Control equipment, control method and auxiliary system suitable for puncture surgery mechanical arm

Abstract

The invention provides control equipment, a control method and an auxiliary system suitable for a puncture surgery mechanical arm, and relates to the technical field of automatic control equipment. Four sets of positioning sleeves are welded to the middle positions of the periphery of the back side of the square back plate in a cross-shaped symmetrical mode, each set of positioning sleeves is provided with a U-shaped sliding frame in a penetrating and sliding mode, and the opening ends of the four U-shaped sliding frames are fixedly welded to the two vertical side plates and the two longitudinal side plates respectively. A positioning ring is fixedly arranged in the center of the back side of the square back plate, a driving wheel which is pushed and positioned through a spring is rotationally mounted on the positioning ring, and connecting rods are rotationally connected between the driving wheel and the four U-shaped sliding frames. The two vertical side plates and the two longitudinal side plates are used as the peripheral side walls of the control box and are installed in a sliding mode, the control box can be far away from the sliding vacancy of the square back plate, the distance between the control box and an intermediate relay close to the control box is enlarged, the operation space for dismounting and replacing the intermediate relay is expanded, and the intermediate relay is convenient to dismount and replace.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control equipment, and particularly to a control device, a control method, and an auxiliary system applicable to a robotic arm for puncture surgery. Background Art

[0002] A robotic arm for puncture surgery is a highly precise medical device, which is widely used in minimally invasive surgery, biopsy, and other medical procedures that require precise operations. In order to ensure its safe and efficient execution of various complex surgical actions, it must be equipped with advanced control equipment. The control equipment generally includes a control electrical box and electrical components installed in the control electrical box for automatically controlling the established actions of the robotic arm.

[0003] Most of the control boxes on the existing control equipment are of an integrated design, and there are no movable spaces on the four surrounding side walls. In this way, the four surrounding side walls of the control box will block and interfere with the disassembly, installation, and replacement of the electrical control components installed close to it, affecting the convenient disassembly, installation, and replacement of these electrical control components. In addition, although some control boxes are designed with slidable spaces on their four surrounding side walls, the sliding space operations of the four surrounding side walls need to be performed step by step in sequence, and the operation is relatively troublesome and time-consuming. Summary of the Invention

[0004] In view of this, the present invention provides a control device, a control method, and an auxiliary system applicable to a robotic arm for puncture surgery to solve the problem that the sliding space operations of the four surrounding side walls of the control box need to be performed step by step in sequence, and the operation is relatively troublesome and time-consuming.

[0005] The technical solution proposed by the present invention is: A control device applicable to a robotic arm for puncture surgery, specifically including a square back plate, vertical side plates, and longitudinal side plates. The square back plate, two longitudinal mounting plates, and two vertical side plates together form the box body of the control box;

[0006] The two vertical side plates and the two longitudinal side plates are slidably installed around the four sides of the square back plate in a cross-shaped symmetry. When the two vertical side plates and the two longitudinal side plates are in contact with the four surrounding side edges of the square back plate, the box body of the control box is formed; Four groups of positioning sleeves are welded in the middle positions around the back side of the square back plate in a cross-shaped symmetry. Each group of positioning sleeves is slidably installed through a U-shaped sliding frame. The open ends of the four U-shaped sliding frames are respectively welded and fixed to the two vertical side plates and the two longitudinal side plates; A positioning ring is fixedly arranged in the central part of the back side of the square back plate. A driving wheel that is pushed and positioned by a spring is rotatably installed on the positioning ring. A connecting rod is rotatably connected between the driving wheel and each of the four U-shaped sliding frames.

[0007] Further, a positioning short shaft is welded at the very center of the back side of the square back plate, and the center of the positioning ring is located on the axis of the positioning short shaft.

[0008] Furthermore, the driving wheel is composed of a wheel rim and a straight retaining rod welded inside the wheel rim, and the middle part of the straight retaining rod is rotatably matched with the positioning short shaft;

[0009] The two end parts of the straight holding rod are rotatably matched with the positioning ring, and two limiting rings are symmetrically welded on the positioning ring. The two limiting rings are arranged one above and one below and respectively abut against the upper and lower sides of the straight holding rod;

[0010] The spring for pushing and positioning the driving wheel is an arc-shaped structure and is sleeved on the positioning ring. The arc-shaped spring is compressed and placed between the upper limiting ring and an end portion of the straight retaining rod away from the upper limiting ring.

