Master controller and control method

Abstract

The invention provides a master manipulator controller and a control method, and belongs to the technical field of surgical robotics.The master manipulator controller specifically comprises a breathing movement platform, an upper platform and a lower platform, a movement space is formed between the upper platform and the lower platform, the upper platform and the lower platform are connected through a telescopic mechanism, and under the action of the telescopic mechanism, the upper platform and the lower platform can move in a moving mode. The upper platform can do up-down telescopic motion relative to the lower platform so as to simulate the fluctuation of the body surface of a patient; the posture adjusting mechanism comprises a puncture needle rod and a first rotating pair; the movement mechanism is driven to move in the movement space by operating the upper end of the puncture needle rod, and movement control over the lower end of the puncture needle rod is achieved. The upper platform is driven by the telescopic mechanism to do telescopic motion relative to the lower platform so as to simulate body surface fluctuation of a patient, so that an operator can be more personally on the scene during surgical operation, the surgical experience of the operator is enhanced, the operator is closer to a real surgical environment, and the surgical efficiency of the operator is improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and more particularly, to a master hand controller and a control method. Background Art

[0002] In recent years, X-ray computed tomography (CT) imaging technology has made great progress both in basic technology and in new clinical applications. Great improvements have been made in various components of CT, such as X-ray tubes, detectors, slip rings, data acquisition systems, and algorithms. Since the advent of spiral CT and multi-slice CT, many new clinical applications have emerged, with advantages such as fast scanning time and clear images, and can be used for the examination of various diseases.

[0003] CT-guided percutaneous puncture is a technique widely used in clinical practice. It is a technique that accurately inserts a puncture needle into a lesion in the body under the precise guidance of CT scanning and obtains diseased tissue. The puncture technique under CT image guidance can, on the premise of CT imaging (human tissues and the puncture needle), judge the puncture direction in real time and make timely adjustments, greatly improving the success rate of the operation, reducing the operation risk, and accelerating the patient's recovery speed. However, CT devices all use X-rays or γ-rays to complete their work, and performing surgery on the CT side will expose doctors to a radiation environment for a long time, posing a great threat to their physical health. Therefore, a master-slave robot-assisted puncture system has been proposed, which remotely operates the slave manipulator through the master manipulator structure to complete the puncture process, enabling doctors to perform surgical operations outside the CT room and avoiding long-term exposure of doctors to the radiation environment.

[0004] Existing master manipulators include a housing and a controller. By controlling the movement of the controller on the housing, the slave robot is driven to perform synchronous actions. However, existing housings are all fixed structures, and the surgical position at the slave end is the patient. The patient's breathing causes the patient's body surface to float, making it difficult for one end of the fixed-structure master manipulator to match the operating environment at the slave end, affecting the surgeon's surgical experience and potentially affecting the surgical outcome. Summary of the Invention

[0005] The purpose of the present application is to provide a master hand controller and a control method, aiming to solve the problem in the related art that the housing of the master manipulator is a fixed structure and cannot match the floating of the patient's body surface, affecting the surgical experience and potentially affecting the surgical outcome.

[0006] Additional aspects and advantages of the present application will be partially described below, and partially will become apparent from the description, or can be learned through the practice of the present application.

[0007] According to the first aspect of the present application, a master hand controller is provided, including: Respiratory movement platform, the respiratory movement platform includes an upper platform and a lower platform, there is a movement space between the upper platform and the lower platform, the upper platform and the lower platform are connected by a telescopic mechanism, under the action of the telescopic mechanism, the upper platform can do up and down telescopic movement relative to the lower platform to simulate the undulation of the patient's body surface; Posture adjustment mechanism, including a puncture needle rod and a first rotating pair, the puncture needle rod is connected to the upper platform through the first rotating pair, and the puncture needle rod can rotate by using the first rotating pair and move linearly along the axial direction relative to the movable end of the first rotating pair; Motion mechanism, arranged in the motion space, the lower end of the puncture needle rod extends into the motion space and is movably connected to the motion mechanism, and by operating the upper end of the puncture needle rod to drive the motion mechanism to move in the motion space, the motion control of the lower end of the puncture needle rod is realized.

[0008] In an exemplary embodiment of the present application, it further includes a moving mechanism, arranged in the upper platform, and the moving mechanism is used to drive the first rotating pair to translate on the surface of the upper platform to change the position of the puncture point.

[0009] In an exemplary embodiment of the present application, the moving mechanism includes a first-direction moving support mechanism and a second-direction moving support mechanism, the first-direction moving support mechanism is used to drive the first rotating pair to move in the first direction, the second-direction moving support mechanism is used to drive the first rotating pair to move in the second direction, and the first direction and the second direction are perpendicular to each other.

[0010] In an exemplary embodiment of the present application, the first-direction moving support mechanism includes a first lead screw, a first slide bar and a first driving motor, the end of the first slide bar is threadedly connected to the first lead screw, and the first driving motor is used to drive the first lead screw to rotate so that the first slide bar moves along the axial direction of the first lead screw; The second-direction moving support mechanism includes a second lead screw, a second slide bar and a second driving motor, the end of the second slide bar is threadedly connected to the second lead screw, and the second driving motor is used to drive the second lead screw to rotate so that the second slide bar moves along the axial direction of the second lead screw, and the axial direction of the second lead screw is perpendicular to the axial direction of the first lead screw; Slider, both the first slide bar and the second slide bar pass through the slider, and the slider is slidably connected to both the first slide bar and the second slide bar, and the first rotating pair is installed on the slider.

