Control device, control method and assistance system for a surgical robotic arm

Abstract

The application provides a control device, a control method and an auxiliary system suitable for a puncture operation mechanical arm, relates to the technical field of automatic control devices, and comprises a square back plate; four groups of positioning sleeves are symmetrically welded in a cross shape at the middle positions of the four sides of the back of the square back plate, a U-shaped sliding frame is slidably installed through each positioning sleeve, and the opening ends of the four U-shaped sliding frames are welded and fixed together with two vertical side plates and two longitudinal side plates; a positioning ring is fixedly arranged at the center of the back of the square back plate, a driving wheel positioned by a spring is rotatably installed on the positioning ring, and a connecting rod is rotatably connected between the driving wheel and the four U-shaped sliding frames. The two vertical side plates and the two longitudinal side plates are slidably installed as the four side walls of the control box, can slide away from the square back plate, can expand the spacing with the middle relays arranged close to the square back plate, can expand the operation space for dismounting and replacing the middle relays, and can facilitate the dismounting and replacement of the middle relays.

Description

Technical Field

[0001] This invention relates to the field of automated control equipment technology, and in particular to control equipment, control methods and auxiliary systems suitable for robotic arms used in puncture surgery. Background Technology

[0002] The puncture surgical robotic arm is a highly precise medical device widely used in minimally invasive surgery, biopsies, and other medical procedures requiring precise manipulation. To ensure its safe and efficient execution of various complex surgical actions, it must be equipped with advanced control equipment, which typically includes a control box and electrical components installed in the control box to automate the robotic arm's predetermined movements.

[0003] Most control boxes on existing control equipment are integrated designs with no movable openings on all four sides. This obstructs the installation and replacement of electrical control components installed nearby, affecting the ease of installation and replacement of these components. In addition, although some control boxes have sliding openings on their four sides, the operation of sliding openings on all four sides requires step-by-step execution, which is cumbersome and time-consuming. Summary of the Invention

[0004] In view of this, the present invention provides a control device, control method and auxiliary system suitable for puncture surgery robotic arms, so as to solve the problem that the operation of the sliding space on the four sides of the control box needs to be performed step by step, which is cumbersome and time-consuming.

[0005] The technical solution proposed in this invention is: a control device suitable for a puncture surgery robotic arm, specifically including a square back plate, vertical side plates, and longitudinal side plates, wherein the square back plate, two longitudinal mounting plates, and two vertical side plates together form the housing of the control box;

[0006] The two vertical side panels and the two longitudinal side panels are slidably installed around the square back panel in a cross-shaped symmetrical arrangement. When the two vertical side panels and the two longitudinal side panels abut against the sides of the square back panel, the control box is formed by surrounding it. Four sets of positioning sleeves are welded in a cross-shaped symmetrical arrangement at the center of the back side of the square back panel. Each set of positioning sleeves has a U-shaped sliding frame slidably installed through it. The open ends of the four U-shaped sliding frames are welded and fixed together with the two vertical side panels and the two longitudinal side panels, respectively. A positioning ring is fixedly installed in the center of the back side of the square back panel. A drive wheel that is positioned by being pushed by a spring is rotatably installed on the positioning ring. A connecting rod is rotatably connected between the drive wheel and the four U-shaped sliding frames.

[0007] Furthermore, a positioning short shaft is welded to the 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 drive wheel is composed of a rim and a radial retaining rod welded inside the rim, with the middle part of the radial retaining rod rotating in conjunction with the positioning short shaft;

[0009] The two ends of the straight retaining rod are rotatably engaged with the positioning ring. Two limiting rings are symmetrically welded on the positioning ring. The two limiting rings are arranged one above the other and respectively abut against the upper and lower sides of the straight retaining rod.

[0010] The spring that pushes and positions the drive wheel is an arc-shaped structure and is fitted onto the positioning ring. The arc-shaped spring is compressed and positioned between the upper limiting ring and the 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 tail end of the U-shaped sliding frame, and the other end is rotatably connected to the wheel rim.

[0012] Furthermore, each set of positioning sleeves consists of two symmetrically arranged positioning sleeves, and two long strip-shaped longitudinal mounting plates are symmetrically welded on the upper and lower sets of positioning sleeves. The control box is fixedly installed on the frame or platform of the puncture surgical robotic arm through the two longitudinal mounting plates.

[0013] Furthermore, a conduit is welded to the square back plate, and a longitudinal support plate is welded to the top of the conduit. The first end of the longitudinal support plate is welded and fixed to the middle position of the bottom of the inner side of the square back plate.