[0011] Furthermore, one end of the connecting rod is rotatably connected to the middle position of the rear end of the U-shaped sliding frame, and the other end is rotatably connected to the wheel rim.

[0012] Furthermore, each group of the positioning sleeves is composed of two symmetrically arranged positioning sleeves, and two long longitudinal mounting plates are symmetrically welded on the upper and lower groups of positioning sleeves. The control box is fixedly mounted on the frame or platform of the puncture surgery robot arm through the two longitudinal mounting plates.

[0013] Furthermore, a threading tube is welded on the square back plate, a longitudinal support short plate is welded on the top of the threading tube, and the head end of the longitudinal support short plate is welded and fixed to the bottom middle position of the inner side of the square back plate;

[0014] The threading tube is slidably matched with the bottom longitudinal side plate.

[0015] Furthermore, a cover plate is rotatably mounted on the front side opening of the control box, and two long limit plates are symmetrically welded on the upper and lower sides of the cover plate. When the cover plate is rotated and closed, the two long limit plates are respectively in contact with the two longitudinal side plates;

[0016] One end of the two long limit plates protrudes from the cover plate.

[0017] Furthermore, two groups of L-shaped mounting plates are symmetrically welded to a long side portion of the outer side of the long limit plate away from the square back plate, each group of L-shaped mounting plates is composed of two L-shaped mounting plates spaced apart from each other, and two vertical plug rods positioned by spring push are symmetrically installed and slidably penetrated on the two groups of L-shaped mounting plates;

[0018] The ends of the two vertical plug rods facing each other are plugged and matched with the protruding ends of the two long limit plates, and the ends of the two vertical plug rods facing each other are extended and arranged close to each other.

[0019] Furthermore, a plurality of intermediate relays and an automation controller are installed on the inner side of the square back plate, the automation controller is arranged at the center of the square back plate, and the intermediate relays are evenly distributed at the outer eaves around the square back plate;

[0020] The power lines and signal control lines of the intermediate relay and automation controller are threaded through the wire conduit.

[0021] The present invention also provides a control method applicable to a puncture surgery robotic arm, which is accomplished by using the above-mentioned control device applicable to a puncture surgery robotic arm.

[0022] The present invention also provides an auxiliary system suitable for a puncture surgery robotic arm, and the auxiliary system comprises the above-mentioned control device suitable for a puncture surgery robotic arm.

[0023] The present invention has the following beneficial effects:

[0024] 1. The two vertical side panels and the two longitudinal side panels are installed by sliding as the side walls of the control box. They can slide away from the empty space of the square back panel, expand the distance between them and the intermediate relays arranged near them, expand the operating space for disassembly and replacement of the intermediate relays, and facilitate the disassembly and replacement of the intermediate relays. Compared with the existing technology, it can avoid the two vertical side panels and the two longitudinal side panels being fixedly integrated in the empty space of the square back panel where they cannot slide, causing obstacles to the disassembly and replacement of the intermediate relays.

[0025] 2. Four connecting rods, driving wheels, four U-shaped sliding frames, two vertical side plates and two longitudinal side plates are connected together to form four sets of crank slider mechanisms. Through the four sets of mechanisms, sliding any vertical side plate or any longitudinal side plate away from the square back plate can drive the two vertical side plates and the two longitudinal side plates to slide synchronously away from the square back plate to a vacant position. This saves the trouble of sliding the two vertical side plates and the two longitudinal side plates step by step in sequence when disassembling and replacing the intermediate relay. Compared with the existing technology, the operation is simple and time-saving.

[0026] 3. Through the power transmission of four connecting rods, the two vertical side panels and the two longitudinal side panels can share an arc-shaped spring for pushing and positioning, which can save the need to configure pushing and positioning components for the two vertical side panels and the two longitudinal side panels respectively, and help to simplify the overall structure of the control box to a certain extent.

[0027] 4. The power lines and signal control lines of the intermediate relay and automation controller pass through the control box through the wire threading tube, and the wire threading tube can be used to implement cover protection. Compared with the existing design in which the power lines and signal control lines are arranged to be directly led out of the control box through the wire threading holes opened on the vertical side panels and the longitudinal side panels, this can avoid the wire threading holes on the vertical side panels and the longitudinal side panels sliding in the empty position and repeatedly rubbing against the power lines and the signal control lines, causing wear to the power lines and the signal control lines. This helps to implement better wear protection for the power lines and the signal control lines during the sliding of the vertical side panels and the longitudinal side panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly introduced below.