[0011] In an exemplary embodiment of the present application, there are two first lead screws and two first driving motors. The two first lead screws are respectively located at both ends of the first slide bar, and the two first lead screws are arranged in parallel. There are two second lead screws and two second driving motors. The two second lead screws are respectively located at both ends of the second slide bar, and the two second lead screws are arranged in parallel.

[0012] In an exemplary embodiment of the present application, the telescopic mechanism includes telescopic cylinders arranged on both sides of the respiratory movement platform. One end of the telescopic cylinder is connected to the upper platform, and the other end is connected to the lower platform.

[0013] In an exemplary embodiment of the present application, the movement mechanism includes a parallel translational mechanism. The parallel translational mechanism is installed at the bottom of the lower platform, and a moving platform is connected to the end of the parallel translational mechanism. The lower end of the puncture needle rod is movably connected to the moving platform through a second rotating pair; The second rotating pair includes a first rotating block and a second rotating block. The first rotating block is rotatably installed on the moving platform so that the first rotating block can rotate around a first direction; The second rotating block is rotatably installed on the first rotating block so that the second rotating block can rotate around a second direction, and the first direction is opposite to the second direction; The lower end of the puncture needle rod is fixedly installed on the second rotating block.

[0014] In an exemplary embodiment of the present application, the second rotating pair further includes a U-shaped pair. The U-shaped pair is rotatably installed on the moving platform, and the rotation direction of the U-shaped pair is the second direction. An arc-shaped slot hole with a width matching the diameter of the puncture needle rod is formed on the U-shaped pair. The extending direction of the arc-shaped slot hole is the first direction. The lower end of the puncture needle rod passes through the arc-shaped slot hole, and the lower end of the puncture needle rod is adapted to slide along the arc-shaped slot hole in the first direction. The end of the puncture needle rod is also adapted to drive the U-shaped pair to rotate in the second direction.

[0015] According to the second aspect of the present application, a control method for a master hand controller is provided. The control method includes the above-mentioned master hand controller and further includes the following steps: Obtain the undulating motion information of the chest of the patient to be punctured and form the chest undulating data of the patient to be punctured; Transmit the chest undulating data of the patient to be punctured to the respiratory movement platform through a bus. The telescopic mechanism in the respiratory movement platform drives the upper platform to move, and makes the movement amplitude of the upper platform consistent with the chest undulating data of the patient to be punctured.

[0016] In an exemplary embodiment of the present application, the following steps are further included: Obtain the coordinate information of the puncture point on the body surface of the punctured patient, and transmit the coordinate information of the puncture point to the respiratory movement platform through the bus; The moving mechanism drives the first rotating pair to move to the specified coordinates, reproducing the puncture point on the body surface of the punctured patient.

[0017] The exemplary embodiment of the present application may have the following partial or full beneficial effects: 1. The master hand controller provided in the exemplary embodiment of the present application includes a respiratory movement platform, a posture adjustment mechanism, and a movement mechanism. Among them, the respiratory movement platform includes an upper platform and a lower platform. There is a movement space between the upper platform and the lower platform. The upper platform and the lower platform are connected by a telescopic mechanism. Under the action of the telescopic mechanism, the upper platform can perform up and down telescopic movement relative to the lower platform to simulate the undulation of the patient's body surface; the posture adjustment mechanism includes a puncture needle rod and a first rotating pair. The puncture needle rod is connected to the upper platform through the first rotating pair. The puncture needle rod can rotate by using the first rotating pair and move linearly along the axis relative to the movable end of the first rotating pair; the movement mechanism is arranged in the movement space. The lower end of the puncture needle rod extends into the movement space and is movably connected to the movement mechanism. By operating the upper end of the puncture needle rod to drive the movement mechanism to move in the movement space, the movement control of the lower end of the puncture needle rod is realized. By driving the upper platform to perform telescopic movement relative to the lower platform through the telescopic mechanism to simulate the undulation of the patient's body surface, when the surgeon performs the surgical operation, he can be more immersive, enhancing the surgeon's surgical experience and getting closer to the real surgical environment, thereby improving the surgeon's surgical efficiency.

[0018] 2. The master hand controller provided in the present application further includes a moving mechanism. The moving mechanism includes a first-direction moving support mechanism and a second-direction moving support mechanism. The first moving support mechanism can drive the first rotating pair to move in the first direction, and the second-direction moving support mechanism can drive the first rotating pair to move in the second direction, and the first direction and the second direction are perpendicular to each other. In the present application, the surface of the upper platform is used to simulate the patient's body surface, the puncture needle rod is used to simulate the puncture needle, and the position where the first rotating pair is located is the surgical position where the puncture needle rod punctures. By driving the first rotating pair by the first-direction moving support mechanism and the second-direction moving support mechanism in the moving mechanism, the position of the first rotating pair on the surface of the upper platform can be adjusted, that is, equivalent to adjusting the surgical puncture position of the puncture needle rod, simulating the process of moving the puncture needle to the puncture position before puncture in the real surgical environment, and further improving the surgeon's surgical experience.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings

[0020] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the accompanying drawings in the following description are only some embodiments of this application, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It shows a schematic structural diagram of the master hand controller in Embodiment 1 of this application; Figure 2 It shows a schematic structural diagram of the upper platform covering movement mechanism of the master operation controller in Embodiment 1 of this application; Figure 3 It shows a schematic connection structure diagram of the posture adjustment mechanism and the parallel translational mechanism in Embodiment 1 of this application; Figure 4 It shows a schematic structural diagram of the parallel translational mechanism in Embodiment 1 of this application; Figure 5 It shows a schematic structural diagram of the second rotating pair in Embodiment 1 of this application; Figure 6 It shows a side view of the second rotating pair in Embodiment 1 of this application; Figure 7 It shows a schematic connection structure diagram between the puncture needle rod and the first rotating pair in Embodiment 1 of this application.

