Main hand control device, puncture device and robot

Abstract

The embodiment of the invention provides a master manipulator control device, a puncture device and a robot. The master manipulator control device comprises a puncture needle execution assembly, and the puncture needle execution assembly comprises a rod-shaped structure; the posture adjusting execution assembly is configured to obtain the posture of the rod-shaped structure; the rod-shaped structure can move in the axial direction of the rod-shaped structure and rotate around the axial direction of the rod-shaped structure The puncture device comprises a puncture needle driving assembly and a posture adjusting control assembly, the puncture needle driving assembly comprises a rotation driving mechanism and an advancing and retreating driving mechanism, and the rotation driving mechanism is used for being connected with a puncture needle; the rotation driving mechanism is configured to drive the puncture needle to rotate around the axial direction of the puncture needle relative to the posture adjusting control assembly, and the advancing and retreating driving mechanism is configured to drive the puncture needle to move along the axial direction of the puncture needle relative to the posture adjusting control assembly. The robot comprises a main hand control device and a puncture device, and a puncture needle driving assembly of the puncture device responds to a puncture execution signal of a puncture needle execution assembly of the main hand control device and drives a puncture needle to move.

Description

Technical Field

[0001] The present specification relates to the technical field of medical equipment, and in particular to a master hand control device, a puncture device and a robot. Background Art

[0002] The master-slave teleoperated robot-assisted puncture surgery mode is a relatively advanced surgical method. The master-hand control device of the master-slave teleoperated robot remotely controls the slave puncture device to perform the puncture operation, which can effectively prevent medical staff from being exposed to radiation (such as X-rays) during the operation. At the same time, medical images (such as CT images, MR images, etc.) guide the puncture process in real time, and the entire puncture process can be controlled, greatly improving the accuracy and success rate of the puncture. In actual clinical operations, when the operator controls the puncture device at the end through the master-hand control device for puncture, due to the different skin toughness of each patient, the puncture needle may bend or even bend during the puncture process, causing accidental damage to the patient. Summary of the invention

[0003] One or more embodiments of the present specification provide a main hand control device for a robot, including a puncture needle actuator assembly, wherein the puncture needle actuator assembly includes a rod-like structure; a posture adjustment actuator assembly, wherein the posture adjustment actuator assembly is configured to obtain the posture of the rod-like structure; wherein the rod-like structure can move along its own axis and rotate around its own axis.

[0004] One or more embodiments of the present specification provide a puncture device for a robot, including a puncture needle drive assembly, wherein the puncture needle drive assembly includes a rotation drive mechanism and an advance-retract drive mechanism, wherein the rotation drive mechanism is used to connect with the puncture needle, and the rotation drive mechanism is transmission-connected with the advance-retract drive mechanism; a posture adjustment control assembly, wherein the rotation drive mechanism and the advance-retract drive mechanism are provided on the posture adjustment control assembly, wherein the rotation drive mechanism is configured to drive the puncture needle to rotate around the axial direction of the puncture needle relative to the posture adjustment control assembly, and the advance-retract drive mechanism is configured to drive the puncture needle to move relative to the posture adjustment control assembly along the axial direction of the puncture needle.

[0005] One or more embodiments of the present specification provide a robot, comprising the aforementioned master hand control device and the aforementioned puncture device, wherein the puncture needle drive component of the puncture device drives the puncture needle to move in response to the puncture execution signal of the puncture needle execution component of the master hand control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0007] Figure 1 is a schematic structural diagram of the master hand control device shown in some embodiments of this specification;

[0008] Figure 2 is a schematic structural diagram of the connection between the puncture needle execution component and part of the posture adjustment execution component shown in some embodiments of this specification;

[0009] Figure 3 is Figure 2 a schematic diagram of the structure shown in another angle;

[0010] Figure 4 is a schematic structural diagram of the master hand control device shown in some other embodiments of this specification;

[0011] Figure 5 is according to some embodiments of this specification Figure 4 an enlarged structural diagram of the dashed box A in;

[0012] Figure 6 is Figure 2 a schematic diagram of the structure shown in yet another angle;

[0013] Figure 7 is Figure 6 an enlarged structural diagram of the first position detection component in;

[0014] Figure 8 is Figure 2 a schematic diagram of the structure shown in other angles;

[0015] Figure 9 is Figure 8 an enlarged structural diagram of the force feedback component in;

[0016] Figure 10 a schematic structural diagram of the master hand control device shown in some other embodiments of this specification;

[0017] Figure 11 a schematic diagram of the working principle of the posture adjustment execution component shown in some embodiments of this specification;

[0018] Figure 12 is Figure 10 a cross-sectional view of the dashed box B in;

[0019] Figure 13 is Figure 10 a schematic diagram of the master hand control device shown in another angle;

[0020] Figure 14 is Figure 13 an enlarged structural diagram of the dashed box D in;

[0021] Figure 15 is Figure 13 The enlarged structural schematic diagram of the dashed box E in

[0022] Figure 16 The structural schematic diagram of the puncture device shown in some embodiments of this specification;

[0023] Figure 17 is Figure 16 The enlarged structural schematic diagram of the dashed box F in

[0024] Figure 18 The structural schematic diagram of the puncture device shown in some other embodiments of this specification;

[0025] Figure 19 is Figure 18 The enlarged structural schematic diagram of the dashed box G in

[0026] Figure 20 The structural schematic diagram of the connection between the puncture device and the mobile device shown in some embodiments of this specification;

[0027] Figure 21 The schematic diagram of the working principle of the master manipulator shown in some embodiments of this specification;

[0028] Figure 22 The comparison schematic diagram of the rod - shaped structure before and after moving along the first degree of freedom shown in some embodiments of this specification;

[0029] Figure 23 The comparison schematic diagram of the puncture needle before and after moving along the first degree of freedom shown in some embodiments of this specification;

[0030] Figure 24 The comparison schematic diagram of the rod - shaped structure before and after moving along the third degree of freedom shown in some embodiments of this specification;

[0031] Figure 25 The comparison schematic diagram of the puncture needle before and after moving along the third degree of freedom shown in some embodiments of this specification;

[0032] Figure 26 The working flow chart of the robot shown in some embodiments of this specification. Detailed implementation manners

[0033] To more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0034] As shown in this specification and the claims, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0035] In recent years, medical imaging technologies (such as CT, MR, etc.) have made great progress both in basic technologies and in new clinical applications. Percutaneous puncture guided by medical images (such as medical images, MR images, etc.) is a technology widely used in clinical applications nowadays. It is actually a technology that accurately inserts the puncture needle connected to the robot into the lesion in the body under the precise guidance of medical images and obtains the diseased tissue.

[0036] Percutaneous puncture surgery is to insert the surgical tool (such as a puncture needle, etc.) provided on the puncture device that performs the puncture operation at the end into the patient's body to complete the biopsy or resection of the lesion. Traditional percutaneous puncture surgeries are all blind punctures, where the operator completes the puncture surgery without exactly knowing the location of the lesion based on clinical experience. This method generally has a low success rate, is likely to cause multiple injuries to the patient, and places high requirements on the operator of the percutaneous puncture surgery. Percutaneous puncture surgery guided by medical images can, on the premise of medical imaging (medical images of human tissues and puncture instruments), judge the puncture direction in real time and make timely adjustments, greatly improving the success rate of the surgery, reducing the surgical risk, and improving the patient's recovery speed and quality of life. However, medical imaging devices all use X-rays, γ-rays, etc. to complete their work. Performing surgery on the side of the medical imaging device will expose medical staff to the radiation environment for a long time, posing a great threat to their physical health. Based on this, the master-slave teleoperation robot came into being.

[0037] In some embodiments, as shown in Figures 1 - 10 the master manipulator device 100 includes a puncture needle execution component 110 and a posture adjustment execution component 120. The puncture needle execution component 110 includes a rod-shaped structure 111. The posture adjustment execution component 120 is configured to obtain the posture of the rod-shaped structure 111. Among them, the rod-shaped structure 111 can move along its own axis and rotate around its own axis.

[0038] The puncture needle execution component 110 is the main structure of the master manipulator device 100 for controlling the puncture device to perform the needle insertion operation or the needle withdrawal operation. The needle insertion operation refers to the related operations of the puncture needle disposed on the puncture device to puncture into the patient's body. The needle withdrawal operation refers to the related operations of the puncture needle disposed on the puncture device to withdraw from the patient's body. For the specific description of the puncture device, reference can be made to the relevant description in the following text Figures 16 - 19 In some embodiments, the master manipulator device 100 can communicate / connect with the processor of the robot (not shown in the figure). When the puncture needle execution component 110 moves, the movement of the puncture needle execution component 110 can be fed back to the processor in real time, and then the processor can control the puncture device to drive the puncture needle to perform the puncture operation according to the movement of the puncture needle execution component 110.

[0039] The posture adjustment execution component 120 is the main structure of the master manipulator device 100 for adjusting the posture of the puncture needle. Obtaining the posture of the rod-shaped structure 111 refers to obtaining the rotational angle information of the axis of the rod-shaped structure 111 relative to the posture adjustment execution component 120. Only as an example, when it is necessary to adjust the posture of the puncture needle, the operator can control the rod-shaped structure 111 to swing relative to the posture adjustment execution component 120, and the posture adjustment execution component 120 can detect the rotational angle information of the rod-shaped structure 111 relative to the posture adjustment execution component 120 (for example, the rotational angle of the first connecting rod 1221 relative to the base 1241 and the rotational angle of the second connecting rod 1231 relative to the base 1241 in the following text), and feed the rotational angle information back to the processor of the robot. The processor can adjust the posture of the puncture needle according to the rotational angle information of the rod-shaped structure 111 relative to the posture adjustment execution component 120 to achieve the purpose of adjusting the posture of the puncture needle, so that the puncture needle can be aligned with the target puncture point and ensure the accuracy of the puncture operation.

[0040] In some embodiments, the posture adjustment execution component 120 includes a connection component 1211. The rod-shaped structure 111 is movably connected to the posture adjustment execution component 120 through the connection component 1211. The rod-shaped structure 111 can move relative to the posture adjustment execution component 120 along its own axis and can also rotate relative to the posture adjustment execution component 120 around its own axis. For more content about the connection component 1211, reference can be made to the following text Figures 10 - 13 and its related description.

