Master hand controller and control method

Abstract

The present application provides a master hand controller and control method, belonging to the field of surgical robot technology. Specifically, it includes: a respiratory motion platform, an upper platform and a lower platform, a motion space 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 undulations of the patient's body surface; a posture adjustment mechanism, including a puncture needle rod and a first rotating pair; and a motion mechanism, which drives the motion mechanism to move within the motion space by operating the upper end of the puncture needle rod to achieve motion control of the lower end. The telescopic mechanism drives the upper platform to perform telescopic motion relative to the lower platform to simulate the undulations of the patient's body surface, so that the surgeon can be more immersive when performing the surgical operation, enhance the surgeon's surgical experience, and be closer to the real surgical environment, thereby improving the surgeon's surgical efficiency.

Description

Technical Field

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

[0002] In recent years, X-ray computed tomography (CT) has made tremendous progress, both in fundamental technology and in novel clinical applications. Significant advances have been made in various CT components, including light pipes, detectors, slip rings, data acquisition systems, and algorithms. Since the advent of spiral CT and multislice CT, many new clinical applications have emerged. Their advantages, such as fast scan times and clear images, have enabled the examination of a wide range of diseases.

[0003] CT-guided percutaneous puncture is a technology that is now widely used in clinical practice. It is a technology that accurately inserts the puncture needle into the lesion in the body and obtains the diseased tissue under the precise guidance of the CT scan. The puncture under the guidance of CT image is based on CT imaging (human tissue and puncture needle). It can judge the puncture direction in real time and make timely adjustments, which greatly improves the success rate of the operation, reduces the risk of surgery, and speeds up the patient's recovery. However, CT equipment uses X-rays or gamma rays to complete its work. Performing the operation on the CT side will expose the doctor to the radiation environment for a long time, posing a great threat to the health of the body. Therefore, some people have proposed the use of a master-slave robot-assisted puncture system. The master operator structure remotely operates the slave operator's robotic arm to complete the puncture process, which allows the doctor to complete the surgical operation outside the CT room, avoiding the doctor's long-term exposure to the radiation environment.

[0004] The existing master manipulator includes a shell and a controller. By controlling the controller to move on the shell, the slave robot is driven to move synchronously. However, the existing shells are fixed structures, and the surgical position of the slave end is the patient. The patient's breathing will cause the patient's body surface to float. The fixed structure of the master manipulator is difficult to match the operating environment of the slave end, which affects the surgeon's surgical experience and may affect the surgical results. Summary of the Invention

[0005] The purpose of this application is to provide a main hand controller and control method, aiming to solve the problem in related technologies that the shell of the main operating hand is a fixed structure and cannot match the floating surface of the patient's body, affecting the surgical experience and possibly affecting the surgical results.

[0006] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0007] According to a first aspect of the present application, a master hand controller is provided, comprising:

[0008] A respiratory motion platform comprising an upper platform and a lower platform, wherein a motion space is defined 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 motion relative to the lower platform to simulate the undulation of the patient's body surface.

[0009] The posture adjustment mechanism includes a puncture needle rod and a first rotating pair, wherein the puncture needle rod is connected to the upper platform via 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;

[0010] The motion mechanism is 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. By operating the upper end of the puncture needle rod, the motion mechanism is driven to move in the motion space, thereby realizing the motion control of the lower end of the puncture needle rod.

[0011] In an exemplary embodiment of the present application, a moving mechanism is further included, which is 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.

[0012] In an exemplary embodiment of the present application, 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, and 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.

[0013] In an exemplary embodiment of the present application, the first-direction moving support mechanism includes a first lead screw, a first sliding rod, and a first drive motor, wherein an end of the first sliding rod is connected to the first lead screw via a thread, and the first drive motor is used to drive the first lead screw to rotate so that the first sliding rod moves along the axial direction of the first lead screw;

[0014] The second-direction moving support mechanism includes a second lead screw, a second sliding rod, and a second drive motor. The end of the second sliding rod is connected to the second lead screw by a thread. The second drive motor is used to drive the second lead screw to rotate so that the second sliding rod moves along the axial direction of the second lead screw. The axial direction of the second lead screw is perpendicular to the axial direction of the first lead screw.