[0022] Explanation of reference numerals: 1. Respiratory movement platform; 2. Lower platform; 3. Upper platform; 4. Puncture needle rod; 5. First rotating pair; 6. Basic part; 7. Operation end; 8. Ball pair; 9. Parallel translational mechanism; 10. Passive rod; 11. Driving rod; 12. Static platform; 13. Driving motor; 14. Mounting bracket; 15. Moving platform; 16. Second rotating pair; 17. First rotating block; 18. Second rotating block; 19. U-shaped pair; 20. Second encoder; 21. First encoder; 22. Telescopic mechanism; 23. First lead screw; 24. First driving motor; 25. First sliding rod; 26. Second driving motor; 27. Second lead screw; 28. Second sliding rod; 29. Slide block. Detailed implementation manners

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0024] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification only for convenience, for example, according to the orientation of the examples in the drawings. It can be understood that if the device of the icon is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0025] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and mean that there may be additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second" are used only as labels and are not a limitation on the quantity of their objects. Example 1

[0026] This example provides a specific implementation of the master hand controller, as Figure 1As shown in the figure, it includes a breathing motion platform 1, a posture adjustment mechanism, and a motion mechanism. Among them, the breathing motion platform 1 includes an upper platform 3 and a lower platform 2. There is a motion space between the upper platform 3 and the lower platform 2. The upper platform 3 and the lower platform 2 are connected by a telescopic mechanism 22. Under the action of the telescopic mechanism 22, the upper platform 3 can make vertical telescopic motion relative to the lower platform 2 to simulate the undulation of the patient's body surface; the posture adjustment mechanism includes a puncture needle rod 4 and a first rotating pair 5. The puncture needle rod 4 is connected to the upper platform 3 through the first rotating pair 5. The puncture needle rod 4 can rotate by using the first rotating pair 5 and move linearly along the axial direction relative to the movable end of the first rotating pair 5; the motion mechanism is arranged in the motion space. The lower end of the puncture needle rod 4 extends into the motion space and is movably connected to the motion mechanism. By operating the upper end of the puncture needle rod 4 to drive the motion mechanism to move in the motion space, the motion control of the lower end of the puncture needle rod 4 is realized. By driving the upper platform 3 to make telescopic motion relative to the lower platform 2 through the telescopic mechanism 22 to simulate the undulation of the patient's body surface, when the surgeon performs the operation, he can be more immersive, enhancing the surgeon's surgical experience and getting closer to the real surgical environment, thereby improving the surgeon's surgical efficiency; at the same time, the breathing motion platform 1 is used to simulate the human body surface, and the operation end 7 exposed outside the breathing motion platform 1 is for the operator to operate, avoiding the long length of the puncture needle rod 4 exposed, which is not convenient for the doctor to operate. At the same time, only exposing the operation end 7 outside the breathing motion platform 1 can simulate the scenario of the doctor holding the tail end of the puncture needle for the puncture operation, further approaching the real surgical environment.

[0027] In this embodiment, a moving mechanism is further included, which is arranged inside the upper platform 3. The moving mechanism is used to drive the first rotating pair 5 to translate on the surface of the upper platform 3 to change the position of the puncture point. Specifically, the surface of the upper platform 3 simulates the patient's body surface, and the position of the first rotating pair 5 is the puncture point of the puncture needle rod 4. The puncture needle rod 4 passes through the first rotating pair 5 and extends into the motion space, that is, simulating the lower end of the puncture needle rod 4 piercing into the patient's body from the patient's body surface. By setting the moving mechanism, the position of the first rotating pair 5 can be adjusted, that is, the position of the puncture point of the puncture needle rod 4 on the patient's body surface can be adjusted, further improving the surgeon's experience.

[0028] In this embodiment, the moving mechanism includes a first-direction moving branch mechanism and a second-direction moving branch mechanism. The first moving branch mechanism is used to drive the first rotating pair 5 to move in the first direction, and the second-direction moving branch mechanism is used to drive the first rotating pair 5 to move in the second direction. The first direction and the second direction are perpendicular to each other, simulating the movement of the X-axis and Y-axis in the direct coordinate system. Through the movement in two directions, all the point position transformations of the first rotating pair 5 on the surface of the upper platform 3 can be completed.