[0029] The accompanying drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0030] In the accompanying drawings:

[0031] Figure 1 A schematic diagram of the overall structure of the present invention is shown;

[0032] Figure 2 A schematic diagram of the installation position of the vertical insertion rod of the present invention is shown;

[0033] Figure 3 A schematic diagram of the overall bottom side structure of the present invention is shown;

[0034] Figure 4 A schematic diagram of the overall back side structure of the present invention is shown;

[0035] Figure 5 A schematic diagram of the internal structure of the control box of the present invention is shown;

[0036] Figure 6 A schematic diagram of the disassembly state of the vertical side plate and the longitudinal side plate of the present invention is shown;

[0037] Figure 7 A schematic diagram of the back side structure of the square back plate of the present invention is shown;

[0038] Figure 8 A schematic diagram of the disassembly state of the drive wheel of the present invention is shown.

[0039] List of reference numerals:

[0040] 1. Square back plate; 101. Positioning sleeve; 102. U-shaped sliding frame; 103. Longitudinal mounting plate; 104. Conduit; 1041. Longitudinal support short board; 105. Drive wheel; 1051. Connecting rod; 106. Positioning ring; 1061. Limiting ring; 107. Positioning short shaft;

[0041] 2. Vertical side plate; 201. L-shaped mounting plate; 202. Vertical insertion rod;

[0042] 3. Cover plate; 301. Long strip limiting plate;

[0043] 4. Longitudinal side plate;

[0044] 5. Automatic controller;

[0045] 6. Intermediate relay;

[0046] 7. Control box. Detailed implementation mode

[0047] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0048] Please refer to Figures 1 to 8 ;

[0049] Embodiment 1:

[0050] The present invention provides a control device applicable to a robotic arm for puncture surgery, including a square backboard 1, vertical side plates 2, and longitudinal side plates 4. The square backboard 1, two longitudinal mounting plates 103, and two vertical side plates 2 together form the box body of the control box 7;

[0051] Two vertical side plates 2 and two longitudinal side plates 4 are slidably mounted around the square backboard 1 in a cross-shaped symmetry. When the two vertical side plates 2 and the two longitudinal side plates 4 are in contact with the peripheral sides of the square backboard 1, the box body of the control box 7 is formed. Four groups of positioning sleeves 101 are welded to the middle positions of the peripheral sides of the back side of the square backboard 1 in a cross-shaped symmetry. A U-shaped sliding frame 102 is slidably mounted through each group of positioning sleeves 101. The open ends of the four U-shaped sliding frames 102 are respectively welded and fixed to the two vertical side plates 2 and the two longitudinal side plates 4. A positioning ring 106 is fixedly arranged at the central part of the back side of the square backboard 1. A driving wheel 105 that is spring-loaded and positioned is rotatably mounted on the positioning ring 106. A connecting rod 1051 is rotatably connected between the driving wheel 105 and the four U-shaped sliding frames 102;

[0052] Several intermediate relays 6 and an automation controller 5 are installed inside the square backboard 1. The automation controller 5 is arranged at the central position of the square backboard 1, and the intermediate relays 6 are evenly distributed at the outer eaves positions around the square backboard 1;

[0053] The two vertical side plates 2 and the two longitudinal side plates 4 are slidably mounted as the peripheral side walls of the control box 7. They can slide away from the square backboard 1 to create a space, expanding the distance between them and the intermediate relays 6 arranged close to them, and expanding the operation space for disassembling, installing, and replacing the intermediate relays 6, making it convenient to disassemble, install, and replace the intermediate relays 6. Compared with the prior art, it can avoid the situation where the two vertical side plates 2 and the two longitudinal side plates 4 are fixedly integrated on the square backboard 1 without sliding space, which causes obstacles to the disassembly and replacement of the intermediate relays 6;

[0054] The four connecting rods 1051, the driving wheel 105, the four U-shaped sliding frames 102, and the two vertical side panels 2 and the two longitudinal side panels 4 are connected together to form four sets of crank slider mechanisms. Through the four sets of mechanisms, sliding any vertical side panel 2 or any longitudinal side panel 4 away from the square back panel 1 can drive the two vertical side panels 2 and the two longitudinal side panels 4 to slide synchronously away from the square back panel 1 to a vacant position, which saves the trouble of sliding the two vertical side panels 2 and the two longitudinal side panels 4 step by step when disassembling and replacing the intermediate relay 6. Compared with the prior art, the operation is simple and time-saving.