[0015] 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.

[0016] In an exemplary embodiment of the present application, 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 sliding rod, and the two first lead screws are arranged in parallel;

[0017] 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.

[0018] In an exemplary embodiment of the present application, the telescopic mechanism includes 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.

[0019] In an exemplary embodiment of the present application, the motion mechanism includes a parallel translation mechanism, which is mounted on the bottom of the lower platform, and the end of the parallel translation mechanism is connected to the moving platform, and the lower end of the puncture needle rod is movably connected to the moving platform via a second rotational pair;

[0020] The second rotating pair includes a first rotating block and a second rotating block, and the first rotating block is rotatably mounted on the movable platform so that the first rotating block can rotate around a first direction;

[0021] The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, the first direction being opposite to the second direction;

[0022] The lower end of the puncture needle rod is fixed on the second rotating block.

[0023] In an exemplary embodiment of the present application, the second rotating pair also includes a U-shaped pair, 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.

[0024] According to a second aspect of the present application, a control method for a master hand controller is provided, comprising the above-mentioned master hand controller, and further comprising the following steps:

[0025] Acquiring the ups and downs movement information of the chest of the punctured patient and forming the ups and downs data of the chest of the punctured patient;

[0026] The chest rise and fall data of the punctured patient is transmitted to the respiratory motion platform through the bus. 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.

[0027] In an exemplary embodiment of the present application, the following steps are further included:

[0028] Obtaining coordinate information of the puncture point on the patient's body surface, and transmitting the coordinate information of the puncture point to the respiratory motion platform via the bus;

[0029] The moving mechanism drives the first rotating pair to move to the specified coordinates to reproduce the puncture point on the surface of the patient's body.

[0030] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0031] 1. The master hand controller provided in the example embodiment of the present application includes a breathing motion platform, a posture adjustment mechanism and a motion mechanism, wherein the breathing motion platform includes an upper platform and a lower platform, and a motion space is provided 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 ups and downs 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 be rotated by the first rotating pair and move axially in a straight line relative to the active 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. By operating the upper end of the puncture needle rod, the motion mechanism is driven to move in the motion space to realize the motion control of the lower end of the puncture needle rod. The telescopic mechanism drives the upper platform to perform telescopic movement relative to the lower platform to simulate the ups and downs of the patient's body surface, allowing the surgeon to be more immersive during the surgical operation, enhancing the surgeon's surgical experience, and making it closer to a real surgical environment, thereby improving the surgeon's surgical efficiency.

[0032] 2. The master hand controller provided in the present application also includes a moving mechanism, which includes a first-direction moving branch and a second-direction moving branch. The first moving branch can drive the first rotating pair to move in the first direction, and the second-direction moving branch 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 of the first rotating pair is the surgical position of the puncture needle rod. By driving the first rotating pair by the first-direction moving branch and the second-direction moving branch in the moving mechanism, the position of the first rotating pair on the surface of the upper platform can be adjusted, which is equivalent to adjusting the surgical puncture position of the puncture needle rod. This simulates the process of moving the puncture needle to the puncture position before puncture in a real surgical environment, further improving the surgeon's surgical experience.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0035] Figure 1 It shows a schematic structural diagram of the master hand controller in Example 1 of the present application;

[0036] Figure 2 It shows a schematic structural diagram of the upper platform covering movement mechanism of the main control controller in Example 1 of the present application;

[0037] Figure 3 A schematic diagram of the connection structure between the posture adjustment mechanism and the parallel translation mechanism in Example 1 of the present application is shown;

[0038] Figure 4 The structure diagram of the parallel translation mechanism in Example 1 of the present application is shown;

[0039] Figure 5 It shows a schematic structural diagram of the second rotating pair in Example 1 of the present application;

[0040] Figure 6 shows a side view of the second rotation pair in Example 1 of the present application;

[0041] Figure 7 A schematic diagram of the connection structure between the puncture needle rod and the first rotating pair in Example 1 of the present application is shown.