[0029] Further, the first-direction moving support mechanism includes a first lead screw 23, a first slide bar 25, and a first driving motor 24. The end of the first slide bar 25 is threadedly connected to the first lead screw 23. The first driving motor 24 can drive the first lead screw 23 to rotate so that the first slide bar 25 moves along the axial direction of the first lead screw 23. The second-direction moving support mechanism includes a second lead screw 27, a second slide bar 28, and a second driving motor 26. The end of the second slide bar 28 is threadedly connected to the second lead screw 27. The second driving motor 26 is used to drive the second lead screw 27 to rotate so that the second slide bar 28 moves along the axial direction of the second lead screw 27. The axial directions of the first lead screw 23 and the second lead screw 27 are perpendicular to each other. The moving mechanism further includes a slider 29. Both the first slide bar 25 and the second slide bar 28 pass through the slider 29. The slider 29 is slidably connected to both the first slide bar 25 and the second slide bar 28. The first rotating pair 5 is installed on the slider 29.

[0030] In some other embodiments, the first-direction moving support mechanism and the second-direction moving support mechanism can also be cylinders, linear guide rail mechanisms, etc., as long as they can drive the slider 29 to move in the first direction and the second direction respectively.

[0031] In this embodiment, there are two first lead screws 23 and two first driving motors 24. The two first lead screws 23 and the two first driving motors 24 are respectively located at both ends of the first slide bar 25, and the two first lead screws 23 are arranged in parallel. Both ends of the first slide bar 25 are threadedly connected to the first lead screws 23 respectively. There are two second lead screws 27 and two second driving motors 26. The two second lead screws 27 and the two second driving motors 26 are respectively located at both ends of the second slide bar 28, and the two second lead screws 27 are arranged in parallel. Both ends of the second slide bar 28 are threadedly connected to the second lead screws 27 at both ends respectively. The two first lead screws 23 rotate synchronously, so that the first slide bar 25 moves in the first direction. During the movement of the first slide bar 25, the second slide bar 28 remains in place. The first slide bar 25 drives the slider 29 to slide on the second slide bar 28. The two second lead screws 27 rotate synchronously, so that the second slide bar 28 moves in the second direction. During the movement of the second slide bar 28, the first slide bar 25 remains in place. The second slide bar 28 drives the slider 29 to slide on the first slide bar 25, thereby realizing the position adjustment of the puncture needle rod 4 and the first rotating pair 5 installed on the slider 29 on the upper platform 3.

[0032] In this embodiment, the telescopic mechanism 22 includes telescopic cylinders arranged on both sides of the respiratory movement platform 1. One end of the telescopic cylinder is connected to the upper platform 3, and the other end is connected to the lower platform 2. Under the telescopic movement of the telescopic cylinder, the upper platform 3 is driven to perform up-and-down telescopic movement to simulate the undulation of the patient's body surface.

[0033] In some other embodiments, the telescopic mechanism 22 may also be an eccentric wheel mechanism, a hydraulic cylinder or other structures, as long as it can enable the upper platform 3 to perform vertical telescopic movement relative to the lower platform 2.

[0034] In this embodiment, the motion mechanism includes a parallel translational mechanism 9. The parallel translational mechanism 9 is installed at the bottom of the lower platform 2. A moving platform is connected to the end of the parallel translational mechanism 9. The lower end of the puncture needle rod 4 is movably connected to the moving platform through a second rotating pair 16. The second rotating pair 16 includes a first rotating block 17 and a second rotating block 18. The first rotating block 17 is rotatably installed on the moving platform so that the first rotating block 17 can rotate around a first direction. The second rotating block 18 is rotatably installed on the first rotating block 17 so that the second rotating block 18 can rotate around a second direction. Wherein, the first direction and the second direction are opposite. The lower end of the puncture needle rod 4 is fixedly installed on the second rotating block 18.

[0035] In this embodiment, the second rotating pair 16 further includes a U-shaped pair 19. The U-shaped pair 19 is rotatably installed on the moving platform. The rotation direction of the U-shaped pair 19 is the second direction in which the second rotating block 18 rotates. An arc-shaped slot hole with a width matching the diameter of the puncture needle rod 4 is formed on the U-shaped pair 19. The extending direction of the arc-shaped slot hole is the first direction in which the first rotating block 17 rotates. The lower end of the puncture needle rod 4 passes through the arc-shaped slot hole. The lower end of the puncture needle rod 4 can slide along the arc-shaped slot hole in the first direction. The end of the puncture needle rod 4 can also drive the U-shaped pair 19 to rotate in the second direction.

[0036] Further, as Figure 5 and Figure 6 shown, the second rotating pair 16 includes a first rotating block 17 and a second rotating block 18. Both ends of the first rotating block 17 are rotatably installed on the moving platform 15 so that the first rotating block 17 can rotate around a first direction. The second rotating block 18 is rotatably installed on the first rotating block 17 so that the second rotating block 18 can rotate around a second direction. Wherein, the first direction and the second direction are opposite. The lower end of the puncture needle rod 4 is fixedly installed on the second rotating block 18. When a doctor operates the upper end of the puncture needle rod 4, the lower end of the puncture needle rod 4 can drive the first rotating block 17 to rotate in the first direction and the second rotating block 18 to rotate in the second direction. At the same time, the lower end of the puncture needle rod 4 can also drive the moving platform 15 to perform translational movement through the first rotating block 17 and the second rotating block 18. Wherein, the rotational connection positions of the first rotating block 17 and the second rotating block 18 are both shaft connections, with less friction, and the rotation process can be completed accurately and quickly.