[0041] The rod-shaped structure 111 is the structure of the master manipulator 100 for the operator to hold and manipulate. In some embodiments, when the operator performs the needle insertion operation or the needle withdrawal operation, the rod-shaped structure 111 can move axially along the rod-shaped structure 111 or rotate around the axis of the rod-shaped structure 111, so as to control the linear motion or rotational motion of the puncture needle. In addition, when the operator performs the posture adjustment, the rod-shaped structure 111 can swing relative to the posture adjustment execution component 120, so as to control the posture of the puncture needle. In some embodiments, the rod-shaped structure 111 can perform a linear motion. After the linear motion is fed back to the processor of the robot, the processor can control the puncture needle to perform the needle insertion operation according to the distance of the linear motion of the rod-shaped structure 111, so that the puncture needle can smoothly penetrate into the target puncture point. After the puncture operation is completed, the master manipulator 100 moves in the reverse direction of the needle insertion operation to withdraw the puncture needle from the patient's body, and its principle is essentially the same as that of the needle insertion operation. In some embodiments, the axis of the rod-shaped structure 111 can be represented by Figure 1 the arrow X in. When the rod-shaped structure 111 moves downward along the direction of the arrow X, the puncture needle performs the needle insertion operation. When the rod-shaped structure 111 moves upward along the direction of the arrow X, the puncture needle performs the needle withdrawal operation. In some cases, since the rod-shaped structure 111 is closer to the actual structure of the puncture needle, when the operator holds the rod-shaped structure 111 and moves axially or rotates around its axis, it can better simulate the linear motion or rotational motion generated when holding the puncture needle during the puncture operation, thereby improving the puncture accuracy and puncture efficiency.

[0042] It should be noted that there may be a proportional mapping relationship between the distance of the linear motion of the puncture needle and the distance of the linear motion of the rod-shaped structure 111. For example, the ratio of the distance of the linear motion of the puncture needle to the distance of the linear motion of the rod-shaped structure 111 can be 1:1, 1:1.2, 1:1.5, 1:2, 2:1, 1.5:1, etc. In some embodiments, the ratio of the distance of the linear motion of the puncture needle to the distance of the linear motion of the rod-shaped structure 111 is 1:1, so that when the operator operates the rod-shaped structure 111 to output a preset distance, the puncture needle can be controlled to move a preset distance, enabling the operator to feel the clinical puncture feeling as much as possible, enhancing the operator's operation experience, and improving the puncture success rate.

[0043] In some embodiments, the master hand control device 100 further includes a force feedback component 130. The force feedback component 130 is configured to apply a movement resistance along the axial direction of the rod-shaped structure 111 to the rod-shaped structure 111, so as to provide a force sense feedback simulating the puncture of a puncture needle for the operator during master-slave teleoperation, and further simulate the linear movement generated when the doctor holds the needle for puncture during the puncture operation, making the operation process safer, more efficient, and capable of improving the puncture accuracy. In some embodiments, the force feedback component 130 can obtain the puncture force feedback information of the puncture needle, and then apply a movement resistance to the rod-shaped structure 111 according to the puncture force feedback information of the puncture needle. For more content about the force feedback component 130, reference can be made to Figure 3 and Figures 7 - 9 its related description.

[0044] In some embodiments, the master hand control device 100 further includes a linear guiding component 140. The linear guiding component 140 is configured to constrain the rod-shaped structure 111 to always perform linear movement along its own axial direction, simulating the process of the operator holding the needle for puncture during the puncture operation. For more content about the linear guiding component 140, reference can be made to Figure 2 its related description.

[0045] In some embodiments, the master hand control device 100 further includes a first signal transmission component (not shown in the figure). The first signal transmission component communicates / connects with the puncture needle execution component 110 and the posture adjustment execution component 120. The first signal transmission component can receive various signals (such as rotation angle information, puncture force feedback information, etc.) fed back by the puncture needle execution component 110 and the posture adjustment execution component 120, and output corresponding control signals according to the received signals to meet the usage requirements of different scenarios (such as the posture adjustment scenario, the puncture scenario).

[0046] In some embodiments, the first signal transmission component can communicate / connect with the processor of the robot, and is used to establish signal transmission between the master hand control device 100 and the robot, realizing information interaction between the master hand control device 100 and the robot. In some embodiments, the first signal transmission component can include but is not limited to Ethernet, serial port, wireless, CAN bus, EtherCAT bus, etc. For example, the first signal transmission component can achieve information interaction through Ethernet.

[0047] In some embodiments, in combination with Figures 2 - 3As shown, the rod-shaped structure 111 includes an operation part 1111 and a sliding part 1112. The operation part 1111 is located at the upper end of the rod-shaped structure 111. The operation part 1111 is configured to receive the operation of an operator. The sliding part 1112 is configured to move axially along the rod-shaped structure 111 relative to the posture adjustment execution component 120. The operator can control the operation part 1111 to perform corresponding operations, and then control the rod-shaped structure 111 to perform corresponding actions, ultimately achieving the purpose of controlling the puncture needle. In some embodiments, the operation part 1111 is connected to the sliding part 1112, and the sliding part 1112 is slidably connected to the posture adjustment execution component 120 or slidably connected through a connecting member (such as the connecting component 1211 and other structures in the following text). For example, the operator can control the sliding part 1112 to move axially along the rod-shaped structure 111 relative to the posture adjustment execution component 120 through the operation part 1111 to control the puncture needle to perform needle insertion or needle withdrawal. For another example, the operator can control the sliding part 1112 to rotate around the axis of the rod-shaped structure 111 relative to the posture adjustment execution component 120 through the operation part 1111, so as to control the puncture needle to rotate during the puncture operation to achieve the active skin breaking operation in the master-slave mode. For still another example, the operator can control the sliding part 1112 to swing through the operation part 1111, so as to adjust the posture of the puncture needle.

[0048] In some embodiments, the master manipulator device 100 further includes a resistance transmission member 116. The resistance transmission member 116 can be disposed on the rod-shaped structure 111 (such as the sliding part 1112 of the rod-shaped structure 111). The resistance transmission member 116 can be connected to the force feedback component 130 and is configured to transmit the movement resistance along the axis of the rod-shaped structure 111 generated by the force feedback component 130 (such as the force output part 131) to the rod-shaped structure 111. In some embodiments, the resistance transmission member 116 can include a rack (such as the rack 1161), a worm, a conveyor belt, etc. The specific structure of the resistance transmission member 116 can be adjusted based on the specific structure of the force feedback component 130. For more content about the resistance transmission member 116 and the force feedback component 130, reference can be made to Figures 6 - 9 and its related description.

[0049] In some embodiments, the operation part 1111 may include an interaction handle 11111, and an operator can manipulate the rod-shaped structure 111 by holding the interaction handle 11111. In some embodiments, the interaction handle 11111 may be in the structure of a prism, a cylinder, etc. In some embodiments, the interaction handle 11111 is in the structure of a cylinder. Since the posture when holding the interaction handle 11111 is relatively close to the posture when holding a puncture needle, the operator can feel the feeling of clinical puncture as much as possible, thereby improving the puncture success rate. In some embodiments, the operator can control the interaction handle 11111 to rotate around the axial direction of the rod-shaped structure 111, and the angle detection component 114 obtains the rotation angle information of the interaction handle 11111 (or the rod-shaped structure 111) and transmits it to the first signal transmission component, so as to control the puncture needle arranged on the puncture device to rotate around its own axial direction. In some embodiments, the operation part 1111 includes a plurality of operation areas 11112 and at least one enable button. The enable button refers to a button for enabling or disabling the master-slave motion of the control system. For example, when one or more enable buttons are triggered, the master-slave motion is enabled, and the actions applied to the master hand control device 100 can be mapped to the robot, and then the puncture device is controlled by the robot to make the puncture needle execute the same actions as the rod-shaped structure 111.

[0050] In some embodiments, the rod-shaped structure 111 further includes a circuit board (not shown in the figure) and a signal transmitting mechanism (not shown in the figure). The circuit board is connected to the signal transmitting mechanism, and the lower end of the enable button is electrically connected to the circuit board. When the enable button is pressed, the circuit board processes the trigger signal of the enable button and transmits it to the first signal transmission component through the signal transmitting mechanism (for example, an antenna), so as to realize the master-slave motion enable control. In some embodiments, the enable button is a silicone button.

[0051] In some embodiments, the plurality of operation areas 11112 include a first control area 11113 and at least one second control area 11114, and the first control area 11113 and the second control area 11114 are arranged in opposite directions. Arranged in opposite directions means that the first operation area 11113 and the second operation area 11114 are symmetrically located at two relatively far positions on the operation part 1111. The control area refers to the area on the rod-shaped structure 111 for the operator's fingers to manipulate. Only by way of example, in combination with Figures 2 - 3 As shown, the first control area 11113 and the second control area 11114 can be symmetrically arranged on both sides of the circumferential wall of the interaction handle 11111 relative to the axial direction of the rod-shaped structure 111, and the operator can place different fingers on the first control area 11113 and the second control area 11114 respectively to hold and manipulate the rod-shaped structure 111. Since the first control area 11113 and the second control area 11114 are arranged in opposite directions, the operator can firmly hold the operation part 1111, so as to apply force to the rod-shaped structure 111.

[0052] The at least one enabling button refers to one or more buttons provided in the plurality of operation areas 11112. In some embodiments, the at least one enabling button includes a first enabling button 11115 provided in the first operation area 11113. In some embodiments, the at least one enabling button includes at least one second enabling button 11116 provided in the second operation area 11114. In some embodiments, the at least one enabling button further includes a third enabling button 11118 provided at the top of the operation portion 1111.

[0053] In some embodiments, the first operation area 11113 and / or the second operation area 11114 may include a finger placement area 11117, which can help the operator better hold the rod-shaped structure 111, improve the operation efficiency, and make it more convenient to apply force to the rod-shaped structure 111.

[0054] By way of example only, in combination with Figures 2 - 3 as shown, the first operation area 11113 may include a first enabling button 11115, the second operation area 11114 may include a second enabling button 11116 and two finger placement areas 11117. The operator's thumb can be placed at the first enabling button 11115, the index finger can be placed at the third enabling button 11118, the middle finger can be placed at the second enabling button 11116, and the ring finger and little finger can be placed at the finger placement areas 11117. When the operator presses any two of the first enabling button 11115, the second enabling button 11116, and the third enabling button 11118 simultaneously, the master-slave end movement enabling can be controlled to be turned on, thereby effectively avoiding misoperations caused by the operator accidentally touching the enabling button. Conversely, when the operator does not press any two of the first enabling button 11115, the second enabling button 11116, and the third enabling button 11118 simultaneously, the master-slave end movement enabling is turned off. By providing the first enabling button 11115, the second enabling button 11116, and the third enabling button 11118 on the rod-shaped structure 111, and the operator only needs to press any two of them to turn on the master-slave end movement enabling, more selectable operation postures can be provided for the operator, enabling the operator to perform the puncture operation in a more comfortable holding posture, making the posture of the operator holding the rod-shaped structure 111 more flexible and having a wider application range.

[0055] It should be noted that Figure 2 and Figure 3 the setting forms of the operation area 11112 and the enabling button shown are only for illustrative purposes and are not intended to limit the number and setting positions of the operation area 11112 and the enabling button. In actual application scenarios, the number and setting positions of the operation area 11112 and the enabling button can be adjusted according to the operator's holding habits and holding postures.