[0042] Description of reference numerals:

[0043] 1. Respiratory motion platform; 2. Lower platform; 3. Upper platform; 4. Puncture needle rod; 5. First rotating pair; 6. Basic part; 7. Operating end; 8. Ball pair; 9. Parallel translation 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 slide bar; 26. Second driving motor; 27. Second lead screw; 28. Second slide bar; 29. Slider. DETAILED DESCRIPTION

[0044] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many 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 concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0045] While relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It should be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0046] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and do not limit the quantity of their objects. Example 1

[0047] This embodiment provides a specific implementation of the master hand controller, such as Figure 1As shown, it includes a respiratory motion platform 1, a posture adjustment mechanism and a motion mechanism, wherein the respiratory motion platform 1 includes an upper platform 3 and a lower platform 2, and 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 perform up and down telescopic movement relative to the lower platform 2 to simulate the ups and downs 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 be rotated by the first rotating pair 5 and move axially in a straight line relative to the active end of the first rotating pair 5; the motion mechanism is arranged in the motion space, and 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, the motion mechanism is driven to move in the motion space to realize the motion control of the lower end of the puncture needle rod 4. The telescopic mechanism 22 drives the upper platform 3 to perform telescopic movement relative to the lower platform 2 to simulate the ups and downs of the patient's body surface, so that the surgeon can be more immersive when performing the operation, enhance the surgeon's surgical experience, and be closer to the real operating environment, thereby improving the surgeon's surgical efficiency; at the same time, the respiratory motion platform 1 is used to simulate the human body surface, and the operating end 7 exposed outside the respiratory motion platform 1 is for the operator to operate, avoiding the long length of the puncture needle rod 4 exposed, which is inconvenient for the doctor to operate. At the same time, only exposing the operating end 7 from the respiratory motion platform 1 can simulate the scene of the doctor holding the tail end of the puncture needle to perform a puncture operation, which is closer to the real surgical environment.

[0048] This embodiment also includes a moving mechanism disposed within 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 movement space, simulating the lower end of the puncture needle rod 4 piercing the patient's body from the patient's body surface. By providing the moving mechanism, the position of the first rotating pair 5 can be adjusted, that is, the position of the puncture needle rod 4 on the patient's body surface can be adjusted, further improving the operator's experience.

[0049] 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 rotational pair 5 to move in the first direction, and the second-direction moving branch mechanism is used to drive the first rotational 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 movement in two directions, the transformation movement of all points on the surface of the upper platform 3 of the first rotational pair 5 can be completed.

[0050] Furthermore, the first direction moving branch mechanism includes a first lead screw 23, a first slide rod 25 and a first drive motor 24, the end of the first slide rod 25 is connected to the first lead screw 23 by a thread, and the first drive motor 24 can drive the first lead screw 23 to rotate so that the first slide rod 25 moves along the axial direction of the first lead screw 23; the second direction moving branch mechanism includes a second lead screw 27, a second slide rod 28 and a second drive motor 26, the end of the second slide rod 28 is connected to the second lead screw 27 by a thread, and the second drive motor 26 is used to drive the second lead screw 27 to rotate so that the second slide rod 28 moves along the axial direction of the second lead screw 27, and the axial direction of the first lead screw 23 and the axial direction of the second lead screw 27 are perpendicular to each other; the moving mechanism also includes a slider 29, the first slide rod 25 and the second slide rod 28 both pass through the slider 29, the slider 29 is slidably connected to the first slide rod 25 and the second slide rod 28, and the first rotating pair 5 is installed on the slider 29.

[0051] In some other embodiments, the first direction moving branch mechanism and the second direction moving branch mechanism may also be a cylinder or a linear guide light mechanism, as long as they can drive the slider 29 to move in the first direction and the second direction respectively.

[0052] In this embodiment, there are two first screws 23 and two first drive motors 24, and the two first screws 23 and the first drive motor 24 are respectively located at the two ends of the first slide bar 25, and the two first screws 23 are arranged in parallel, and the two ends of the first slide bar 25 are respectively connected to the first screw 23 by threads; there are two second screws 27 and two second drive motors 26, and the two second screws 27 and the second drive motor 26 are respectively located at the two ends of the second slide bar 28, and the two second screws 27 are arranged in parallel, and the two ends of the second slide bar 28 are respectively connected to the second screws 27 at both ends by threads, and the two first screws The lever 23 rotates synchronously, causing the first slide bar 25 to move in the first direction. During the movement of the first slide bar 25, the second slide bar 28 remains in position, and 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, causing the second slide bar 28 to move in the second direction. During the movement of the second slide bar 28, the first slide bar 25 remains in position, and 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 installed on the slider 29 and the first rotating pair 5 on the upper platform 3.