[0037] Further, an installation slot hole for installing the second rotating block 18 is formed on the first rotating block 17. The second rotating block 18 is rotatably installed in the installation slot hole.

[0038] In some other embodiments, the second rotating pair 16 can also be a combination of a rotating block and a rotating ball, or a sphere stuck in the moving platform 15, as long as it can achieve rotation in two directions. In this embodiment, as Figure 5 and Figure 6 shown, the second rotating pair 16 further includes a U-shaped pair 19. Both ends of the U-shaped pair 19 are rotatably installed on the moving platform 15. The rotation direction of the U-shaped pair 19 is the second direction (i.e., the same as the rotation direction of the second rotating block 18). An arc-shaped slot (not shown) with a width matching the diameter of the puncture needle rod 4 is formed on the U-shaped pair 19. The extending direction of the arc-shaped slot is the first direction (when the puncture needle rod 4 is in the vertical state, the extending direction of the arc-shaped slot is the same as the first direction). As Figure 6 shown, the extending direction of the arc-shaped slot is the horizontal direction. The lower end of the puncture needle rod 4 passes through the arc-shaped slot, so that the lower end of the puncture needle rod 4 can slide in the arc-shaped slot and can drive the U-shaped pair 19 to rotate. When adjusting the angle of the puncture needle rod 4 in the first direction, the puncture needle rod 4 drives the first rotating block 17 to rotate in the moving platform 15. At the same time, the lower end of the puncture needle rod 4 slides in the arc-shaped slot. When adjusting the angle of the puncture needle rod 4 in the second direction, the puncture needle rod 4 drives the second rotating block 18 to rotate in the first rotation. At the same time, the lower end of the puncture needle rod 4 drives the U-shaped pair 19 to rotate synchronously in the second direction.

[0039] On the one hand, the adoption of the U-shaped pair 19 can make the lower end of the puncture needle rod 4 slide in the arc-shaped slot, which can guide the puncture needle rod 4 to slide in the arc-shaped slot. On the other hand, after the U-shaped pair 19 is set, both ends of the U-shaped pair 19 are installed on the moving platform 15, so that the second motion information monitoring component for monitoring the rotation angle of the puncture needle rod 4 in the second direction can be set on the moving platform 15, avoiding being set on the first rotating block 17 and rotating with the second rotating block 18, reducing inertia.

[0040] In this embodiment, as Figure 2 、 Figure 3 and Figure 7As shown, the parallel translational mechanism 9 includes a kinematic chain and a first motion information monitoring component. The kinematic chain of the parallel translational mechanism 9 is connected in parallel to the moving platform 15, and the first motion information monitoring component can monitor the motion information of the kinematic chain. The posture adjustment mechanism includes a first rotating pair 5, a puncture needle rod 4, a second rotating pair 16, and a second motion information monitoring component. The lower end of the puncture needle rod 4 slides through the movable end of the first rotating pair 5. The puncture needle rod 4 can rotate by using the first rotating pair 5 and linearly move axially relative to the movable end of the first rotating pair 5. The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 through the second rotating pair 16, so that when the upper end of the puncture needle rod 4 is operated, the lower end of the puncture needle rod 4 can rotate relative to the moving platform 15 and drive the moving platform 15 to translate under the action of the parallel translational mechanism 9. The second motion information monitoring component can monitor the motion information of the second rotating pair 16.

[0041] In this embodiment, the lower end of the puncture needle rod 4 passes through the first rotating pair 5 and is connected to the second rotating pair 16, and the second rotating pair 16 is connected to the moving platform 15. During the puncture operation, the doctor operates the upper end of the puncture needle rod 4. The doctor controls the upper end of the puncture needle rod 4 to rotate around the first rotating pair 5 to adjust the angle of the puncture needle rod 4, that is, to adjust the puncture angle of the slave puncture needle. When the doctor controls the puncture needle rod 4 to rotate, the lower end of the puncture needle rod 4 rotates in the moving platform 15 through the second rotating pair 16 and will drive the moving platform 15 to move at the same time. During the rotation of the puncture needle rod 4, the motion information of the second rotating pair 16 is monitored by the second motion information monitoring component. The second motion information monitoring component can be an encoder, a sensor, etc.

[0042] Since the moving platform 15 is connected to the kinematic chain of the parallel translational mechanism 9, the moving platform 15 can always be kept in a horizontal state under the action of the parallel translational mechanism 9. Therefore, the rotation of the lower end of the puncture needle rod 4 will drive the moving platform 15 to translate. During this process, the kinematic chain of the parallel translational mechanism 9 rotates at a corresponding angle. During this process, the motion information of the kinematic chain is monitored by the first motion information monitoring component. The first motion information monitoring component can be an encoder, a sensor, etc.

[0043] After the doctor adjusts the angle of the puncture needle rod 4, the doctor controls the puncture needle rod 4 to linearly move axially within the movable end of the first rotating pair 5. During this process, under the action of the kinematic chain, when the puncture needle rod 4 is at any angle within the operable space, the moving platform 15 can move linearly along the axis of the puncture needle rod 4 to perform the control of needle insertion and needle withdrawal.