[0014] The conduit slides through and slides into the bottom longitudinal side plate.

[0015] Furthermore, a cover plate is rotatably installed on the front side opening of the control box, and two long strip limiting 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 strip limiting plates abut against the two longitudinal side plates respectively.

[0016] One end of each of the two long, narrow limiting plates protrudes from the cover plate.

[0017] Furthermore, two sets of L-shaped mounting plates are symmetrically welded to the long side of the outer side of the long strip limiting plate away from the square back plate. Each set of L-shaped mounting plates is composed of two L-shaped mounting plates spaced vertically. Two vertical inserts that are positioned by spring push are symmetrically slidably installed through the two sets of L-shaped mounting plates.

[0018] The two vertical inserts are positioned so that their opposite ends are connected to the protruding ends of the two long strip limit plates. The opposite ends of the two vertical inserts are extended and positioned close to each other.

[0019] Furthermore, several intermediate relays and an automation controller are installed on the inner side of the square back plate. The automation controller is located at the center of the square back plate, and the intermediate relays are evenly distributed around the outer edges of the square back plate.

[0020] The power lines and signal control lines of intermediate relays and automation controllers are threaded through conduits.

[0021] The present invention also provides a control method for a robotic arm suitable for puncture surgery, which is accomplished by using the control device for the robotic arm suitable for puncture surgery described above.

[0022] The present invention also provides an auxiliary system for a puncture surgery robotic arm, the auxiliary system comprising the control device described above for the puncture surgery robotic arm.

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

[0024] First, the two vertical side panels and two longitudinal side panels, which serve as the four side walls of the control box, are slidably installed. This allows them to slide away from the sliding space of the square back panel, increasing the distance between them and the intermediate relays located nearby. This expands the operating space for the installation, removal, and replacement of the intermediate relays, making it easier to do so. Compared to existing technologies, this avoids the two vertical side panels and two longitudinal side panels being fixedly integrated into the square back panel without sliding space, which would otherwise obstruct the installation, removal, and replacement of the intermediate relays.

[0025] Second, the four connecting rods, drive wheels, four U-shaped sliding frames, two vertical side plates, and two longitudinal side plates are connected to form four sets of crank-slider mechanisms. Through these four sets of mechanisms, sliding any one of the vertical side plates or any one of the longitudinal side plates away from the square back plate can drive the two vertical side plates and the two longitudinal side plates to simultaneously move away from the square back plate and slide into the empty space. This eliminates the trouble of having to perform the sliding operation of the two vertical side plates and the two longitudinal side plates step by step when disassembling and replacing the intermediate relay. Compared with the existing technology, it is simpler and more time-saving to operate.

[0026] Third, through the power transmission of four connecting rods, the two vertical side plates and the two longitudinal side plates can share a single arc-shaped spring for jacking and positioning. This eliminates the need to configure jacking and positioning components for the two vertical side plates and the two longitudinal side plates separately, which helps to simplify the overall structure of the control box to a certain extent.

[0027] Fourth, the power lines and signal control lines of the intermediate relays and automation controllers are passed out of the control box through conduits. The conduits can be used for protective covering. Compared with the existing design where the power lines and signal control lines are led out of the control box directly through the holes in the vertical and longitudinal side panels, this design avoids the conduits on the vertical and longitudinal side panels from repeatedly rubbing against the power lines and signal control lines when the panels are in the sliding position, thus preventing wear and tear on the power lines and signal control lines. This design helps to provide better wear protection for the power lines and signal control lines during the sliding position of the vertical and longitudinal side panels. Attached Figure Description

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

[0029] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0030] In the attached diagram:

[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 showing the disassembled 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 drive wheel of the present invention in disassembled state is shown.

[0039] List of reference numerals in the attached diagram:

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

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

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

[0043] 4. Longitudinal side panels;

[0044] 5. Automation controller;

[0045] 6. Intermediate relay;

[0046] 7. Control box. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the described embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0048] Please refer to Figures 1 to 8 ;

[0049] Example 1:

[0050] The present invention proposes a control device suitable for a puncture surgery robotic arm, comprising a square back plate 1, a vertical side plate 2, a longitudinal side plate 4, and the square back plate 1, two longitudinal mounting plates 103 and two vertical side plates 2 together forming the housing of the control box 7.