[0056] In some embodiments, first limiting structures 112 and second limiting structures 113 are provided at the ends of the sliding part 1112 close to and away from the operating part 1111. The first limiting structures 112 and the second limiting structures 113 are configured to limit the stroke range of the rod-shaped structure 111 moving along its own axial direction.

[0057] In some embodiments, the first limiting mechanism 112 and the second limiting mechanism 113 can define the extreme positions of the rod-shaped structure 111 moving along its own axial direction, prevent the rod-shaped structure 111 from operating beyond the stroke, ensure the accurate movement track of the puncture needle, and prevent the puncture of the puncture needle from exceeding the stroke, so as to avoid accidents. In some embodiments, the distance between the first limiting mechanism 112 and the second limiting mechanism 113 is the maximum stroke of the rod-shaped structure 111 moving along its own axial direction. Only by way of example, when the master manipulator device 100 is assembled, the first limiting structure 112 and the second limiting structure 113 are respectively located above and below the posture adjustment execution assembly 120. During the process of the rod-shaped structure 111 moving along its own axial direction, the first limiting structure 112 and the second limiting structure 113 can respectively abut against the posture adjustment execution assembly 120 to limit the continuous movement of the rod-shaped structure 111. It should be noted that the first limiting structure 112 and the second limiting structure 113 can be designed into various structures, such as limiting blocks, etc.

[0058] In some embodiments, the puncture needle execution assembly 110 includes an angle detection assembly 114. The angle detection assembly 114 is configured to obtain the rotation angle of the rod-shaped structure 111 rotating around its own axial direction. Exemplary angle detection assemblies 114 may include rotary potentiometers, Hall sensors, resolvers, etc. In some embodiments, the angle detection assembly 114 can be arranged on a structural member coaxially arranged with the puncture needle execution assembly 110. For example, on the rod-shaped structure 111 of the puncture needle execution assembly 110 or on the first rotating ring 1222 of the posture adjustment execution assembly 120, etc. For the specific description of the first rotating ring 1222, reference can be made to Figures 10 - 13 and its related descriptions.

[0059] It can be understood that by providing the angle detection assembly 114, the rotation angle of the rod-shaped structure 111 rotating around its own axial direction can be obtained in real time.

[0060] In some embodiments, as shown in Figures 4 - 5 the angle detection assembly 114 includes an encoder 1141 and an encoder reading component 1142. The encoder 1141 is arranged on the rod-shaped structure 111 and rotates synchronously with the rod-shaped structure 111, and the encoder reading component 1142 is arranged on the posture adjustment execution assembly 120.

[0061] In some embodiments, the angle detection component 114 is a magnetic ring encoder. The encoder 1141 is a magnetic ring, usually made of magnetic material and having a certain magnetic field strength. The encoder reading component 1142 is usually composed of a Hall element or a magnetoresistive sensor and is used to measure the change in the magnetic field. When the encoder 1141 and the encoder reading component 1142 move relative to each other, the encoder reading component 1142 can sense the change in the magnetic field and convert it into an electrical signal. The rotation angle information can be determined according to the change in the magnetic field. In some embodiments, the encoder 1141 is disposed on the connection component 1211 (such as Figure 7 the passive degree of freedom mounting base 12111 shown), and the encoder reading component 1142 is disposed on the posture adjustment execution component 120 (such as Figures 5 - 10 the first rotating ring 1222 shown). The rod-shaped structure 111 drives the connection component 1211 to rotate synchronously to drive the encoder 1141 to rotate synchronously. By way of example only, the encoder 1141 can be fixedly connected to the passive degree of freedom mounting base 12111 (such as a threaded connection, etc.), and the encoder reading component 1142 can be fixedly connected to the first rotating ring 1222. When the operator controls the rod-shaped structure 111 to rotate about its own axis, the encoder reading component 1142 can read the rotation information of the encoder 1141 through the relative movement of the encoder 1141 with respect to the encoder reading component 1142, so as to determine the rotation angle of the rod-shaped structure 111 rotating about its own axis. In some embodiments, the encoder reading component 1142 can be disposed on the connection component 1211, and the encoder 1411 can be disposed on the posture adjustment execution component 120. By driving the connection component 1211 to rotate synchronously through the rod-shaped structure 111, the encoder reading component 1142 moves relative to the encoder 1141, and the encoder reading component 1142 can read the rotation information of the encoder 1141, so as to determine the rotation angle of the rod-shaped structure 111 rotating about its own axis. In some embodiments, the posture adjustment execution component 120 can include an encoder connecting member (not shown in the figure). The encoder connecting member is rotatably connected to the connection component 1211 and is fixedly connected to the rod-shaped structure 111. The encoder reading component 1142 can be disposed on the posture adjustment execution component 120. By driving the encoder connecting member to rotate synchronously through the rod-shaped structure 111, the encoder reading component 1142 moves relative to the encoder 1141, and the encoder reading component 1142 can read the rotation information of the encoder 1141, so as to determine the rotation angle of the rod-shaped structure 111 rotating about its own axis.

[0062] Understandably, since the magnetic ring encoder has advantages such as high precision, good repeatability, and strong reliability, the angle detection component 114 can more accurately determine the rotation angle of the rod-shaped structure 111 rotating around its own axial direction by adopting the magnetic ring encoder. It should be noted that the angle detection component 114 can also adopt other angle measuring instruments or devices such as optoelectronic encoders, as long as it can meet the actual detection requirements.

[0063] In some embodiments, the puncture needle execution component 110 further includes a first position detection component 115, and the first position detection component 115 is configured to obtain the position of the rod-shaped structure 111 in its own axial direction. Exemplary first position detection components 115 may include laser rangefinders, displacement encoders, grating scales, inductive displacement sensors, etc. In some embodiments, the first position detection component 115 can be disposed at any feasible position of the puncture needle execution component 110 and / or the posture adjustment execution component 120. For example, on the rod-shaped structure 111 of the puncture needle execution component 110 or on the connection component 1211 of the posture adjustment execution component 120, etc. Understandably, by setting the first position detection component 115, the position of the rod-shaped structure 111 in its own axial direction can be obtained in real time, thereby helping the operator to flexibly control the puncture depth of the puncture needle, so as to realize the forward and backward movement control of the puncture needle in the master-slave mode and improve the puncture safety.

[0064] In some embodiments, in combination with Figures 6 - 7As shown, the first position detection component 115 includes a first grating scale 1151 and a first grating scale reading component 1152. The first grating scale 1151 is arranged on the rod-shaped structure 111 along the axial direction of the rod-shaped structure 111, and the first grating scale reading component 1152 is arranged on the connection component 1211. In some embodiments, the first position detection component 115 is a grating scale. The first grating scale 1151 is a scale grating, and the first grating scale reading component 1152 includes a light source, a lens, an indicating grating, etc. When the light source irradiates the scale grating parallelly, Moiré fringes will appear in the first grating scale reading component 1152. When the first grating scale 1151 and the first grating scale reading component 1152 move relatively, the first grating scale reading component 1152 can read the grating scale by detecting the number of Moiré fringes and convert it into an electrical signal, and then the position information can be determined through calculation. Only as an example, the first grating scale 1151 can be fixedly connected to the rack 1161 of the puncture needle execution component 110 (this rack 1161 can be connected to the force feedback component 130, and for the specific description, please refer to the relevant embodiments of the force feedback component 130 later). A grating scale head mounting seat 1153 is provided at the bottom of the connection component 1211, and the first grating scale reading component 1152 is connected to the bottom of the connection component 1211 through the grating scale head mounting seat 1153. When the operator controls the rod-shaped structure 111 to perform the puncture needle advancing and retreating simulation action of the main operation end (i.e., the master manipulator 100), the rack 1161 can drive the first grating scale 1151 to move, and the first grating scale reading component 1152 can read the position information of the first grating scale 1151, so as to determine the position of the rod-shaped structure 111 in its own axial direction. It can be understood that through the cooperation of the first grating scale 1151 and the first grating scale reading component 1152, the position of the rod-shaped structure 111 in its own axial direction can be determined more accurately.

[0065] In some actual application scenarios, when guiding a robot to perform a puncture operation remotely based on a medical image, it is impossible to feedback the magnitude of the resistance encountered by the puncture needle during the puncture process. Furthermore, it is impossible to effectively simulate the actual puncture process. The lack of force perception by the operator will increase the surgical risk and uncertainty, and at the same time increase the surgical time, reduce the surgical efficiency, and affect the success rate of the puncture operation. In some cases, by setting the force feedback component 130, an axial movement resistance can be applied to the rod-shaped structure 111, so that the operator can feel the movement resistance when holding the rod-shaped structure 111 to perform a linear movement, thereby simulating the actual puncture process and improving the success rate of the puncture operation.

[0066] In some embodiments, the force feedback component 130 applies an axial movement resistance to the rod-shaped structure 111 through the resistance transmission member 116. Combining Figures 7 - 9As shown, the force feedback component 130 includes a force output portion 131 and a force transmission portion 132. The force transmission portion 132 is in transmission connection with the resistance transmission member 116. The force output portion 131 outputs a movement resistance based on the puncture force feedback information. The force feedback component 130 further includes a drive mounting base 133. The force feedback component 130 is fixedly connected to the connection component 1211 through the drive mounting base 133. The puncture force feedback information refers to the resistance information received when the puncture needle provided on the puncture device advances or retracts during the linear movement of the rod-shaped structure 111 along its own axial direction. For example, during the process of the puncture needle penetrating into human tissue, the resistance received by the puncture needle from the human tissue. In some embodiments, the resistance received by the puncture needle can be detected by a force sensor provided on the puncture needle, and then fed back to the force output portion 131 through a signal transmission component (such as a first signal transmission component, a second signal transmission component). The force output portion 131 then outputs a resistance equivalent to the puncture resistance to the rod-shaped structure 111 through the resistance transmission member 116. In this way, when the operator performs a puncture operation, the puncture resistance feedback by the force feedback component 130 can be used to feel the resistance received by the puncture needle, so as to truly simulate the situation of holding the needle for puncture. For more information about the force sensor, reference can be made to Figure 16 and its related descriptions.

[0067] In some embodiments, in combination with Figure 3 , Figures 7 - 9 As shown, the force output portion 131 includes a force feedback motor 1311, and the force transmission portion 132 includes a first coupling 1321 and a gear 1322. The first coupling 1321 is fixedly connected to the output shaft of the force feedback motor 1311 and the gear 1322 respectively. In this embodiment, the force feedback motor 1311 can generate a torque based on the puncture force feedback information. The generated torque can be transmitted to the gear 1322 through the first coupling 1321, and then the torque is transmitted to the resistance transmission member 116 through the gear 1322. Finally, the torque is transmitted to the rod-shaped structure 111 through the resistance transmission member 116 connected to the rod-shaped structure 111, so that the operator can feel the movement resistance along the axial direction of the rod-shaped structure 111 when holding the rod-shaped structure 111.