[0044] The first rotating pair 5 includes a fixed end and a movable section. The fixed end can be fixed on the respiratory movement platform 1 or the base, and the movable end is rotatably connected to the fixed end. The puncture needle rod 4 slidably penetrates through the movable end, enabling the puncture needle rod 4 to rotate through the movable end and linearly move axially relative to the movable end. When the doctor controls the puncture needle rod 4 to adjust the angle, that is, controls the puncture needle rod 4 to rotate around the axis of the first rotating pair 5 to adjust the angle of the puncture needle rod 4. When the puncture needle rod 4 slides within the first rotating pair 5, it simulates the puncture process of the puncture needle. The doctor directly operates the puncture needle rod 4 to drive the slave puncture needle for the operation. Through the second rotating pair 16, the moving platform 15, and the parallel translational mechanism 9 at the lower end of the puncture needle rod 4, the puncture needle rod 4 can not only complete the angle adjustment in the master operating hand structure but also realize the puncture process. The doctor directly operating the puncture needle rod 4 can be closer to the real surgical environment, enhancing the doctor's environmental experience and ensuring the smooth progress of the operation.

[0045] The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 through the second rotating pair 16, enabling the lower end of the puncture needle rod 4 to rotate relative to the moving platform 15. That is, when the operator controls the puncture needle rod 4 to adjust the angle, the lower end of the puncture needle rod 4 can rotate within the moving platform 15 relative to the moving platform 15. While the lower end of the puncture needle rod 4 is rotating, it can drive the moving platform 15 to translate. The parallel translational mechanism 9 is connected to the moving platform 15. The parallel translational mechanism 9 has high speed, small motion inertia, good dynamic response, good isotropy, and convenient position solution. At the same time, after the operator adjusts the angle of the puncture needle rod 4, the operator can control the puncture needle rod 4 to press down to simulate the puncture of the puncture needle. The puncture needle rod 4 slides within the first rotating pair 5. At the same time, the lower end of the puncture needle rod 4 drives the moving platform 15 to move downward.

[0046] In one embodiment, the first rotating pair 5 and the second rotating pair 16 can have multiple rotation directions. For example, the first rotating pair 5 adopts two crossed U-pairs or a ball pair 8 that can rotate in all directions. Similarly, the second rotating pair 16 can also adopt two crossed U-pairs or a ball pair 8 that can rotate in all directions.

[0047] In another embodiment, the first rotating pair 5 is a ball pair 8 that can rotate in all directions, and the second rotating pair 16 has at least two rotation directions. Through the cooperation of the first rotating pair 5 and the second rotating pair 16, the puncture needle rod 4 can rotate at any angle within the operating space. In this embodiment, the second rotating pair 16 can be two crossed U-pairs or a similar structure, and this embodiment does not limit it here.

[0048] In one aspect of the present invention, during the operation, the doctor can hold the upper end of the puncture needle rod 4, and use the first rotating pair 5 and the second rotating pair 16 to enable the puncture needle rod 4 to rotate. The rotation of the puncture needle of the slave hand is controlled according to the rotation angle of the puncture needle rod 4 obtained by the second motion monitoring component. At the same time, under the action of the parallel translation mechanism 9, when the puncture needle rod 4 rotates to any angle within the operation space, the moving platform 15 is translated to the position corresponding to the puncture needle rod 4, and under the action of the motion chain of the parallel translation mechanism 9, the doctor can more smoothly operate the puncture needle rod 4 to move linearly along the axis and drive the moving platform 15 to move linearly along the axis. During the axial movement of the moving platform 15, the motion chain follows, and the needle insertion and withdrawal of the puncture needle of the slave hand are controlled according to the motion information of the motion chain obtained by the first motion information monitoring component.

[0049] It can be seen that in this application, the puncture needle rod is used as the operating end 7 of the master hand. The puncture needle rod 4 is relatively close to the puncture needle of the slave hand in terms of structural form and motion mode. Therefore, it can achieve the technical effects of improving the judgment accuracy and operating feel of the doctor during the operation, and enhancing the doctor's clinical feeling. Furthermore, it solves the problems in the related art that the structure of the operating end 7 of the master hand is quite different from the real puncture needle, and at the same time, the slender operating rod as a non-direct operating part will also affect the doctor's judgment and feel, weakening the doctor's clinical feeling.

[0050] On the other hand, both the first motion information monitoring component and the second motion information monitoring component can monitor the angle of the puncture needle rod 4, so as to facilitate the doctor to accurately obtain the adjustment angle of the puncture needle rod 4.

[0051] Specifically, by using the first rotating pair 5 and the second rotating pair 16, the rotation of the puncture needle rod 4 will drive the translation of the moving platform 15. During this process, the motion chain will also rotate to support the translation of the moving platform 15. Therefore, the motion information of the motion chain can be monitored by the first motion information monitoring component, and the angle adjustment information of the puncture needle rod 4 can be obtained through the position movement information of the motion chain. Also, the motion information of the second rotating pair 16 can be monitored by the second motion information monitoring component, and the angle adjustment information of the puncture needle rod 4 can be obtained through the motion information of the second rotating pair 16. The first motion information monitoring component and the second motion information monitoring component can be mutually verified to ensure the accuracy of the angle adjustment of the puncture needle rod 4, or they can be used separately to detect the motion information of different components in the master operation hand.