[0053] In this embodiment, the telescopic mechanism 22 includes a telescopic cylinder arranged on both sides of the respiratory motion 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 telescopic movement up and down to simulate the ups and downs of the patient's body surface.

[0054] 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 telescopic movement up and down relative to the lower platform 2 .

[0055] In this embodiment, the motion mechanism includes a parallel translation mechanism 9, which is installed at the bottom of the lower platform 2. The end of the parallel translation mechanism 9 is connected to the moving platform, and 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 mounted on the moving platform so that the first rotating block 17 can rotate about a first direction, and the second rotating block 18 is rotatably mounted on the first rotating block 17 so that the second rotating block 18 can rotate about a second direction, wherein the first direction and the second direction are in opposite directions, and the lower end of the puncture needle rod 4 is fixedly mounted on the second rotating block 18.

[0056] In this embodiment, the second rotating pair 16 also includes a U-shaped pair 19, which is rotatably mounted on the moving platform. The rotation direction of the U-shaped pair 19 is the second direction of rotation of the second rotating block 18. The U-shaped pair 19 is provided with an arcuate slot whose width matches the diameter of the puncture needle rod 4. The extension direction of the arcuate slot is the first direction of rotation of the first rotating block 17. The lower end of the puncture needle rod 4 passes through the arcuate slot. The lower end of the puncture needle rod 4 can slide along the arcuate slot in the first direction, and the end of the puncture needle rod 4 can also drive the U-shaped pair 19 to rotate in the second direction.

[0057] Furthermore, if Figure 5 and Figure 6 As 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 mounted on the movable platform 15, so that the first rotating block 17 can rotate around a first direction, and the second rotating block 18 is rotatably mounted 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 in opposite directions; the lower end of the puncture needle rod 4 is fixedly mounted on the second rotating block 18. When the 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 movable platform 15 to move translationally through the first rotating block 17 and the second rotating block 18; wherein, the rotating connection positions of the first rotating block 17 and the second rotating block 18 are both shaft connections, with low friction, and the rotation process can be completed accurately and quickly.

[0058] Furthermore, a mounting slot hole for mounting the second rotating block 18 is provided on the first rotating block 17 , and the second rotating block 18 is rotatably mounted in the mounting slot hole.

[0059] In some other embodiments, the second rotation pair 16 can also be a combination of a rotation block and a rotation ball, or a sphere stuck in the moving platform 15, as long as it can achieve rotation in two directions. Figure 5 and Figure 6 As shown, the second rotating pair 16 also includes a U-shaped pair 19, both ends of the U-shaped pair 19 are rotatably mounted on the movable platform 15, the rotation direction of the U-shaped pair 19 is the second direction (i.e., consistent with the rotation direction of the second rotating block 18), and the U-shaped pair 19 is provided with an arcuate slot (not shown) having a width matching the diameter of the puncture needle rod 4, and the extension direction of the arcuate slot is the first direction (when the puncture needle rod 4 is in a vertical state, the extension direction of the arcuate slot is consistent with the first direction). Figure 6 As shown, the arcuate slot extends in the horizontal direction, and the lower end of the puncture needle rod 4 passes through the arcuate slot, so that the lower end of the puncture needle rod 4 can slide in the arcuate 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 movable platform 15, and at the same time, the lower end of the puncture needle rod 4 slides in the arcuate 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, and 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.

[0060] On the one hand, the use of the U-shaped pair 19 can make the lower end of the puncture needle rod 4 slide in the arc-shaped slot, and 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, the two 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 to reduce inertia.

[0061] In this embodiment, Figure 2 、 Figure 3 and Figure 7As shown, the parallel translation mechanism 9 includes a motion branch and a first motion information monitoring component. The motion branch of the parallel translation 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 motion branch; 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, and the puncture needle rod 4 can be rotated by the first rotating pair 5 and 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 translation mechanism 9, and the second motion information monitoring component can monitor the motion information of the second rotating pair 16.