[0051] Two vertical side plates 2 and two longitudinal side plates 4 are slidably installed around the square back plate 1 in a cross-shaped symmetrical manner. When the two vertical side plates 2 and the two longitudinal side plates 4 abut against the sides of the square back plate 1, the control box 7 is formed by surrounding it. Four sets of positioning sleeves 101 are welded in a cross-shaped symmetrical manner at the middle position of the back side of the square back plate 1. Each set of positioning sleeves 101 is slidably mounted with a U-shaped sliding frame 102. The open ends of the four U-shaped sliding frames 102 are welded and fixed together with the two vertical side plates 2 and the two longitudinal side plates 4 respectively. A positioning ring 106 is fixedly installed in the center of the back side of the square back plate 1. A drive wheel 105 is rotatably mounted on the positioning ring 106 and positioned by spring push. A connecting rod 1051 is rotatably connected between the drive wheel 105 and the four U-shaped sliding frames 102.

[0052] Several 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 located at the center of the square back plate 1, and the intermediate relays 6 are evenly distributed around the outer edge of the square back plate 1.

[0053] The two vertical side plates 2 and the two longitudinal side plates 4 serve as the four side walls of the control box 7 and are slidably installed. They can slide away from the square back plate 1, expand the distance between them and the intermediate relay 6 located nearby, and expand the operating space for disassembling and replacing the intermediate relay 6. This facilitates the disassembly and replacement of the intermediate relay 6. Compared with the existing technology, this avoids the two vertical side plates 2 and the two longitudinal side plates 4 being fixedly integrated on the square back plate 1 and unable to slide, which would have caused obstacles to the disassembly and replacement of the intermediate relay 6.

[0054] The four connecting rods 1051, drive wheel 105, four U-shaped sliding frames 102, and two vertical side plates 2 and two longitudinal side plates 4 are connected to form four sets of crank-slider mechanisms. Through these four sets of mechanisms, sliding any one of the vertical side plates 2 or any one of the longitudinal side plates 4 away from the square back plate 1 can drive the two vertical side plates 2 and the two longitudinal side plates 4 to move away from the square back plate 1 in a sliding space at the same time. This eliminates the trouble of having to perform the sliding space operation of the two vertical side plates 2 and the two longitudinal side plates 4 in steps when disassembling and replacing the intermediate relay 6. Compared with the existing technology, the operation is simple and time-saving.

[0055] Preferably, a positioning short shaft 107 is welded to the center of the back side of the square back plate 1, and the center of the positioning ring 106 is located on the axis of the positioning short shaft 107.

[0056] Preferably, the drive wheel 105 is composed of a wheel rim and a radial retaining rod welded inside the wheel rim. The middle part of the radial retaining rod is rotatably engaged with the positioning short shaft 107. The two ends of the radial retaining rod are rotatably engaged with the positioning ring 106. Two limiting rings 1061 are symmetrically welded on the positioning ring 106. The two limiting rings 1061 are arranged one above the other and respectively abut against the upper and lower sides of the radial retaining rod. The spring that pushes and positions the drive wheel 105 is an arc-shaped structure and is fitted on the positioning ring 106. The arc-shaped spring is compressed between the upper limiting ring 1061 and the end of the radial retaining rod away from the upper limiting ring 1061.

[0057] Under normal use conditions without disassembling or replacing the intermediate relay 6, the arc spring, through its compression and rebound effect, pushes and holds both ends of the straight retaining rod in contact with the upper and lower limit rings 1061, thereby pushing and positioning the drive wheel 105 as a whole. This keeps the two vertical side plates 2 and the two longitudinal side plates 4 in contact with the square back plate 1, thus keeping the control box 7 in a fully formed and normal working state. In this way, through the power transmission of the four connecting rods 1051, the two vertical side plates 2 and the two longitudinal side plates 4 can share a single arc spring for pushing and positioning. This eliminates the need to configure separate pushing and positioning components for the two vertical side plates 2 and the two longitudinal side plates 4, which 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 tail end of the U-shaped sliding frame 102, and the other end is rotatably connected to the wheel rim.

[0059] Preferably, each set of positioning sleeves 101 consists of two symmetrically arranged positioning sleeves 101, and two long strip-shaped longitudinal mounting plates 103 are symmetrically welded on the upper and lower sets of positioning sleeves 101. The control box 7 is fixedly installed on the frame or machine platform of the puncture surgical robotic arm through the two longitudinal mounting plates 103.

[0060] Preferably, a cover plate 3 is rotatably installed on the front side opening of the control box 7. Two long strip limiting 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 strip limiting plates 301 abut against the two longitudinal side plates 4 respectively. One end of the two long strip limiting plates 301 protrudes from the cover plate 3.