[0068] It should be noted that Figures 8 - 9 the structures of the force transmission portion 132 and the resistance transmission member 116 shown are only for illustrative purposes and are not intended to limit the specific structures of the force transmission portion 132 and the resistance transmission member 116.

[0069] In some embodiments, such as Figure 9As shown, the force feedback component 130 further includes a seventh angle sensor 134 configured to detect the rotation angle of the output shaft of the force feedback motor 1311. Since the output shaft of the force feedback motor 1311 is connected to the gear 1322 through a first coupling 1321, and the rod-shaped structure 111 needs to move along its own axial direction, the rack 1161 will move relative to the gear 1322. Therefore, the seventh angle sensor 134 can detect the rotation angle of the gear 1322 by detecting the rotation angle of the output shaft of the force feedback motor 1311, and then determine the moving distance of the rack 1161, and finally determine the position of the rod-shaped structure 111 in its own axial direction. In some embodiments, the seventh angle sensor 134 can be an incremental encoder. In some embodiments, both the seventh angle sensor 134 and the first position detection component 115 in the foregoing embodiments can be used to obtain the position of the rod-shaped structure 111 in its own axial direction. Therefore, after the first position detection component 115 is set, the seventh angle sensor 134 may not be set. On the contrary, after the seventh angle sensor 134 is set, the first position detection component 115 may not be set either. In some embodiments, the rotation angle of the output shaft of the force feedback motor 1311 detected by the seventh angle sensor 134 can be used to reflect the moving speed of the rod-shaped structure 111 moving along its own axial direction. The seventh angle sensor 134 detects the rotation angle of the output shaft of the force feedback motor 1311 in real time and transmits it to the processor of the robot. The processor controls the puncture needle disposed on the puncture device to perform a puncture operation at the same puncture speed according to the rotation angle.

[0070] In some actual application scenarios, the posture adjustment of the puncture needle and the forward and backward movement operations of the puncture needle cannot be performed simultaneously to avoid damage to human tissues. That is, when the operator adjusts the posture of the rod-shaped structure 111 through the posture adjustment execution component 120, it is impossible to control the rod-shaped structure 111 to move along its own axial direction or rotate around its own axial direction. And when controlling the rod-shaped structure 111 to move along its own axial direction or rotate around its own axial direction, it is impossible to adjust the posture of the rod-shaped structure 111 through the posture adjustment execution component 120. For the above reasons, in some embodiments, the force feedback component 130 further includes a fifth brake 135 configured to limit the movement of the rod-shaped structure 111 along its own axial direction. Exemplary fifth brakes 135 may include friction brakes, magnetic powder brakes, hysteresis brakes, etc. Only by way of example, such as Figure 9As shown, the fifth brake 135 can be a hysteresis brake. The hysteresis brake is connected to the output shaft of the force feedback motor 1311 and the first coupling 1321. The hysteresis brake can generate a braking torque, and this braking torque can be transmitted to the gear 1322 through the first coupling 1321, thereby hindering the rotation of the gear 1322. In some embodiments, the braking torque generated by the hysteresis brake is positively correlated with the current of the hysteresis brake. When the current in the hysteresis brake is larger, the generated braking torque is greater; when the current in the hysteresis brake is smaller, the generated braking torque is smaller.

[0071] In some embodiments, in combination Figures 10 - 15 As shown, the attitude adjustment execution assembly 120 includes a connection assembly 1211, a first connecting rod 1221, a first rotating ring 1222, a second connecting rod 1231, a second rotating ring 1232, a first angle sensor 1223, a second angle sensor 1233, and a base 1241. The connection assembly 1211 is slidably connected to the rod-shaped structure 111. The first rotating ring 1222 and the second rotating ring 1232 are coaxial and rotatably connected to the connection assembly 1211. One end of the first connecting rod 1221 is rotatably connected to the first rotating ring 1222, and the other end of the first connecting rod 1221 is rotatably connected to the base 1241, and a first angle sensor 1223 is further provided at the other end of the first connecting rod 1221. One end of the second connecting rod 1231 is rotatably connected to the second rotating ring 1232, and the other end of the second connecting rod 1231 is rotatably connected to the base 1241, and a second angle sensor 1233 is further provided at the other end of the second connecting rod 1231. The first angle sensor 1223 is configured to detect the angle at which the other end of the first connecting rod 1221 rotates relative to the base 1241, and the second angle sensor 1233 is configured to detect the angle at which the other end of the second connecting rod 1231 rotates relative to the base 1241.

[0072] Among them, the base 1241 is configured to support other components of the attitude adjustment execution assembly 120. During the attitude adjustment process, the base 1241 always remains stationary. For the convenience of description, the axis around which the first connecting rod 1221 rotates relative to the first rotating ring 1222 can be referred to as the first rotation axis (as shown by O1 in Figure 10 ), and the axis around which the first connecting rod 1221 rotates relative to the base 1241 can be referred to as the second rotation axis (as shown by O2 in Figure 10 ). The axis around which the second connecting rod 1231 rotates relative to the second rotating ring 1232 can be referred to as the third rotation axis (as shown by O3 in Figure 10 ), and the axis around which the second connecting rod 1231 rotates relative to the base 1241 can be referred to as the fourth rotation axis (as shown by O4 in Figure 10as shown by O4 in [the figure]. In some embodiments, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 may be in the same plane. In some embodiments, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 may not be in the same plane. By way of example only, since the base 1241 always remains stationary, the axis about which the first connecting rod 1221 rotates relative to the base 1241 (i.e., the second rotation axis O2) and the axis about which the second connecting rod 1231 rotates relative to the base 1241 (i.e., the fourth rotation axis O4) always remain unchanged, while the axis about which the first connecting rod 1221 rotates relative to the first rotating ring 1222 (i.e., the first rotation axis O1) and the axis about which the second connecting rod 1231 rotates relative to the second rotating ring 1232 (i.e., the third rotation axis O3) will change respectively with the movement of the first rotating ring 1222 and the second rotating ring 1232. At this time, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 may not be in the same plane. For example, the second rotation axis O2 and the fourth rotation axis O4 are in the same plane, and the first rotation axis O1 and the third rotation axis O3 are in the same plane. Another example is that the first rotation axis O1 and the fourth rotation axis O2 are in the same plane, and the second rotation axis O2 and the third rotation axis O3 are in the same plane.

[0073] In some embodiments, the first rotating ring 1222 and the second rotating ring 1232 are coaxial and surround the rod-shaped structure 111. Therefore, the rod-shaped structure 111 always maintains a coaxial relationship with the first rotating ring 1222 and the second rotating ring 1232, that is, the axial direction of the rod-shaped structure 111 coincides with the central axis of the first rotating ring 1222 and the central axis of the second rotating ring 1232. When the rod-shaped structure 111 swings relative to the base 1241, it can drive the first rotating ring 1222 and the second rotating ring 1232 to swing relative to the base 1241. Since the first connecting rod 1221 is disposed between the first rotating ring 1222 and the base 1241, the swing of the first rotating ring 1222 relative to the base 1241 will drive the first connecting rod 1221 to rotate around the second rotation axis O2. Similarly, since the second connecting rod 1231 is disposed between the second rotating ring 1232 and the base 1241, the swing of the second rotating ring 1232 relative to the base 1241 will drive the second connecting rod 1231 to rotate around the fourth rotation axis O4. The first angle sensor 1223 and the second angle sensor 1233 can respectively detect the rotation angle of the first connecting rod 1221 rotating around the second rotation axis O2 and the rotation angle of the second connecting rod 1231 rotating around the fourth rotation axis O4, and then determine the attitude of the rod-shaped structure 111 according to the rotation angle, so as to adjust the attitude of the puncture needle.

[0074] In some embodiments, since the two ends of the first connecting rod 1221 are respectively rotatably connected to the first rotating ring 1222 and the base 1241, and the two ends of the second connecting rod 1231 are respectively rotatably connected to the second rotating ring 1232 and the base 1241. That is, the first connecting rod 1221 and the second connecting rod 1231 are simultaneously rotatably connected to the base 1241, which is equivalent to that the first connecting rod 1221 and the second connecting rod 1231 are in a parallel structure. When the first rotating ring 1222 rotates around the first rotation axis O1, it will drive the first connecting rod 1221 to rotate around the second rotation axis O2, and then drive the parallel second connecting rod 1231 to rotate around the fourth rotation axis O4, so that the rotation angle of the second connecting rod 1231 is detected by the second angle sensor 1233. When the second rotating ring 1232 rotates around the third rotation axis O3, it will drive the second connecting rod 1231 to rotate around the fourth rotation axis O4, and then drive the parallel first connecting rod 1221 to rotate around the second rotation axis O2, so that the rotation angle of the first connecting rod 1221 is detected by the first angle sensor 1223. Therefore, the movement process of the rod-shaped structure 111 relative to the pose adjustment execution component 120 can be simplified to Figure 11 the form shown. Figure 11 It is only a schematic diagram of the working principle of the pose adjustment execution component 120. The above embodiments can be implemented in various feasible ways and are not limited thereto. Figure 11 In Figure 11 , the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 are in the same plane. At this time, the angle between the first rotation axis O1 and the fourth rotation axis O4 is 180°, and the angle between the second rotation axis O2 and the third rotation axis O3 is 180°. Among them, the rod-shaped structure 111 can rotate relative to the pose adjustment execution component 120 in the plane formed by the first rotation axis O1 and the fourth rotation axis O4 (such as the vertical plane), that is, it has a third degree of freedom (as shown by the arrow M3). The rod-shaped structure 111 can rotate relative to the pose adjustment execution component 120 in the plane formed by the second rotation axis O2 and the third rotation axis O3 (such as the vertical plane), that is, it has a fourth degree of freedom (as shown by the arrow M4).

[0075] It should be noted that since the first rotating shaft O1 and the third rotating shaft O3 will change with the movement of the first rotating ring 1222 and the second rotating ring 1232 respectively, the angle between the first rotating shaft O1 and the fourth rotating shaft O4 or the angle between the second rotating shaft O2 and the third rotating shaft O3 does not always remain 180°, and can also be 150°, 175°, etc. When the angles between the first rotating shaft O1 and the fourth rotating shaft O4 and between the second rotating shaft O2 and the third rotating shaft O3 are both 180°, that is, the first rotating shaft O1 and the fourth rotating shaft O4 are collinear and form the first rotation axis Z1, and the second rotating shaft O2 and the third rotating shaft O3 are collinear and form the second rotation axis Z2. At this time, the plane formed by the first rotating shaft O1 and the fourth rotating shaft O4 (i.e., the plane where the first rotation axis Z1 is located) can be parallel to the horizontal plane or not parallel to the horizontal plane, and the plane formed by the second rotating shaft O2 and the third rotating shaft O3 (i.e., the plane where the second rotation axis Z2 is located) can also be parallel to the horizontal plane or not parallel to the horizontal plane. When the angles between the first rotating shaft O1 and the fourth rotating shaft O4 and between the second rotating shaft O2 and the third rotating shaft O3 are not 180°, the fourth rotating shaft O4 forms the first rotation axis Z1, and the second rotating shaft O2 forms the second rotation axis Z2. In some embodiments, the first rotation axis Z1 and the second rotation axis Z2 always intersect and are perpendicular. Based on the above, it can be known that when the rod-shaped structure 111 swings, it will cause the parallel first connecting rod 1221 and / or the second connecting rod 1231 to rotate, and then the rotation angles of the first connecting rod 1221 and the second connecting rod 1231 are detected by the first angle sensor 1223 and the second angle sensor 1233, and finally the attitude of the rod-shaped structure 111 is determined.