[0055] Preferably, a positioning short shaft 107 is welded at the most central position of the back side of the square back plate 1 , and the center of the positioning ring 106 is located on the axial center line of the positioning short shaft 107 .

[0056] Preferably, the driving wheel 105 is composed of a wheel rim and a straight retaining rod welded inside the wheel rim, the middle part of the straight retaining rod is rotatably matched with the positioning short shaft 107; the two end parts of the straight retaining rod are rotatably matched with the positioning ring 106, and two limiting rings 1061 are symmetrically welded on the positioning ring 106, and the two limiting rings 1061 are arranged one above and one below and respectively abut against the upper and lower sides of the straight retaining rod; the spring for pushing and positioning the driving wheel 105 is an arc structure and is sleeved on the positioning ring 106, and the arc spring is compressed and placed between the upper limiting ring 1061 and an end part of the straight retaining rod away from the upper limiting ring 1061;

[0057] Under normal use without disassembly, assembly or replacement of the intermediate relay 6, the arc spring can, through its compression rebound effect, push and hold the two end portions of the straight retaining rod in a state of abutment and contact with the upper and lower limit rings 1061, and push and position the drive wheel 105 as a whole, so that the two vertical side panels 2 and the two longitudinal side panels 4 are kept in a state of abutment and contact with the square back panel 1, so as to keep the body of the control box 7 in a completely formed normal use state. In this way, through the power transmission of the four connecting rods 1051, the two vertical side panels 2 and the two longitudinal side panels 4 can share a common arc spring for pushing and positioning, which can eliminate the need to respectively configure pushing and positioning components for the two vertical side panels 2 and the two longitudinal side panels 4, and helps to simplify the overall structure of the control box 7 to a certain extent.

[0058] Preferably, one end of the connecting rod 1051 is rotatably connected to the middle position of the rear end of the U-shaped sliding frame 102, and the other end is rotatably connected to the wheel rim.

[0059] Preferably, each group of positioning sleeves 101 is composed of two symmetrically arranged positioning sleeves 101, and two long longitudinal mounting plates 103 are symmetrically welded on the upper and lower groups of positioning sleeves 101, and the control box 7 is fixedly mounted on the frame or platform of the puncture surgical robot arm through the two longitudinal mounting plates 103.

[0060] Preferably, a cover plate 3 is rotatably mounted on the front opening of the control box 7, and two long limit plates 301 are symmetrically welded on the upper and lower sides of the cover plate 3. When the cover plate 3 is rotated and closed, the two long limit plates 301 are respectively in contact with the two longitudinal side plates 4; one end of the two long limit plates 301 protrudes from the cover plate 3;

[0061] Through the two long limiting plates 301 , the cover plate 3 can block and position the two longitudinal side plates 4 in a use state of abutting and contacting with the square back plate 1 when the cover plate 3 is rotated and closed.

[0062] Preferably, two groups of L-shaped mounting plates 201 are symmetrically welded to a long side portion of the outer side of a long strip limiting plate 301 away from the square back plate 1, and each group of L-shaped mounting plates 201 is composed of two L-shaped mounting plates 201 spaced apart from each other, and two vertical plug rods 202 positioned by spring pushing are symmetrically installed and slidably penetrated on the two groups of L-shaped mounting plates 201; the back-facing ends of the two vertical plug rods 202 correspond to the protruding ends of the two long strip limiting plates 301, and the opposite ends of the two vertical plug rods 202 are extended and arranged close to each other;

[0063] The two vertical insertion rods 202 can be plugged into and positioned with the two long limit plates 301, so that the cover plate 3 remains in a rotated closed use state, and when the cover plate 3 is plugged into and positioned in the closed state by the two vertical insertion rods 202, the two vertical side panels 2 can be positioned in a use state of abutting contact with the square back panel 1 by relying on the cover plate 3 in the closed state. In this way, through the combined use of the two long limit plates 301 and the two vertical insertion rods 202, the cover plate 3 can complete the tightening of the two longitudinal side panels 4 and the two vertical side panels 2 when rotating to open and close, which eliminates the tedious steps of manually loosening and tightening the two longitudinal side panels 4 and the two vertical side panels 2 before and after the two longitudinal side panels 4 and the two vertical side panels 2 are slid into position, and the operation is convenient and efficient.