[0062] In this embodiment, the lower end of the puncture needle shaft 4 passes through the first rotating joint 5 and is connected to the second rotating joint 16. The second rotating joint 16 is connected to the movable platform 15. During the puncture procedure, the doctor manipulates the upper end of the puncture needle shaft 4, controlling its rotation about the first rotating joint 5 to adjust the angle of the puncture needle shaft 4, thereby adjusting the puncture angle of the hand puncture needle. When the doctor controls the rotation of the puncture needle shaft 4, the lower end of the puncture needle shaft 4 rotates within the movable platform 15 via the second rotating joint 16, simultaneously driving the movable platform 15 to move. During the rotation of the puncture needle shaft 4, the motion information of the second rotating joint 16 is monitored by a second motion information monitoring component. The second motion information monitoring component can be an encoder, a sensor, etc.

[0063] Since the moving platform 15 is connected to the motion branch of the parallel translation mechanism 9, the moving platform 15 can always be kept in a horizontal state under the action of the parallel translation 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 motion branch of the parallel translation mechanism 9 produces a rotation of a corresponding angle. During this process, the motion information of the motion branch is monitored by the first motion information monitoring component. The first motion information monitoring component can be an encoder, a sensor, etc.

[0064] After adjusting the angle of the puncture needle shaft 4, the doctor controls the puncture needle shaft 4 to move linearly along its axial direction within the movable end of the first rotating pair 5. During this process, under the action of the motion branch chain, when the puncture needle shaft 4 is at any angle within the operable space, the movable platform 15 can move linearly along its axial direction with the puncture needle shaft 4 to control the needle insertion and withdrawal.

[0065] The first rotating pair 5 includes a fixed end and a movable section. The fixed end can be fixed to the respiratory motion platform 1 or the base, and the movable end can be rotatably connected to the fixed end. The puncture needle rod 4 is slidably inserted into the movable end, so that the puncture needle rod 4 can rotate through the movable end and 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 hand puncture needle to perform surgery. Through the second rotating pair 16 at the lower end of the puncture needle rod 4, the movable platform 15, and the parallel translation mechanism 9, the puncture needle rod 4 can complete the angle adjustment and the puncture process in the main operating hand structure. The doctor's direct operation of the puncture needle rod 4 can be closer to the real surgical environment, enhance the doctor's environmental experience, and ensure the smooth progress of the operation.

[0066] 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 the lower end of the puncture needle rod 4 can 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 relative to the moving platform 15 in the moving platform 15. While the lower end of the puncture needle rod 4 rotates, the moving platform 15 can be driven to translate. The parallel translation mechanism 9 is connected to the moving platform 15. The parallel translation 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 puncture with a puncture needle. The puncture needle rod 4 slides in 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.

[0067] In one embodiment, the first rotational pair 5 and the second rotational pair 16 can have multiple rotational directions. For example, the first rotational pair 5 can be formed by two crossed U-pairs or a universally rotatable ball pair 8, and similarly, the second rotational pair 16 can also be formed by two crossed U-pairs or a universally rotatable ball pair 8.

[0068] In another embodiment, the first rotational pair 5 is a universally rotatable ball pair 8, and the second rotational pair 16 has at least two rotational directions. The first rotational pair 5 and the second rotational pair 16 cooperate to enable the puncture needle shaft 4 to rotate at any angle within the operating space. In this embodiment, the second rotational pair 16 can be two crossed U-pairs or a similar structure, which is not limited in this embodiment.

[0069] On the one hand, 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 rotate the puncture needle rod 4, and control the rotation of the puncture needle rod 4 from the hand 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 is rotated to any angle in the operating space, the moving platform 15 is translated to the position corresponding to the puncture needle rod 4, and under the action of the motion branch of the parallel translation mechanism 9, the doctor can more smoothly operate the puncture needle rod 4 to move in a straight line along the axial direction and drive the moving platform 15 to move in a straight line along the axial direction. During the axial movement of the moving platform 15, the motion branch follows, and the motion information of the motion branch obtained by the first motion information monitoring component is used to control the advancement and withdrawal of the puncture needle from the hand.