[0076] In some embodiments, the included angle between the first rotating shaft O1 and the third rotating shaft O3 is greater than 10 degrees. In some embodiments, the included angle between the first rotating shaft O1 and the third rotating shaft O3 is greater than 45 degrees. In some embodiments, the included angle between the first rotating shaft O1 and the third rotating shaft O3 is greater than 60 degrees. In some embodiments, as Figure 10 shown, the included angle between the first rotating shaft O1 and the third rotating shaft O3 is 90 degrees, so that the posture adjustment execution component 120 can obtain a larger operating space. Similarly, in some embodiments, the included angle between the second rotating shaft O2 and the fourth rotating shaft O4 is greater than 10 degrees. In some embodiments, as Figure 10 shown, the included angle between the second rotating shaft O2 and the fourth rotating shaft O4 is 90 degrees.

[0077] In some embodiments, the shape of the first connecting rod 1221 is adapted to the shape of the first rotating ring 1222, and the shape of the second connecting rod 1231 is adapted to the shape of the second rotating ring 1232. Only by way of example, as Figure 10As shown, the first rotating ring 1222 and the second rotating ring 1232 are circular rings, the first connecting rod 1221 and the second connecting rod 1231 are arc-shaped connecting rods, and the profiles of the first connecting rod 1221 and the first rotating ring 1222 are both circular rings. The curvature of the arc-shaped connecting rod is the same as that of the circular ring, so that during the rotation of the first connecting rod 1221 relative to the first rotating ring 1222, it will never collide with the first rotating ring 1222, and during the rotation of the second connecting rod 1231 relative to the second rotating ring 1232, it will never collide with the second rotating ring 1232. At the same time, the structure can be made more compact. It should be noted that the first connecting rod 1221 and the second connecting rod 1231 can also be designed into other arbitrary feasible shapes (such as right-angled type, etc.), as long as the corresponding connection function can be realized.

[0078] In some embodiments, in combination with Figures 12 - 14 As shown, the posture adjustment execution component 120 further includes a second connecting shaft 1234, a second support seat 1235, and a second shaft end cover 1236. The second support seat 1235 is arranged on the base 1241. One end of the second connecting shaft 1234 is connected to the other end of the second connecting rod 1231. The other end of the second connecting shaft 1234 is connected to the second support seat 1235 through a second bearing (not shown in the figure). The second shaft end cover 1236 fixes the second bearing on the second support seat 1235. The second connecting rod 1231 can rotate relative to the second bearing and the second support seat 1235, and thus can rotate relative to the base 1241. In some embodiments, the posture adjustment execution component 120 further includes a first connecting shaft, a first support seat, and a first shaft end cover. The first connecting shaft, the first support seat, and the first shaft end cover are located in Figure 13 the dashed box C in. The specific setting manner of the first connecting shaft, the first support seat, and the first shaft end cover is the same as or similar to that of the second connecting shaft 1234, the second support seat 1235, and the second shaft end cover 1236.

[0079] In some actual application scenarios, during the process of an operator adjusting the posture of the rod-shaped structure 111, the rod-shaped structure 111 has a certain rotational requirement relative to the posture adjustment execution component 120, so that during the posture adjustment process by the operator, the rod-shaped structure 111 can adapt to the operator's gripping posture, improving the comfort of human-machine interaction. In some other actual application scenarios, in order to avoid the phenomenon that the puncture needle bends or even breaks during the puncture process, causing accidental injury to the patient, and to improve the puncture efficiency, the operator can control the rod-shaped structure 111 during the puncture process to not only move along its own axis but also rotate around its own axis, so that the puncture needle provided on the puncture device can enter the needle while rotating, realizing the active skin-breaking operation in the master-slave mode. For the above reasons, it is necessary to connect the posture adjustment execution component 120 to the rod-shaped structure 111 through the connection component 1211, so that the rod-shaped structure 111 can rotate relative to the posture adjustment execution component 120 along its own axis. In some embodiments, the connection component 1211 is rotatably connected to the first rotating ring 1222 and the second rotating ring 1232, and the connection component 1211 is slidably connected to the rod-shaped structure 111. Only by way of example, as Figure 12 shown, the connection component 1211 includes a passive degree-of-freedom mounting seat 12111, a first passive degree-of-freedom bearing 12112, and a second passive degree-of-freedom bearing 12113. The first rotating ring 1222 is sleeved on the outer ring of the first passive degree-of-freedom bearing 12112 and is relatively fixed to the outer ring of the first passive degree-of-freedom bearing 12112. The second rotating ring 1232 is sleeved on the outer ring of the second passive degree-of-freedom bearing 12113 and is relatively fixed to the outer ring of the second passive degree-of-freedom bearing 12113. The inner rings of the first passive degree-of-freedom bearing 12112 and the second passive degree-of-freedom bearing 12113 are both sleeved on the passive degree-of-freedom mounting seat 12111, and the inner rings of the first passive degree-of-freedom bearing 12112 and the second passive degree-of-freedom bearing 12113 are relatively fixed to the passive degree-of-freedom mounting seat 12111. The rod-shaped structure 111 is inserted through the passive degree-of-freedom mounting seat 12111, and the passive degree-of-freedom mounting seat 12111 is slidably connected to the rod-shaped structure 111, so that the rod-shaped structure 111 can rotate relative to the first rotating ring 1222 and the second rotating ring 1232 along its own axis (as shown by the arrow M2 in Figure 10 ). In some embodiments, the rod-shaped structure 111 and the passive degree-of-freedom mounting seat 12111 cannot rotate relative to each other, and the rod-shaped structure 111 can rotate relative to the first rotating ring 1222 and the second rotating ring 1232 around the axis of the rod-shaped structure 111 through the first passive degree-of-freedom bearing 12112 and the second passive degree-of-freedom bearing 12113, so that the rod-shaped structure 111 can rotate relative to the posture adjustment execution component 120 around its own axis. In some embodiments, the first passive degree-of-freedom bearing 12112 and the second passive degree-of-freedom bearing 12113 are rolling bearings.

[0080] In some other embodiments, the rod-shaped structure 111 can rotate relative to the passive degree-of-freedom mount 12111, and the rod-shaped structure 111 can rotate about the axial direction of the rod-shaped structure 111 relative to the first rotating ring 1222 and the second rotating ring 1232 through the first passive degree-of-freedom bearing 12112 and the second passive degree-of-freedom bearing 12113, so that the rod-shaped structure 111 can also rotate about its own axial direction relative to the attitude adjustment execution component 120.

[0081] It should be noted that the passive degree-of-freedom mount 12111 forms a rotating pair with the first rotating ring 1222 through the first passive degree-of-freedom bearing 12112, and also forms a rotating pair with the second rotating ring 1232 through the second passive degree-of-freedom bearing 12113. Since both the first connecting rod 1221 and the second connecting rod 1231 are connected to the base 1241, when the first rotating ring 1222 rotates relative to the passive degree-of-freedom mount 12111, it will drive the second rotating ring 1232 to rotate relative to the passive degree-of-freedom mount 12111. Similarly, when the second rotating ring 1232 rotates relative to the passive degree-of-freedom mount 12111, it will also drive the first rotating ring 1222 to rotate relative to the passive degree-of-freedom mount 12111, so that the angle between the first rotation axis O1 and the second rotation axis O2 remains unchanged.

[0082] In some embodiments, the connection component 1211 may not be necessary, and the rod-shaped structure 111 can be rotated about its own axial direction relative to the attitude adjustment execution component 120 in other ways. Only as an example, the sliding part 1112 and the operating part 1111 of the rod-shaped structure 111 are rotationally connected (for example, connected by a bearing), wherein the sliding part 1112 is slidably connected to the first rotating ring 1222 and the second rotating ring 1232, and the first rotating ring 1222 and the second rotating ring 1232 can move relative to the sliding part 1112 along the axial direction of the sliding part 1112, while the operating part 1111 can rotate relative to the sliding part 1112 along the axial direction of the sliding part 1112.

[0083] In some embodiments, the attitude adjustment execution component 120 can provide a damping force to prevent the rod-shaped structure 111 from deflecting (i.e., deflecting relative to the base 1241) in order to simulate the attitude adjustment resistance experienced during the actual operation of the puncture needle. In some embodiments, the magnitude of the damping force provided by the attitude adjustment execution component 120 is fixed. In some actual application scenarios, when adjusting the attitude of the rod-shaped structure 111 (and the puncture needle provided on the puncture device) during the needle insertion operation, when the operator applies a deflecting force to adjust the attitude of the rod-shaped structure 111, as the rod-shaped structure 111 continuously moves in the first direction along its own axial direction (i.e., along Figure 1(in the figure, arrow X moves downward), the moment arm of the deflection force applied by the operator on the rod-shaped structure 111 (the length of this moment arm can be equal to the axial direction along the rod-shaped structure 111, and the distance between the force application point of the operator on the rod-shaped structure 111 and the contact point between the rod-shaped structure 111 and the posture adjustment execution component 120) gradually decreases. Since the moment (i.e., the damping force applied by the posture adjustment execution component 120 to the rod-shaped structure 111 to hinder the deflection of the rod-shaped structure 111) remains unchanged, the movement resistance felt by the operator will gradually increase. When the rod-shaped structure 111 moves a certain distance in the first direction, the movement resistance felt by the operator is very large. At this time, a very large force needs to be applied to make the rod-shaped structure 111 continue to move in the first direction, resulting in the axial movement of the rod-shaped structure 111 being too difficult and being not conducive to the precise adjustment of the puncture depth of the puncture needle. Similarly, during the needle withdrawal operation, as the rod-shaped structure 111 continuously moves in the second direction along its own axial direction (i.e., along Figure 1 the arrow X moves upward in the figure), the moment arm of the acting force applied by the operator on the rod-shaped structure 111 gradually increases, and the movement resistance felt by the operator will gradually decrease. When the rod-shaped structure 111 moves a certain distance in the second direction, the movement resistance felt by the operator is too small. At this time, as long as a very small force is applied, the rod-shaped structure 111 can continue to move in the second direction, resulting in the axial movement of the rod-shaped structure 111 being too flexible. From the above content, it can be known that although the fixed-size damping force provided by the posture adjustment execution component 120 can simulate the posture adjustment resistance of the puncture needle to a certain extent, when the rod-shaped structure 111 moves a certain distance in the first direction, it will cause the axial movement of the rod-shaped structure 111 to be too difficult and be not conducive to the precise adjustment of the puncture depth of the puncture needle. When the rod-shaped structure 111 moves a certain distance in the second direction, it will cause the axial movement of the rod-shaped structure 11 to be too flexible, which is also not conducive to the precise adjustment of the puncture depth of the puncture needle.