[0052] Specifically, as Figure 2 and Figure 7As shown, the first rotating pair 5 is a spherical pair 8, including a spherical moving end and a basic member 6 that can accommodate the universal rotation of the moving end. The basic member 6 serves as the fixed end of the first rotating pair 5 and is fixed in the mounting hole of the respiratory movement platform 1. The puncture needle rod 4 is slidably mounted on the moving end. When controlling the operation end 7 of the puncture needle rod 4 to adjust the angle of the puncture needle rod 4, the puncture needle rod 4 rotates with the center position of the ball of the moving end as the fulcrum. The lower end of the puncture needle rod 4 drives the first rotating block 17 and the second rotating block 18 to rotate, and at the same time drives the moving platform 15 to translate.

[0053] In some other embodiments, the first rotating pair 5 can also be a universal joint structure, as long as it can enable the puncture needle rod 4 to rotate and move at the first rotating pair 5.

[0054] In this embodiment, the second motion information monitoring component includes a first encoder 21 and a second encoder 20. The first encoder 21 is arranged on the moving platform 15 and connected to the rotating shaft of the first rotating block 17 for obtaining the rotation angle of the puncture needle rod 4 in the first direction; the second encoder 20 is arranged on the moving platform 15 and connected to the rotating shaft of the U-shaped pair 19 for obtaining the rotation angle of the puncture needle rod 4 in the second direction. Among them, both the first encoder 21 and the second encoder 20 are installed on the moving platform 15, avoiding installing the encoder on the rotating block and following the rotation of the rotating block, which can reduce inertia.

[0055] Furthermore, as Figure 4 shown, the motion branch chain includes a driving rod 11 and a driven rod 10. The head end of the driven rod 10 is rotatably mounted on the driving rod 11, and the tail end of the driven rod 10 is rotatably connected to the moving platform 15. The motion branch chain is used to keep the moving platform 15 translate horizontally or move up and down. In this embodiment, there are three motion branch chains, and the three motion branch chains are evenly distributed around the moving platform 15, which can further ensure the horizontal movement of the moving platform 15; the moving platform 15 includes a mounting frame, and the posture adjustment mechanism is installed in the mounting frame. The three motion branch chains are connected in parallel to the periphery of the mounting frame. The support of the three motion branch chains for the moving platform 15 forms a three-point support, which is relatively stable. In some other embodiments, the number of motion branch chains can also be set to two, four, five, etc. This embodiment does not make specific restrictions on this, as long as it can support the moving platform 15 and drive the platform 15 to translate.

[0056] In this embodiment, as Figure 4As shown in the figure, the parallel translational mechanism 9 further includes a static platform 12, a driving motor 13 and a mounting bracket 14. The mounting bracket 14 is fixedly mounted on the static platform 12. The head end of the driving rod 11 is rotatably mounted on the mounting bracket 14. The head end of the passive rod 10 is rotatably connected to the tail end of the driving rod 11. The tail end of the passive rod 10 is rotatably connected to the mounting frame. The driving motor 13 is mounted on the mounting bracket 14, and the driving end of the driving motor 13 is connected to the head end of the driving rod 11. The driving motor 13 provides torque for the moving platform 15 supported by the kinematic chain and for supporting the movement of the moving platform 15. At the same time, when the moving platform 15 is adjusted along with the angle and position of the puncture needle rod 4, the moving platform 15 drives the passive rod 10 and the driving rod 11 to overcome the torque provided by the driving motor 13, so as to simulate the resistance generated by the tissue during the process of the puncture needle piercing into the human body, making the operation experience of the operator operating the master manipulator closer to the real surgical scenario.

[0057] Both the first encoder 21 and the second encoder 20 are mounted on the mounting frame. The first encoder 21 is located at the position connected to the rotation axis of the first rotating block 17, and the second encoder 20 is mounted at the position connected to the rotation axis of the U-shaped pair 19. The first encoder 21 can obtain the rotation angle of the puncture needle rod 4 in the first direction, and the second encoder 20 can obtain the rotation angle of the U-shaped pair 19 in the second direction, that is, the rotation angle of the puncture needle rod 4 in the second direction. Through the first encoder 21 and the second encoder 20, the adjustment angle of the puncture needle rod 4 can be obtained, so as to adjust the puncture needle rod 4 to the puncture angle, facilitating the subsequent puncture operation. Embodiment 2

[0058] This embodiment provides a specific implementation manner of the control method for the master hand controller. The master hand controller in Embodiment 1 is used for implementation, and further includes the following steps: obtaining the undulating motion information of the chest of the patient to be punctured and forming the undulating data of the chest of the patient to be punctured; transmitting the undulating data of the chest of the patient to be punctured to the respiratory motion platform through the bus. The telescopic mechanism in the respiratory motion platform drives the upper platform to move, and makes the movement amplitude of the upper platform consistent with the undulating data of the chest of the patient to be punctured. By simulating the undulation of the chest of the patient to be punctured, the presence sense of the operator can be enhanced.

[0059] Further, in the step of obtaining the undulating motion information of the chest of the patient to be punctured, the undulation of the patient's chest can be photographed and recorded by arranging a vision camera, and then the undulating motion information of the chest of the patient to be punctured is generated.

[0060] In this embodiment, the following steps are further included: obtaining the coordinate information of the puncture point on the body surface of the patient to be punctured, and transmitting the coordinate information of the puncture point to the respiratory motion platform through the bus; the moving mechanism drives the first rotating pair to move to the specified coordinates to reproduce the puncture point on the body surface of the patient to be punctured.