[0070] It can be seen that in this application, the puncture needle rod is used as the operating end 7 of the main hand, and the puncture needle rod 4 is relatively close to the puncture needle of the slave hand in terms of structure and movement. Therefore, it can achieve the technical effect of improving the doctor's judgment accuracy and operation feel during the surgical operation, and enhance the doctor's clinical sense, thereby solving the problem that the structure of the main hand operating end 7 in the related technology is quite different from the real puncture needle, and the slender operating rod as a non-direct operating part will also affect the doctor's judgment and feel, weakening the doctor's clinical sense.

[0071] 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 that the doctor can accurately obtain the adjustment angle of the puncture needle rod 4.

[0072] Specifically, utilizing the first and second rotating joints 5 and 16, the rotation of the puncture needle shaft 4 drives the translation of the movable platform 15. During this process, the motion branch also rotates to support the translation of the movable platform 15. Therefore, the first motion information monitoring component can monitor the motion information of the motion branch, and the positional movement information of the motion branch can be used to derive the angle adjustment information of the puncture needle shaft 4. The second motion information monitoring component can also monitor the motion information of the second rotating joint 16, and the motion information of the second rotating joint 16 can be used to derive the angle adjustment information of the puncture needle shaft 4. The first and second motion information monitoring components can verify each other to ensure the accuracy of the angle adjustment of the puncture needle shaft 4, and can also be used separately to detect the motion information of different components in the main operator's hand.

[0073] Specifically, if Figure 2 and Figure 7As shown, the first rotational pair 5 is a ball pair 8, comprising a spherical movable end and a base member 6 capable of accommodating the universal rotation of the movable end. The base member 6 serves as the fixed end of the first rotational pair 5 and is fixed within the mounting hole of the respiratory motion platform 1. The puncture needle rod 4 is slidably mounted on the movable end. When the operating end 7 of the puncture needle rod 4 is controlled to adjust the angle of the puncture needle rod 4, the puncture needle rod 4 rotates about the center of the sphere at the movable 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 simultaneously drives the movable platform 15 to translate.

[0074] In some other embodiments, the first rotational pair 5 may also be a universal joint structure, as long as the puncture needle rod 4 can be rotated and moved at the first rotational pair 5 .

[0075] 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, and is used to obtain 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, and is used to obtain the rotation angle of the puncture needle rod 4 in the second direction. Among them, the first encoder 21 and the second encoder 20 are both installed on the moving platform 15 to avoid the encoder being installed on the rotating block to rotate with the rotating block, which can reduce inertia.

[0076] Furthermore, if Figure 4 As shown, the motion branch includes a driving rod 11 and a passive rod 10. The head end of the passive rod 10 is rotatably mounted on the driving rod 11, and the tail end of the passive rod 10 is rotatably connected to the moving platform 15. The motion branch is used to keep the moving platform 15 horizontally moving or moving up and down. In this embodiment, the motion branch includes three, and the three motion branches 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 branches are connected in parallel to the four sides of the mounting frame. The three motion branches form a three-point support for the moving platform 15, which is relatively stable. In some other embodiments, the motion branches can also be set to two, four, five, etc., and this embodiment does not make any specific restrictions on this, as long as it can support the moving platform 15 and drive the platform 15 to move horizontally.

[0077] In this embodiment, Figure 4As shown, the parallel translation mechanism 9 also 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 end of the driving rod 11, the 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 motion branch chain to support the moving platform 15 and support the movement of the moving platform 15. At the same time, when the moving platform 15 is adjusted with the angle and position of the puncture needle rod 4, the moving platform 15 will drive the passive rod 10 and the driving rod 11 to overcome the torque provided by the driving motor 13, which is used to simulate the resistance generated by the tissue during the puncture needle piercing the human body, so that the operator's experience of operating the main operator is closer to the real surgical scene.