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

[0062] Preferably, two sets of L-shaped mounting plates 201 are symmetrically welded to the long side of the outer side of the elongated limiting plate 301 away from the square back plate 1. Each set of L-shaped mounting plates 201 is composed of two L-shaped mounting plates 201 spaced vertically. Two vertically inserted rods 202 are symmetrically slidably installed through the two sets of L-shaped mounting plates 201 and positioned by spring push. The opposite ends of the two vertically inserted rods 202 are inserted into the protruding ends of the two elongated limiting plates 301, and the opposite ends of the two vertically inserted rods 202 are extended and close to each other.

[0063] Two vertical rods 202 can be inserted to position two long strip limiting plates 301, keeping the cover plate 3 in a rotating closed state. When the cover plate 3 is positioned in a closed state by the two vertical rods 202, the two vertical side plates 2 can be positioned against the square back plate 1 by the closed cover plate 3. In this way, through the combined use of the two long strip limiting plates 301 and the two vertical rods 202, the cover plate 3 can also loosen and tighten the two longitudinal side plates 4 and the two vertical side plates 2 when rotating and opening. This eliminates the tedious steps of manually loosening and tightening the two longitudinal side plates 4 and the two vertical side plates 2 before and after sliding them into the open space. The operation is convenient and efficient.

[0064] Based on Example 1, Example 2:

[0065] A conduit 104 is welded onto the square back plate 1. A longitudinal support plate 1041 is welded to the top of the conduit 104. The first end of the longitudinal support plate 1041 is welded and fixed to the middle position of the bottom of the inner side of the square back plate 1. The conduit 104 is slidably connected to the bottom longitudinal side plate 4. The power lines and signal control lines of the intermediate relay 6 and the automatic controller 5 are threaded through the conduit 104.

[0066] The power lines and signal control lines of the intermediate relay 6 and the automation controller 5 are passed out of the control box 7 through the conduit 104. The conduit 104 can be used to provide protective cover. Compared with the existing design where the power lines and signal control lines are directly led out of the control box 7 through the conduit holes opened on the vertical side plate 2 and the longitudinal side plate 4, this design avoids the conduit holes on the vertical side plate 2 and the longitudinal side plate 4 from repeatedly rubbing against the power lines and signal control lines when they slide in the open position, which would cause wear to the power lines and signal control lines. This design helps to provide better wear protection for the power lines and signal control lines during the sliding of the vertical side plate 2 and the longitudinal side plate 4.

[0067] Intermediate relay 6 and automation controller 5 are used together to control the puncture surgical robotic arm to perform specified actions;

[0068] It is worth noting that the specific models of the intermediate relay 6 and the automation controller 5, their power connection methods, and the wiring methods with the drive device on the puncture surgical robotic arm used to drive the robotic arm to perform the prescribed actions are all existing technologies for those engaged in the installation, design, commissioning, maintenance, and technical transformation of equipment automation systems in this field, and therefore will not be elaborated here.

[0069] Based on Examples 1 and 2, Example 3:

[0070] A control method for a robotic arm suitable for puncture surgery is achieved by using the aforementioned control device for a robotic arm suitable for puncture surgery.

[0071] Based on Examples 1 and 2, Example 4:

[0072] An auxiliary system for a puncture surgery robotic arm includes the aforementioned control device for the puncture surgery robotic arm.

[0073] The working principle of this embodiment is as follows: the two vertical side plates 2 and the two longitudinal side plates 4 serve as the four side walls of the control box 7 and are slidably installed. They can slide away from the square back plate 1, expand the distance between them and the intermediate relay 6 that is set close to them, expand the operating space for disassembling and replacing the intermediate relay 6, and facilitate the disassembly and replacement of the intermediate relay 6.

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

[0075] Under normal use conditions without disassembling or replacing the intermediate relay 6, the arc spring can use its compression rebound effect to push and hold both ends of the straight retaining rod in contact with the upper and lower limit rings 1061, thereby pushing and positioning the drive wheel 105 as a whole, and keeping the two vertical side plates 2 and the two longitudinal side plates 4 in contact with the square back plate 1, so as to keep the control box 7 in a fully formed and normal use state.

[0076] With the two elongated limiting plates 301, when the cover plate 3 is rotated and closed, it can also block and position the two longitudinal side plates 4 in a state of contact with the square back plate 1; the two vertical inserts 202 can be inserted and positioned to keep the cover plate 3 in a state of rotation and closure, and when the cover plate 3 is positioned in a closed state by the two vertical inserts 202, the two vertical side plates 2 can be positioned in a state of contact with the square back plate 1 by relying on the closed cover plate 3.

[0077] Intermediate relay 6 and automation controller 5 are used together to control the puncture surgical robotic arm to perform specified actions.

