the puncture needle base 36 is fixedly connected through the limiting block 315 and the second synchronous belt 314, the seventh drive motor 320 is fixedly connected through the motor support 322 and the top platform of the side surface of the handle frame 33, the seventh encoder 321 is fixedly connected through the encoder support 323 and the bottom platform of the side surface of the handle frame 33, the output shaft of the seventh drive motor 320 is fixedly connected through the first coupling 324 and the rotating shaft, the seventh encoder 321 is fixedly connected through the second coupling 325 and the rotating shaft, the L-type photoelectric sensor 317 is fixedly connected through the first sensor support 318 and the lower surface of the top of the handle frame 33, and the R-type photoelectric sensor 316 is fixedly connected through the second sensor support 319 and the upper surface of the bottom of the handle frame 33.

[0036] The seventh drive 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 speed of displacement of the puncture needle 37 through the seventh encoder 321, when the light shield 35 triggers the R-type photoelectric sensor 316, the slave robot will keep the speed of displacement of the seventh encoder 321 continue to advance, when the light shield 35 triggers the L-type photoelectric sensor 317, the slave robot will keep the speed of displacement of the seventh encoder 321 continue to retreat.

[0037] Therefore, the application adopts the force feedback master operating hand suitable for the puncture surgical robot, and the hovering of the master operating hand in each space position is realized through gravity compensation, so as to reduce the operation fatigue accumulation of the doctor, reduce the learning time of the doctor, and increase the sense of presence, intuitiveness and safety of the surgery.

[0038] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A force feedback master 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, 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; 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, wherein 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 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 provided on the first synchronous belt, a vertical slider is fixedly provided on the connecting tooth plate, the top of the vertical slider is connected to the constant force spring, a first linear guide is provided on one side of the support column, and the end of the vertical slider away from the connecting tooth plate is fixedly connected to the slider of the first linear guide, and the constant force spring is used to realize gravity compensation of the handle module; the third driving mechanism provides force feedback in the vertical direction for the handle module through the first synchronous belt.

2. A force feedback master manipulator suitable for a puncture surgical 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 master manipulator for a puncture surgical 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 for a puncture surgical 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. The angle compensation motor outputs the negative angle of the sum of the yaw angles of the first encoder and the second encoder.

5. The force feedback main manipulator for a puncture surgical robot according to claim 4, characterized in that: 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 the fourth drive motor, the end of the fourth drive motor is provided with a fourth encoder, and the fourth drive motor is fixedly connected to the vertical slider.

6. The force feedback main manipulator for a puncture surgical robot according to claim 5, 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. The second posture joint rod is fixedly connected to the output shaft of the fifth drive motor.

7. The force feedback main manipulator for a puncture surgical robot according to claim 6, 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 at the end of the bearing seat of the second posture joint rod. The first posture joint rod is fixedly connected to the output shaft of the sixth drive motor.

8. The force feedback main manipulator for a puncture surgical 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 provided on the second linear guide, a puncture needle base is provided on the light shielding plate, and a puncture needle is provided 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 third synchronous pulley and a fourth synchronous pulley, the third synchronous pulley and the fourth synchronous pulley are sleeved with a second synchronous belt, a limiting block is provided on the second synchronous belt, and the limiting block is fixedly connected to the puncture needle base.

9. The force feedback main manipulator for a puncture surgical robot according to claim 8, 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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