[0084] In some embodiments, in combination with Figures 13 - 15As shown, the posture adjustment execution component 120 further includes a first damper (not shown in the figure) and a second damper 1251. The first damper is configured to provide a movement resistance that hinders the relative rotation of the first connecting rod 1221 with respect to the base 1241 based on the position of the rod-shaped structure 111 in its own axial direction. The second damper 1251 is configured to provide a movement resistance that hinders the relative rotation of the second connecting rod 1231 with respect to the base 1241 based on the position of the rod-shaped structure 111 in its own axial direction. Only by way of example, taking the second damper 1251 as an example, the second damper 1251 may include a rotating end and a fixed end. The rotating end is fixedly connected to the second connecting shaft 1234, and the fixed end is fixed on the second support seat 1235 through the second damper mounting seat 12511. There is a pressure between the rotating end and the fixed end, thereby generating a frictional force that hinders the rotation of the rotating end relative to the fixed end, thus generating a damping that hinders the relative rotation of the second connecting rod 1232 with respect to the base 1241. In some embodiments, the frictional force between the rotating end and the fixed end is positively correlated with the current of the second damper 1251. The second damper 1251 can obtain the position of the rod-shaped structure 111 in its own axial direction from the first position detection component 115, and then adjust the current according to the position of the rod-shaped structure 111, and finally change the output damping. In some embodiments, the structure and working principle of the first damper may be the same as or similar to those of the second damper 1251, and will not be elaborated here.

[0085] As described above, in some actual application scenarios, the posture adjustment of the puncture needle and the forward and backward movement operations of the puncture needle cannot be performed simultaneously to avoid damaging human tissues. Therefore, in some embodiments, as Figure 15 shown, the posture adjustment execution component 120 further includes a sixth brake (not shown in the figure) and a seventh brake 1261. The sixth brake is configured to limit the rotation of the first connecting rod 1221 around the second rotation axis O2. The seventh brake 1261 is configured to limit the rotation of the second connecting rod 1231 around the fourth rotation axis O4. Taking the seventh brake 1261 as an example, the seventh brake 1261 may be connected to the second damper 1251, and limit the rotation of the second connecting rod 1231 around the fourth rotation axis O4 by restricting the relative rotation of the fixed end and the rotating end of the second damper 1251. In some embodiments, the structures and working principles of the sixth brake and the seventh brake 1261 may be the same as or similar to those of the fifth brake 135 in the foregoing embodiments, and will not be elaborated here.

[0086] It can be understood that by providing the sixth brake and the seventh brake 1261 to respectively limit the rotation of the first connecting rod 1221 and the second connecting rod 1231, it can effectively ensure that the posture of the puncture needle does not swing during the puncture operation.

[0087] In some embodiments, the posture adjustment execution component 120 further includes a first homing component and a second homing component. The first homing component is configured to return the first connecting rod 1221 to the zero position, and the second homing component is configured to return the second connecting rod 1231 to the zero position. The zero position refers to the standard positions of the first connecting rod 1221 and the second connecting rod 1231. In some embodiments, the zero position can be set according to usage requirements. For example, when the angle between the second rotation axis O2 and the plane where the first rotating ring 1222 is located is a first preset angle, and the angle between the fourth rotation axis O4 and the plane where the second rotating ring 1232 is located is a second preset angle, the positions of the first connecting rod 1221 and the second connecting rod 1231 are defined as the zero position. For the convenience of description, in the embodiments of this specification, when the first rotation axis O1 and the fourth rotation axis O4 are coaxial (i.e., the angle between the fourth rotation axis O4 and the plane where the second rotating ring 1232 is located is 0), and the second rotation axis O2 and the third rotation axis O3 are coaxial (i.e., the angle between the second rotation axis O2 and the plane where the first rotating ring 1222 is located is 0), the positions of the first connecting rod 1221 and the second connecting rod 1231 are defined as the zero position, as Figure 11 shown.

[0088] In some actual application scenarios, the operator can perform a homing operation before the puncture surgery to ensure that the posture adjustment execution component 120 is in the zero position. The operator can also perform a homing operation after the puncture surgery to ensure that the posture adjustment execution component 120 returns to the zero position for use in the next puncture surgery.

[0089] In some embodiments, as Figure 15 shown, the first homing component includes a first homing motor (not shown in the figure) and a first homing reducer (not shown in the figure), and the second homing component 127 includes a second homing motor 1271 and a second homing reducer 1272. The output shaft of the first homing motor is connected to the input shaft of the first homing reducer, and the output shaft of the first homing reducer is connected to the first damper. The output shaft of the second homing motor 1271 is connected to the input shaft of the second homing reducer 1272, and the output shaft of the second homing reducer 1272 is connected to the second damper 1251. The first homing motor is configured to output a torque that overcomes the output damping of the first damper. The second homing motor 1271 is configured to output a torque that overcomes the output damping of the second damper 1251. The first homing reducer is configured to reduce the rotational speed of the output shaft of the first homing motor, thereby increasing the torque of the output shaft of the first homing motor. The second homing reducer 1272 is configured to reduce the rotational speed of the output shaft of the second homing motor 1271, thereby increasing the torque of the output shaft of the second homing motor 1271.

[0090] In this embodiment, when it is necessary to zero the first connecting rod 1221 and the second connecting rod 1231, the first zeroing motor and the second zeroing motor 1271 can be driven to work. The output torque of the first zeroing motor is amplified by the first zeroing reducer and then transmitted to the first damper, completely overcoming the output damping of the first damper. As a result, the first connecting rod 1221 rotates relative to the base 1241 (i.e., rotates around the second rotation axis O2) and returns to the zero position. At the same time, the rotation of the first connecting rod 1221 relative to the base 1241 also drives the second connecting rod 1231 to rotate relative to the second rotating ring 1232 (i.e., rotates around the third rotation axis O3) and returns to the zero position. Similarly, the output torque of the second zeroing motor 1271 is amplified by the second zeroing reducer 1272 and then transmitted to the second damper 1251, completely overcoming the output damping of the second damper 1251. As a result, the second connecting rod 1231 rotates relative to the base 1241 (i.e., rotates around the fourth rotation axis O4) and returns to the zero position, thereby driving the first connecting rod 1221 to rotate relative to the first rotating ring 1222 (i.e., rotates around the first rotation axis O1) and returns to the zero position.

[0091] In some embodiments, the first zeroing assembly further includes a first zeroing angle sensor (not shown in the figure), and the second zeroing assembly further includes a second zeroing angle sensor 1273. The first zeroing angle sensor is configured to detect the rotation speed of the output shaft of the first zeroing motor, so as to control the output torque of the first zeroing motor during the zeroing process. The second zeroing angle sensor 1273 is configured to detect the rotation speed of the output shaft of the second zeroing motor 1271, so as to control the output torque of the output shaft of the second zeroing motor 1271 during the zeroing process.

[0092] It should be noted that Figure 15 The structures of the first zeroing assembly and the second zeroing assembly shown are only for illustrative purposes and are not intended to limit the specific structures of the first zeroing assembly and the second zeroing assembly.

[0093] In some embodiments, as Figure 2 shown, the linear guiding assembly 140 includes a linear guiding rail 141 and a guiding slider 142 that can slide along the linear guiding rail 141. The linear guiding rail 141 is provided on the rod-shaped structure 111, and the setting direction of the linear guiding rail 141 is parallel to the extending direction of the rod-shaped structure 111. Only as an example, the guiding slider 142 can be connected to the connecting assembly 1211 (such as the passive degree-of-freedom mounting seat 12111), and the linear guiding rail 141 can be connected to the rack 1161 on the rod-shaped structure 111, so that the rod-shaped structure 111 can move relative to the guiding slider 142.

[0094] In some embodiments, the linear guiding rail 141 and the rack 1161 may be fixedly connected. Exemplary fixed connection methods may include welding, riveting, bonding, etc. In some embodiments, the linear guiding rail 141 and the rack 1161 may be detachably connected. Exemplary detachable connection methods may include magnetic attraction connection, snap connection, screw connection, etc. Similarly, in some embodiments, the guiding slider 142 and the passive degree-of-freedom mounting seat 12111 may be fixedly connected. In other embodiments, the guiding slider 142 and the passive degree-of-freedom mounting seat 12111 may be detachably connected. It should be noted that in addition to the form of the guiding slider 142 and the linear guiding rail 141, the linear guiding assembly 140 may further include a magnetic attraction assembly, a worm and worm gear assembly, etc.

[0095] In some embodiments, in combination Figures 16 - 18 As shown, the puncture device 200 includes a puncture needle driving assembly 210 and a posture adjustment control assembly 220. The puncture needle driving assembly 210 includes a rotation driving mechanism 212 and a forward and backward driving mechanism 213. The rotation driving mechanism 212 is used to connect with the puncture needle 211, and the rotation driving mechanism 212 is in transmission connection with the forward and backward driving mechanism 213. In some embodiments, the rotation driving mechanism 212 and the forward and backward driving mechanism 213 are provided on the posture adjustment control assembly 220. The rotation driving mechanism 212 is configured to drive the puncture needle 211 to rotate relative to the posture adjustment control assembly 220 around the axial direction of the puncture needle 211, and the forward and backward driving mechanism 213 is configured to drive the puncture needle 211 to move relative to the posture adjustment control assembly 220 along the axial direction of the puncture needle 211.

[0096] The puncture needle driving assembly 210 is the main structure of the puncture device 200 for driving the puncture needle 211 to perform a needle insertion operation or a needle withdrawal operation. In some embodiments, the puncture needle driving assembly 210 can control the puncture needle driving assembly 210 to perform corresponding movements based on the real-time movement conditions of the puncture needle execution assembly 110 (such as the axial movement and rotation around its own axis of the rod-shaped structure 111) to perform a needle insertion operation or a needle withdrawal operation.

[0097] The posture adjustment control assembly 220 is the main structure of the puncture device 200 for controlling the posture of the puncture needle 211. In some embodiments, the posture adjustment control assembly 220 can control the posture adjustment driving assembly 223 to perform corresponding rotations based on the rotation angle information of the rod-shaped structure 111 relative to the posture adjustment execution assembly 120 (such as the rotation angle of the first connecting rod 1221 relative to the base 1241, the rotation angle of the second connecting rod 1231 relative to the base 1241, etc.) to achieve the purpose of controlling the posture of the puncture needle 211, so that the puncture needle 211 can be aligned with the target puncture target and ensure the accuracy of the puncture operation.