[0064] Based on the first embodiment, the second embodiment:

[0065] A threading tube 104 is welded on the square back plate 1, and a longitudinal short plate 1041 is welded on the top of the threading tube 104. The head end of the longitudinal short plate 1041 is welded and fixed to the middle position of the bottom of the inner side of the square back plate 1; the threading tube 104 is slidably matched with the bottom longitudinal side plate 4; the power line and signal control line of the intermediate relay 6 and the automation controller 5 are threaded and matched with the threading tube 104;

[0066] The power lines and signal control lines of the intermediate relay 6 and the automation controller 5 pass through the control box 7 through the threading tube 104, and the threading tube 104 can be used to implement a cover protection. Compared with the existing design in which the power lines and signal control lines are set to be directly led out of the control box 7 through the threading holes opened on the vertical side plate 2 and the longitudinal side plate 4, this can prevent the threading holes on the vertical side plate 2 and the longitudinal side plate 4 from sliding and repeatedly rubbing against the power lines and the signal control lines, causing wear on the power lines and the signal control lines, and is helpful to implement better wear protection for the power lines and the signal control lines during the sliding process of the vertical side plate 2 and the longitudinal side plate 4;

[0067] The intermediate relay 6 and the automation controller 5 are used in combination to control the puncture surgery robot arm to perform a specified action;

[0068] It is worth noting that the specific models selected for the intermediate relay 6 and the automation controller 5, the power connection method between them, and the wiring method with the driving device on the puncture surgery robot arm used to drive the robot arm to perform specified actions are existing technologies for personnel in this field who are engaged in the installation, design, debugging, maintenance and technical transformation of equipment automation systems, so they will not be elaborated here.

[0069] Based on the first and second embodiments, the third embodiment:

[0070] A control method applicable to a puncture surgery robotic arm is accomplished by using the above-mentioned control device applicable to a puncture surgery robotic arm.

[0071] Based on the first and second embodiments, the fourth embodiment:

[0072] An auxiliary system suitable for a puncture surgery robotic arm comprises the above-mentioned control device suitable for a puncture surgery robotic arm.

[0073] The working principle of this embodiment is as follows: two vertical side panels 2 and two longitudinal side panels 4 are slidably installed as the surrounding side walls of the control box 7, which can slide away from the square back panel 1, expand the distance between it and the intermediate relay 6 set near it, expand the operating space for disassembly and replacement of the intermediate relay 6, and facilitate the disassembly and replacement of the intermediate relay 6;

[0074] The four connecting rods 1051, the driving wheel 105, the four U-shaped sliding frames 102, the two vertical side plates 2 and the two longitudinal side plates 4 are connected together to form four sets of crank slider mechanisms. Through the four sets of mechanisms, sliding any vertical side plate 2 or any longitudinal side plate 4 away from the square back plate 1 can drive the two vertical side plates 2 and the two longitudinal side plates 4 to slide away from the square back plate 1 synchronously.

[0075] In the normal use state without disassembling or replacing the intermediate relay 6, the arc spring can push the two end parts of the straight holding rod to keep them in abutment with the upper and lower limit rings 1061 through its compression rebound effect, and push the driving wheel 105 as a whole to position it, so that the two vertical side plates 2 and the two longitudinal side plates 4 are kept in abutment with the square back plate 1, so as to keep the box body of the control box 7 in a fully formed normal use state;

[0076] Through the two long limit plates 301, the cover plate 3 can block the two longitudinal side plates 4 and position them in a state of use against the square back plate 1 when it is rotated and closed; the two vertical plug rods 202 can be inserted and positioned in the two long limit plates 301, so that the cover plate 3 is kept in the state of use of rotation and closure, and when the cover plate 3 is inserted and positioned in the closed state by the two vertical plug rods 202, the two vertical side plates 2 can be positioned in a state of use against the square back plate 1 by relying on the cover plate 3 in the closed state;

[0077] The intermediate relay 6 and the automation controller 5 are used in combination to control the puncture surgery robot arm to perform a specified action.

Claims

1. A control device suitable for a puncture surgery robot arm, comprising a square back plate (1), a vertical side plate (2), and a longitudinal side plate (4), wherein the square back plate (1), two longitudinal mounting plates (103), and two vertical side plates (2) together constitute a box body of a control box (7); It is characterized in that The two vertical side panels (2) and the two longitudinal side panels (4) are slidably mounted on the four sides of the square back panel (1) in a cross-shaped symmetrical manner. When the two vertical side panels (2) and the two longitudinal side panels (4) are in contact with the four sides of the square back panel (1), the box body of the control box (7) is surrounded and formed; four groups of positioning sleeves (101) are welded in a cross-shaped symmetrical manner at the middle position of the four sides of the back side of the square back panel (1), and each group of positioning sleeves (101) is penetrated by a sliding A U-shaped sliding frame (102) is installed, and the open ends of the four U-shaped sliding frames (102) are respectively welded and fixed to two vertical side plates (2) and two longitudinal side plates (4); a positioning ring (106) is fixedly arranged at the central part of the back side of the square back plate (1), and a driving wheel (105) positioned by spring pushing is rotatably installed on the positioning ring (106), and connecting rods (1051) are rotatably connected between the driving wheel (105) and the four U-shaped sliding frames (102).