[0061] Further, when obtaining the coordinate information of the puncture point on the body surface of the punctured patient, a vision camera can be arranged to photograph the body surface of the patient, identify the puncture point, and transmit the coordinate information of the identified puncture point to the respiratory movement platform through a bus, so that the moving mechanism drives the first rotating pair to move to the specified coordinates.

[0062] After considering the specification and practicing the embodiments of the present application, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not claimed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. A master hand controller, characterized in that: include: A respiratory motion platform, the respiratory motion platform comprising an upper platform and a lower platform, a motion space being provided between the upper platform and the lower platform, the upper platform and the lower platform being connected by a telescopic mechanism, under the action of the telescopic mechanism, the upper platform can perform up and down telescopic motion relative to the lower platform to simulate the ups and downs of the patient's body surface; The posture adjustment mechanism comprises a puncture needle rod and a first rotating pair, wherein the puncture needle rod is connected to the upper platform through the first rotating pair, and the puncture needle rod can rotate by the first rotating pair and move linearly along the axial direction relative to the movable end of the first rotating pair; The motion mechanism is arranged in the motion space, and the lower end of the puncture needle rod extends into the motion space and is movably connected to the motion mechanism. The motion mechanism is driven to move in the motion space by operating the upper end of the puncture needle rod, thereby realizing the motion control of the lower end of the puncture needle rod.

2. The master hand controller according to claim 1, characterized in that: It also includes a moving mechanism, which is arranged in the upper platform, and is used to drive the first rotating pair to translate on the surface of the upper platform to change the position of the puncture point.

3. The master hand controller according to claim 2, characterized in that: The moving mechanism includes a first direction moving branch mechanism and a second direction moving branch mechanism, the first direction moving branch mechanism is used to drive the first rotating pair to move in the first direction, the second direction moving branch mechanism is used to drive the first rotating pair to move in the second direction, and the first direction and the second direction are perpendicular to each other.

4. The master hand controller according to claim 3, characterized in that: The first direction moving support mechanism comprises a first lead screw, a first slide rod and a first driving motor, the end of the first slide rod is connected to the first lead screw by a thread, and the first driving motor is used to drive the first lead screw to rotate so that the first slide rod moves along the axial direction of the first lead screw; The second direction moving support mechanism comprises a second lead screw, a second slide rod and a second driving motor, the end of the second slide rod is connected to the second lead screw by a thread, and the second driving motor is used to drive the second lead screw to rotate so that the second slide rod moves along the axial direction of the second lead screw, and the axial direction of the second lead screw is perpendicular to the axial direction of the first lead screw; The first slide bar and the second slide bar both pass through the slide bar, and the slide bar is slidably connected to the first slide bar and the second slide bar, and the first rotation pair is installed on the slide bar.

5. The master hand controller according to claim 4, characterized in that: There are two first lead screws and two first drive motors, the two first lead screws are respectively located at two ends of the first slide bar, and the two first lead screws are arranged in parallel; There are two second lead screws and two second drive motors, and the two second lead screws are respectively located at two ends of the second sliding rod, and the two second lead screws are arranged in parallel.

6. The master hand controller according to claim 1, characterized in that: The telescopic mechanism comprises telescopic cylinders arranged on both sides of the respiratory motion platform, one end of the telescopic cylinder is connected to the upper platform, and the other end is connected to the lower platform.

7. The master hand controller according to claim 1, characterized in that: The motion mechanism comprises a parallel translation mechanism, which is installed at the bottom of the lower platform, and the end of the parallel translation mechanism is connected to a moving platform, and the lower end of the puncture needle rod is movably connected to the moving platform through a second rotation pair; The second rotating pair comprises a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the movable platform so that the first rotating block can rotate around a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate around a second direction, and the first direction is opposite to the second direction; The lower end of the puncture needle rod is fixed on the second rotating block.

8. The master hand controller according to claim 7, characterized in that: The second rotating pair also includes a U-shaped pair, and the U-shaped pair is rotatably mounted on the moving platform. The rotation direction of the U-shaped pair is the second direction. The U-shaped pair is provided with an arcuate slot hole with a width matching the diameter of the puncture needle rod. The extension direction of the arcuate slot hole is the first direction. The lower end of the puncture needle rod passes through the arcuate slot hole. The lower end of the puncture needle rod is suitable for sliding along the arcuate slot hole in the first direction, and the end of the puncture needle rod is also suitable for driving the U-shaped pair to rotate in the second direction.

9. A control method for a master hand controller, characterized in that: The master hand controller according to any one of claims 1 to 8 further comprises the following steps: Acquire the ups and downs movement information of the chest of the punctured patient and form the ups and downs data of the chest of the punctured patient; The chest rise and fall data of the punctured patient are transmitted to the respiratory motion platform through the bus, and the telescopic mechanism in the respiratory motion platform drives the upper platform to move, and the movement amplitude of the upper platform is consistent with the chest rise and fall data of the punctured patient.

10. The control method for the master hand controller according to claim 9, characterized in that: The following steps are also included: Acquire the coordinate information of the puncture point on the body surface of the punctured patient, and transmit the coordinate information of the puncture point to the respiratory motion platform through the bus; The moving mechanism drives the first rotating pair to move to the designated coordinates to reproduce the puncture point on the body surface of the punctured patient.

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