[0098] In some embodiments, the puncture device 200 further includes a second signal transmission component (not shown in the figure), and the second signal transmission component communicates / connects with the puncture needle driving component 210 and the posture adjustment control component 220. The second signal transmission component can receive various signals (such as rotation angle information, puncture force feedback information, etc.) fed back by the puncture needle driving component 210 and the posture adjustment control component 220, and output corresponding control signals according to the received signals to meet the usage requirements in different scenarios (such as the posture adjustment scenario, the puncture scenario).

[0099] In some embodiments, the second signal transmission component can communicate / connect with the processor of the robot, and is used to establish signal transmission between the puncture device 200 and the robot, so as to realize information interaction between the puncture device 200 and the robot. In some embodiments, the second signal transmission component can include but is not limited to Ethernet, serial port, wireless, CAN bus, EtherCAT bus, etc. For example, the second signal transmission component can realize information interaction through Ethernet. It should be noted that the second signal transmission component and the first signal transmission component can also be integrated into a signal transmission component, and based on one signal transmission component, the communication / connection between the master manipulator device 100, the puncture device 200 and the processor of the robot can be realized.

[0100] The rotation driving mechanism 212 is the main structure for driving the puncture needle 211 to rotate around its own axis. In some embodiments, in combination with Figures 16 - 18 As shown, the rotation driving mechanism 212 includes a rotation driving motor 2121, a third angle sensor 2122 and a first brake 2123. The rotation driving motor 2121 is configured to drive the puncture needle 211 to rotate around its own axis. The third angle sensor 2122 is configured to detect the rotation angle of the output shaft of the rotation driving motor 2121 to realize the rotation angle detection of the puncture needle 211 and its closed-loop control. The first brake 2123 is arranged between the puncture needle 211 and the rotation driving motor 2121, and the first brake 2123 is configured to limit the puncture needle 211 to rotate around its own axis to ensure that the rotation angle of the puncture needle 211 is always consistent with the rotation angle of the rod-shaped structure 111 around its own axis.

[0101] In some embodiments, the rotation driving mechanism 212 is fixedly connected to the puncture needle 211. The third angle sensor 2122 is disposed at one end of the rotation driving motor 2121, and the first brake 2123 is disposed at the other end of the rotation driving motor 2121. In some embodiments, the third angle sensor 2122 can detect the rotation angle of the output shaft of the rotation driving motor 2121 in real time and transmit it to the processor of the robot based on the second signal transmission component. The processor can control the operation of the rotation driving motor 2121 according to the rotation angle of the interaction handle 11111 rotating axially around the rod-shaped structure 111 and the rotation angle of the output shaft of the rotation driving motor 2121, so that the rotation angle of the output shaft of the rotation driving motor 2121 (i.e., the rotation angle of the puncture needle 211 rotating around its own axis) is always consistent with the rotation angle of the interaction handle 11111 rotating axially around the rod-shaped structure 111, thereby realizing the rotation control of the puncture needle 211 provided on the puncture device 200 (slave end) by the master hand control device 100 (master end). Only as an example, when the operator controls the interaction handle 11111 to rotate axially around the rod-shaped structure 111, the angle detection component 114 obtains the rotation angle of the interaction handle 11111 rotating axially around the rod-shaped structure 111 and transmits it to the processor of the robot through the first signal transmission component. The processor controls the rotation driving motor 2121 to start working to drive the puncture needle 211 to rotate around its own axis, and based on the real-time feedback of the third angle sensor 2122, makes the rotation angle of the output shaft of the rotation driving motor 2121 (i.e., the rotation angle of the puncture needle 211 rotating around its own axis) consistent with the rotation angle of the interaction handle 11111 rotating axially around the rod-shaped structure 111. When the interaction handle 11111 stops rotating, the processor stops the operation of the rotation driving motor 2121 by control and simultaneously controls the first brake 2123 to be turned on to realize the restriction of the rotation of the puncture needle 211 around its own axis, so as to further ensure the consistency of the rotation angle.

[0102] In some embodiments of the present specification, by adopting the rotation driving motor 2121, the third angle sensor 2122 and the first brake 2123, the rotation driving mechanism 212 can realize the rotation control of the puncture needle 211 provided on the puncture device 200 (slave end) by the master hand control device 100 (master end), and by setting the third angle sensor 2122 and the first brake 2123, the consistency of the rotation angle can be effectively guaranteed and the control accuracy can be improved.

[0103] In some embodiments, since the puncture needle 211 is subject to resistance from human tissues (such as the skin, etc.) when performing the needle insertion or retraction operation, in order to enable the master manipulator 100 (such as the force feedback component 130) to accurately provide the haptic feedback of the puncture of the puncture needle 211 to the operator during master-slave teleoperation, and further simulate the linear motion generated when the doctor holds the needle for puncture during the puncture operation, so as to make the operation process safer, more efficient, and improve the puncture accuracy, the puncture needle driving assembly 210 is further provided with a force sensor.

[0104] In some embodiments, as shown in Figures 16 - 17 the rotation driving mechanism 212 further includes a force sensor 2124. The force sensor 2124 is disposed between the puncture needle 211 and the first brake 2123, and the force sensor 2124 is configured to obtain the puncture force feedback information during the puncture of the puncture needle 211. Exemplary force sensors include, but are not limited to, strain type force sensors, capacitive force sensors, and electrode bending type force sensors, etc. In some embodiments, the force sensor 2124 can obtain the puncture force feedback information during the puncture of the puncture needle 211 in real time, and transmit the puncture force feedback information to the processor of the robot through the second signal transmission component. The processor controls the force output part 131 of the force feedback component 130 based on the puncture force feedback information, and the force output part 131 then outputs a resistance equivalent to the puncture resistance to the rod-shaped structure 111 through the resistance transmission member 116. In this way, when the operator operates the master manipulator 100 to perform a puncture operation, the resistance received by the puncture needle 211 can be felt through the puncture resistance feedback by the force feedback component 130, truly simulating the situation of holding the needle for puncture, so as to control the puncture device 200 more precisely, and further improve the puncture accuracy. For more descriptions of the puncture force feedback information, reference can be made to Figures 7 - 9 and its related descriptions.

[0105] The advance and retreat driving mechanism 213 is the main structure for driving the puncture needle 211 to perform the needle insertion operation or the needle retraction operation. In some embodiments, as shown in Figures 16 - 18 the advance and retreat driving mechanism 213 includes an advance and retreat driving motor 2131, a fourth angle sensor 2132, and a second brake 2133. The advance and retreat driving motor 2131 is configured to drive the puncture needle 211 to move along its own axis. The fourth angle sensor 2132 is configured to detect the rotation angle of the output shaft of the advance and retreat driving motor 2131 to realize the detection of the rotation angle of the output shaft of the advance and retreat driving motor 2131 and its closed-loop control. The second brake 2133 is disposed between the puncture needle 211 and the advance and retreat driving motor 2131, and the second brake 2133 is configured to limit the movement of the puncture needle 211 along its own axis to ensure that the rotation angle of the output shaft of the advance and retreat driving motor 2131 is always consistent with the rotation angle of the output shaft of the force feedback motor 1311.

[0106] In some embodiments, the advancing and retracting drive mechanism 213 is in transmission connection with the puncture needle 211. The fourth angle sensor 2132 is disposed at one end of the advancing and retracting drive motor 2131, and the second brake 2133 is disposed at the other end of the advancing and retracting drive motor 2131. In some embodiments, the fourth angle sensor 2132 can detect the rotation angle of the output shaft of the advancing and retracting drive motor 2131 in real time and transmit it to the processor of the robot through the second signal transmission component. The processor can control the operation of the advancing and retracting drive motor 2131 according to the rotation angle of the output shaft of the force feedback motor 1311 and the rotation angle of the output shaft of the advancing and retracting drive motor 2131, so that the rotation angle of the output shaft of the force feedback motor 1311 is always kept consistent with the rotation angle of the output shaft of the advancing and retracting drive motor 2131, thereby realizing the speed control of the advancing and retracting drive motor 2131, and further controlling the puncture speed of the puncture needle 211. Only by way of example, when the operator moves the rod-shaped structure 111 along its own axial direction, the seventh angle sensor 134 obtains the rotation angle of the output shaft of the force feedback motor 1311 and transmits it to the processor of the robot through the first signal transmission component. The processor controls the advancing and retracting drive motor 2131 to start working to drive the puncture needle 211 to move along its own axial direction, and based on the real-time feedback of the fourth angle sensor 2132, makes the rotation angle of the output shaft of the advancing and retracting drive motor 2131 consistent with the rotation angle of the output shaft of the force feedback motor 1311. When the rod-shaped structure 111 stops moving along its own axial direction, the processor can control the advancing and retracting drive motor 2131 to stop working and at the same time control the second brake 2133 to be turned on, so as to limit the movement of the puncture needle 211 along its own axial direction, and further ensure the consistency of the rotation angle.

[0107] In some embodiments of the present specification, by adopting the advancing and retracting drive motor 2131, the fourth angle sensor 2132 and the second brake 2133, the advancing and retracting drive mechanism 213 can realize the control of the puncture speed of the puncture needle 211 provided on the puncture device 200 (slave end) by the master manipulator 100 (master end), and by setting the fourth angle sensor 2132 and the second brake 2133, it can effectively ensure that the rotation angle of the output shaft of the advancing and retracting drive motor 2131 is always consistent with the rotation angle of the output shaft of the force feedback motor 1311, and improve the control accuracy.

[0108] In some embodiments, such as Figures 16 - 17As shown, the advancing and retracting drive mechanism 213 further includes a linear movement assembly. The linear movement assembly includes a linear guide rail 2134, a slider 2135, and a mounting seat 2136. The mounting seat 2136 is fixedly connected to the slider 2135. The slider 2135 is slidably connected to the linear guide rail 2134. The slider 2135 is drivingly connected to the advancing and retracting drive motor 2131. The linear guide rail 2134 is arranged in parallel with the puncture needle 211. The mounting seat 2136 is fixedly connected to the rotational drive mechanism 212. The advancing and retracting drive mechanism 213 drives the mounting seat 2136 to move along the linear guide rail 2134, thereby causing the puncture needle 211 to move along its own axial direction.

[0109] In some embodiments, the linear movement assembly may further include a transmission mechanism 2137. The slider 2135 is drivingly connected to the advancing and retracting drive motor 2131 through the transmission mechanism 2137. The transmission mechanism 2137 refers to a component capable of realizing power transmission. In some embodiments, the transmission mechanism 2137 may include a ball nut 21371 and a ball screw 21372. The ball nut 21371 is fixedly connected to the mounting seat 2136. The ball screw 21372 is drivingly connected to the advancing and retracting drive motor 2131. In some embodiments, the advancing and retracting drive mechanism 213 further includes a second coupling 2138. The ball screw 21372 is fixedly connected to the output shaft of the advancing and retracting drive motor 2131 through the second coupling 2138. When the advancing and retracting drive motor 2131 rotates, it can drive the ball screw 21372 to rotate. The ball nut 21371 converts the rotation of the ball screw 21372 into a linear motion and drives the mounting seat 2136 to move along the linear guide rail 2134, thereby causing the puncture needle 211 to move along its own axial direction. It should be noted that in addition to the form of the ball nut 21371 and the ball screw 21372, the transmission mechanism 2137 may also include a gear-rack structure, a worm and worm gear structure, etc.