2. The control device for a puncture surgery robot arm according to claim 1, characterized in that: A positioning short shaft (107) is welded at the most central position of the back side of the square back plate (1), and the center of the positioning ring (106) is located on the axis line of the positioning short shaft (107).

3. The control device for a puncture surgery robot arm according to claim 2, characterized in that: The driving wheel (105) is composed of a wheel rim and a straight retaining rod welded inside the wheel rim, and the middle part of the straight retaining rod is rotatably matched with the positioning short shaft (107); The two end portions of the straight holding rod are rotatably matched with the positioning ring (106), and two limiting rings (1061) are symmetrically welded on the positioning ring (106). The two limiting rings (1061) are arranged one above the other and are in contact with the upper and lower sides of the straight holding rod respectively; The spring for pushing and positioning the driving wheel (105) is an arc-shaped structure and is sleeved on the positioning ring (106). The arc-shaped spring is compressed and placed between the upper limiting ring (1061) and an end portion of the straight retaining rod away from the upper limiting ring (1061).

4. The control device for a puncture surgery robot arm according to claim 3, characterized in that: One end of the connecting rod (1051) is rotatably connected to the middle position of the rear end of the U-shaped sliding frame (102), and the other end is rotatably connected to the wheel rim.

5. The control device for a puncture surgery robot arm according to claim 1, characterized in that: Each group of the positioning sleeves (101) is composed of two symmetrically arranged positioning sleeves (101), and two longitudinal mounting plates (103) of a long strip structure are symmetrically welded on the upper and lower groups of positioning sleeves (101). The control box (7) is fixedly mounted on the frame or the platform of the puncture surgical robot arm through the two longitudinal mounting plates (103).

6. The control device for a puncture surgery robot arm according to claim 1, characterized in that: A threading tube (104) is welded on the square back plate (1), a longitudinal support short plate (1041) is welded on the top of the threading tube (104), and the head end of the longitudinal support short plate (1041) is welded and fixed to the middle position of the bottom inside the square back plate (1); The threading tube (104) is slidably matched with the bottom longitudinal side plate (4).

7. The control device for a puncture surgery robot arm according to claim 1, characterized in that: A cover plate (3) is rotatably mounted on the front opening of the control box (7), and two long limit plates (301) are symmetrically welded on the upper and lower sides of the cover plate (3). When the cover plate (3) is rotated and closed, the two long limit plates (301) are respectively in contact with the two longitudinal side plates (4); One end of the two long limiting plates (301) protrudes from the cover plate (3).

8. The control device for a puncture surgery robot arm according to claim 7, characterized in that: Two groups of L-shaped mounting plates (201) are symmetrically welded to a long side portion of the outer side of the long strip limiting plate (301) away from the square back plate (1), each group of L-shaped mounting plates (201) is composed of two L-shaped mounting plates (201) spaced apart from each other, and two vertical insertion rods (202) are symmetrically penetrated and slidably installed on the two groups of L-shaped mounting plates (201) and positioned by spring pushing; The ends of the two vertical insertion rods (202) facing away from each other are correspondingly plugged into the protruding ends of the two long limit plates (301), and the opposite ends of the two vertical insertion rods (202) are extended and arranged close to each other; A plurality of intermediate relays (6) and an automation controller (5) are installed on the inner side of the square back plate (1); the automation controller (5) is arranged at the center of the square back plate (1); and the intermediate relays (6) are evenly distributed at the outer edges of the four sides of the square back plate (1); The power lines and signal control lines of the intermediate relay (6) and the automation controller (5) are threaded and matched with the threading tube (104).

9. A control method for a puncture surgery robot arm, characterized in that: This is accomplished by using the control device suitable for a puncture surgery robotic arm as described in any one of claims 1-8.

10. An auxiliary system suitable for a puncture surgery robot arm, characterized in that: The auxiliary system comprises a control device suitable for a puncture surgery robotic arm as described in any one of claims 1-8.

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