Claims

1. A control device suitable for a puncture surgical robot arm, comprising a square back plate (1), vertical side plates (2), and longitudinal side plates (4), the square back plate (1), two longitudinal side plates (4), and two vertical side plates (2) together forming a box body of a control box (7); the two vertical side plates (2) and the two longitudinal side plates (4) are slidably installed around the square back plate (1) in a cross-shaped symmetric manner, and when the two vertical side plates (2) and the two longitudinal side plates (4) abut against the four sides of the square back plate (1), the box body of the control box (7) is formed; four groups of positioning sleeves (101) are symmetrically welded on the middle positions of the four sides of the back of the square back plate (1), and a concave sliding frame (102) is slidably installed on each positioning sleeve (101); the opening ends of the four concave sliding frames (102) are welded and fixed together with the two vertical side plates (2) and the two longitudinal side plates (4); a positioning ring (106) is fixedly arranged on the center of the back of the square back plate (1), a driving wheel (105) is rotatably installed on the positioning ring (106) and is positioned by a spring, and a connecting rod (1051) is rotatably connected between the driving wheel (105) and the four concave sliding frames (102); a positioning short shaft (107) is welded on the most central position of the back of the square back plate (1), and the center of the positioning ring (106) is located on the axis of the positioning short shaft (107); the driving wheel (105) is composed of a rim and a radial retaining rod welded inside the rim, the middle part of the radial retaining rod is rotatably matched with the positioning short shaft (107), and the two end parts of the radial retaining rod are rotatably matched with the positioning ring (106); two limiting rings (1061) are symmetrically welded on the positioning ring (106), and are arranged one above the other and abut against the upper and lower sides of the radial retaining rod, respectively; the spring for positioning the driving wheel (105) is in an arc structure and is sleeved on the positioning ring (106), and the arc spring is compressed between the upper limiting ring (1061) and the end part of the radial retaining rod away from the upper limiting ring (1061). characterized in that One end of the connecting rod (1051) is rotatably connected with the middle position of the tail end of the concave sliding frame (102), and the other end is rotatably connected with the rim.

2. The control device suitable for a surgical robot arm according to claim 1, characterized in that, Each group of positioning sleeves (101) is composed of two symmetrically arranged positioning sleeves (101), and two longitudinal installation plates (103) in a long strip structure are symmetrically welded on the upper and lower groups of positioning sleeves (101), and the control box (7) is fixedly installed on the rack or table of the puncture surgical robot arm through the two longitudinal installation plates (103).

3. The control device suitable for a surgical robot arm according to claim 1, wherein, A threading pipe (104) is welded on the square back plate (1), a longitudinal support short plate (1041) is welded on the top end of the threading pipe (104), and the first end of the longitudinal support short plate (1041) is welded and fixed with the middle position of the bottom of the inner side of the square back plate (1); 4. The control device suitable for a surgical robot arm according to claim 1, wherein, The threading pipe (104) is slidably matched with the bottom longitudinal side plate (4). ​ 5. The control device suitable for a surgical robot arm according to claim 1, wherein, The front side opening of the control box (7) is rotatably provided with a cover plate (3), two long limiting plates (301) are symmetrically welded on the upper and lower sides of the cover plate (3), and the two long limiting plates (301) are respectively in abutting contact with the two vertically arranged side plates (4) when the cover plate (3) is closed. One end of the two long limiting plates (301) protrudes from the cover plate (3).

6. The control device suitable for a surgical robot arm according to claim 5, characterized in that, Two groups of L-shaped mounting plates (201) are symmetrically welded on the outer side of one of the long limiting plates (301) away from one side of the square back plate (1), each group of L-shaped mounting plates (201) has two L-shaped mounting plates (201) spaced apart from each other, and two vertically arranged insertion rods (202) are symmetrically and slidingly arranged on the two groups of L-shaped mounting plates (201) through springs. The ends of the two vertically arranged insertion rods (202) opposite to the insertion end correspond to the protruding ends of the two long limiting plates (301), and the opposite ends of the two vertically arranged insertion rods (202) are arranged close to each other. A plurality of intermediate relays (6) and an automatic controller (5) are mounted on the inner side of the square back plate (1), the automatic controller (5) is arranged at the center position of the square back plate (1), and the intermediate relays (6) are uniformly arranged at the outer eaves positions of the square back plate (1). The power lines and signal control lines of the intermediate relays (6) and the automatic controller (5) are in penetrating cooperation with the penetrating pipe (104).

7. An auxiliary system for a robotic arm used in puncture surgery, characterized in that, The auxiliary system comprises the control device for the mechanical arm for puncture surgery according to any one of claims 1-6.

Images