[0078] The first encoder 21 and the second encoder 20 are both installed on the mounting frame. The first encoder 21 is located at a position connected to the rotating shaft of the first rotating block 17, and the second encoder 20 is installed at a position connected to the rotating shaft 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 can be obtained. 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, thereby facilitating the subsequent puncture operation. Example 2

[0079] This embodiment provides a specific implementation method of a control method for a master hand controller, which is implemented using the master hand controller in Example 1 and also includes the following steps: obtaining the ups and downs movement information of the chest of the punctured patient and forming the ups and downs data of the chest of the punctured patient; transmitting the ups and downs data of the chest of the punctured patient to the respiratory motion platform through a bus, and 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 ups and downs data of the chest of the punctured patient. By simulating the ups and downs of the chest of the punctured patient, the operator's sense of presence can be enhanced.

[0080] Furthermore, in the step of obtaining the chest rise and fall motion information of the punctured patient, a visual camera may be arranged to capture and record the chest rise and fall of the patient, thereby generating the chest rise and fall motion information of the punctured patient.

[0081] This embodiment also includes the following steps: obtaining the coordinate information of the puncture point on the 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 coordinate to reproduce the puncture point on the surface of the patient to be punctured.

[0082] Furthermore, when obtaining the coordinate information of the puncture point on the surface of the patient's body, a visual camera can be arranged to photograph the patient's body surface, and the puncture point can be identified, and the coordinate information of the identified puncture point can be transmitted to the respiratory motion platform through the bus, so that the moving mechanism drives the first rotating pair to move to the specified coordinate.

[0083] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments of the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not covered by this application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A master hand controller, characterized in that: include: A respiratory motion platform comprising an upper platform and a lower platform, wherein a motion space is defined 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 motion 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, wherein the puncture needle rod is connected to the upper platform via 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; A motion mechanism is provided in the motion space, wherein the lower end of the puncture needle rod extends into the motion space and is movably connected to the motion mechanism, and the motion mechanism is driven to move in the motion space by operating the upper end of the puncture needle rod, thereby realizing motion control of the lower end of the puncture needle rod; a moving mechanism, disposed in the upper platform, for driving the first rotating pair to translate on the surface of the upper platform to change the position of the puncture point; 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 rotation pair to move in a first direction, and the second-direction moving branch mechanism is used to drive the first rotation pair to move in a second direction, and the first direction and the second direction are perpendicular to each other; The first-direction moving support mechanism includes a first lead screw, a first slide rod, and a first drive motor, wherein an end portion of the first slide rod is connected to the first lead screw via a thread, and the first drive 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 includes a second lead screw, a second sliding rod, and a second drive motor. The end of the second sliding rod is connected to the second lead screw by a thread. The second drive motor is used to drive the second lead screw to rotate so that the second sliding rod moves along the axial direction of the second lead screw. 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.

2. The master hand controller according to claim 1, characterized in that: There are two first lead screws and two first drive motors, and the two first lead screws are respectively located at two ends of the first slide bar and 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.

3. The master hand controller according to claim 1, characterized in that: The telescopic mechanism includes a telescopic cylinder 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.

4. The master hand controller according to claim 1, characterized in that: The motion mechanism includes 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 the 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 includes a first rotating block and a second rotating block, and 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 about a second direction, the first direction being opposite to the second direction; The lower end of the puncture needle rod is fixed on the second rotating block.

5. The master hand controller according to claim 4, characterized in that: The second rotating pair also includes a U-shaped pair, which 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 with a width matching the diameter of the puncture needle rod. The extension direction of the arcuate slot is the first direction. The lower end of the puncture needle rod passes through the arcuate slot. The lower end of the puncture needle rod is suitable for sliding along the arcuate slot 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.

6. A control method for a master hand controller, characterized in that: The master hand controller according to any one of claims 1 to 5 further comprises the following steps: Acquiring the ups and downs movement information of the chest of the punctured patient and forming the ups and downs data of the chest of the punctured patient; The chest rise and fall data of the punctured patient is transmitted to the respiratory motion platform through the bus. 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.

7. The control method for the master hand controller according to claim 6, characterized in that: The following steps are also included: Obtaining coordinate information of the puncture point on the patient's body surface, and transmitting the coordinate information of the puncture point to the respiratory motion platform via the bus; The moving mechanism drives the first rotating pair to move to the specified coordinates to reproduce the puncture point on the surface of the patient's body.

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