[0110] In some embodiments of this specification, by providing the linear movement assembly, the stability of the puncture needle 211 during the puncture operation can be effectively ensured, so as to improve the puncture accuracy and avoid accidental injury to the patient.

[0111] In some embodiments, as Figure 17 shown, the advancing and retracting drive mechanism 213 further includes a second position detection assembly 2139. The second position detection assembly 2139 is configured to obtain the position of the puncture needle 211 in its own axial direction. The second position detection assembly 2139 includes a second grating scale 21391 and a second grating scale reading component 21392. The second grating scale 21391 is arranged along the axial direction of the linear guide rail 2134 on the linear guide rail 2134. The second grating scale reading component 21392 is arranged on the slider 2135.

[0112] In some embodiments, the second position detection component 2139 may be a laser rangefinder, a displacement encoder, a grating scale, an inductive displacement sensor, etc. In some embodiments, the second position detection component 2139 is a grating scale. The second grating scale 21391 is a scale grating, and the second grating scale reading component 21392 includes a light source, a lens, an indicating grating, etc. When the light source irradiates the scale grating in parallel, Moiré fringes will appear in the second grating scale reading component 21392. When the second grating scale 21391 and the second grating scale reading component 21392 move relative to each other, the second grating scale reading component 21392 can read the grating scale by detecting the number of Moiré fringes, convert it into an electrical signal, and determine the position information through calculation. In some embodiments, when the slider 2135 moves along the linear guide 2134, the second grating scale reading component 21392 can read the position information of the second grating scale 21391, so as to determine the position of the puncture needle 211 in its own axial direction. It can be understood that the second grating scale reading component 21392 can obtain the position of the puncture needle 211 in its own axial direction in real time and transmit it to the processor of the robot through the second signal transmission component. The processor can control the forward and backward drive motor 2131 to work according to the position of the rod-shaped structure 111 in its own axial direction and the position of the puncture needle 211 in its own axial direction, so that the linear movement distance of the rod-shaped structure 111 is the same as or satisfies the mapping ratio of the linear movement distance of the puncture needle 211, thereby controlling the puncture depth of the puncture needle 211. Only as an example, when the operator controls the rod-shaped structure 111 to move along its own axial direction, the first position detection component 115 obtains the position of the rod-shaped structure 111 in its own axial direction and transmits it to the processor of the robot through the first signal transmission component. The processor controls the forward and backward drive motor 2131 to start working to drive the puncture needle 211 to move along its own axial direction, and based on the real-time feedback of the second position detection component 2139, makes the linear movement distance of the rod-shaped structure 111 the same as or satisfy the mapping ratio of the linear movement distance of the puncture needle 211. When the rod-shaped structure 111 stops moving, the processor controls the forward and backward drive motor 2131 to stop working.

[0113] In some embodiments of the present specification, both the master manipulator device 100 and the puncture device 200 adopt a grating scale detection system to respectively detect the linear movement distances of the rod-shaped structure 111 and the puncture needle 211, so that the detection results are not limited by the transmission stiffness of the device, thereby effectively ensuring the detection accuracy and improving the control accuracy.

[0114] In some embodiments, as shown in Figures 16 - 17 The forward and backward drive mechanism 213 further includes a mounting base 2140. The linear guide 2134 and the second grating scale 21391 are both fixedly connected to the mounting base 2140. A slewing bearing 21401 is provided on the mounting base 2140, and the slewing bearing 21401 is configured to support the ball screw 21372.

[0115] In some embodiments, the mounting base 2140 is fixedly connected to the first passive ring 2231 of the posture adjustment control assembly 220. Exemplary fixed connection methods include threaded connection, welding, etc. For the specific content of the first passive ring 2231, reference can be made to Figure 18 and its related descriptions hereinafter.

[0116] It can be understood that since the mounting base 2140 is provided with a slewing bearing 21401 and the ball screw 21372 is passed through the slewing bearing 21401, the forward and backward drive motor 2131 can easily drive the ball screw 21372 to rotate. Moreover, the use of the slewing bearing 21401 can also ensure the stability of the ball screw 21372 during rotation to a certain extent, so as to ensure the stability of the puncture needle 211 during the puncture operation.

[0117] In some embodiments, in combination with Figure 16 and Figure 18 as shown, the posture adjustment control assembly 220 is provided with a guiding structure 221, and the puncture needle 211 passes through the guiding structure 221. The guiding structure 221 is configured to provide guidance for the puncture needle 211 along its own axial direction.

[0118] The guiding structure 221 is a structure that can provide guidance for the puncture needle 211. In some embodiments, the guiding structure 221 may include a housing fixedly connected to the first passive ring 2231 and guiding balls (not shown in the figure) provided in the housing. An annular guiding groove (not shown in the figure) is provided in the housing. The number of guiding balls is several, and several guiding balls are circumferentially clamped in the annular guiding groove and contact the puncture needle 211. When the puncture needle 211 moves along its own axial direction, several guiding balls can cluster around the puncture needle 211 in the annular guiding groove to generate axial movement, so as to provide guidance for the puncture needle 211 along its own axial direction. When the puncture needle 211 rotates around its own axis, several guiding balls can generate a rotary motion in the annular guiding groove, so as to provide guidance for the puncture needle 211 around its own axial direction. It should be noted that the guiding structure 221 can also be any other feasible structure as long as it can realize providing guidance for the puncture needle 211 along its own axial direction. For example, the guiding structure 221 can also be a hole-shaped structure with an elastic inner wall, etc.

[0119] In some embodiments of this specification, by providing the guiding structure 221 to provide guidance for the puncture needle 211 along its own axial direction, the puncture needle 211 can move more smoothly during the needle insertion operation or the needle withdrawal operation, which can not only improve the puncture stability, but also is beneficial to improving the puncture efficiency and the puncture experience.

[0120] In some embodiments, in combination with Figures 16 - 18As shown, the attitude adjustment control component 220 includes an attitude adjustment base 222 and an attitude adjustment drive component 223. The attitude adjustment drive component 223 is disposed on the attitude adjustment base 222, and the puncture drive component 210 is mounted on the attitude adjustment base 222 through the attitude adjustment drive component 223. The attitude adjustment drive component 223 drives the puncture needle 211 to adjust the attitude of the puncture needle 211 relative to the attitude adjustment base 222.

[0121] Among them, the attitude adjustment base 222 is configured as a structure for mounting the attitude adjustment drive component 223. During the attitude adjustment process, the attitude adjustment base 222 always remains stationary. In some embodiments, the attitude adjustment base 222 is fixedly connected to the attitude adjustment drive component 223, and the puncture needle 211 can be mounted on the attitude adjustment base 222 through a guiding structure 221 mounted on the first passive ring 2231.

[0122] In some embodiments, in combination with Figures 16 - 19 As shown, the attitude adjustment drive component 223 includes a first passive ring 2231, a second passive ring 2232, a first connecting rod 2233, a second annular connecting rod 2234, a first attitude adjustment drive mechanism 2235, and a second attitude adjustment drive mechanism 2236. The first passive ring 2231 and the second passive ring 2232 are coaxial and rotatably connected to the attitude adjustment base 222. The puncture needle 211 passes through the first passive ring 2231 and the second passive ring 2232 along the axial direction of the first passive ring 2231. One end of the first connecting rod 2233 is rotatably connected to the first passive ring 2231, and the other end of the first connecting rod 2233 is rotatably connected to the attitude adjustment base 222, and a first attitude adjustment drive mechanism 2235 is further provided at the other end of the first connecting rod 2233. One end of the second connecting rod 2234 is rotatably connected to the second passive ring 2232, and the other end of the second connecting rod 2234 is rotatably connected to the attitude adjustment base 222, and a second attitude adjustment drive mechanism 2236 is further provided at the other end of the second connecting rod 2234.

[0123] In some embodiments, for the convenience of description, the axis of rotation of the first connecting rod 2233 relative to the first passive ring 2231 can be referred to as the fifth rotation axis (as shown by O5 in Figure 18 ), and the axis of rotation of the first connecting rod 2233 relative to the attitude adjustment base 222 can be referred to as the sixth rotation axis (as shown by O6 in Figure 18 ). The axis of rotation of the second connecting rod 2234 relative to the second passive ring 2232 can be referred to as the seventh rotation axis (as shown by O7 in Figure 18 ), and the axis of rotation of the second connecting rod 2234 relative to the attitude adjustment base 222 can be referred to as the eighth rotation axis (as shown by O8 in Figure 18as shown by O8 in [the figure]. In some embodiments, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 may be in the same plane. In some embodiments, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 may not be in the same plane. Only by way of example, since the posture adjustment base 222 always remains stationary, the sixth rotation axis O6 and the eighth rotation axis O8 always remain unchanged, while the fifth rotation axis O5 and the seventh rotation axis O7 will change respectively with the movement of the first passive ring 2231 and the second passive ring 2232. At this time, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 may not be in the same plane. For example, the sixth rotation axis O6 and the eighth rotation axis O8 are in the same plane, and the fifth rotation axis O5 and the seventh rotation axis O7 are in the same plane. Another example is that the fifth rotation axis O5 and the eighth rotation axis O8 are in the same plane, and the sixth rotation axis O6 and the seventh rotation axis O7 are in the same plane.

[0124] In this embodiment, since the first passive ring 2231 and the second passive ring 2232 are coaxially arranged and the puncture needle 211 passes through the first passive ring 2231 and the second passive ring 2232 along the axial direction of the first passive ring 2231, the puncture needle 211 always maintains a coaxial relationship with the first passive ring 2231 and the second passive ring 2232, that is, the axial direction of the puncture needle 211 coincides with the central axis of the first passive ring 2231 and the central axis of the second passive ring 2232. Therefore, when the first passive ring 2231 and the second passive ring 2232 swing relative to the posture adjustment base 222, the puncture needle 211 can be driven to swing relative to the posture adjustment base 222. Since the first connecting rod 2233 is arranged between the first passive ring 2231 and the posture adjustment base 222, and a first posture adjustment driving mechanism 2235 is further provided at one end of the first connecting rod 2233, when the first posture adjustment driving mechanism 2235 rotates relative to the posture adjustment base 222, it will drive the first connecting rod 2233 to rotate around the sixth rotation axis, and then drive the first connecting rod 2233 to rotate around the fifth rotation axis, thereby driving the first passive ring 2231 to swing relative to the posture adjustment base 222. Similarly, since the second connecting rod 2234 is arranged between the second passive ring 2232 and the posture adjustment base 222, and a second posture adjustment driving mechanism 2236 is further provided at one end of the second connecting rod 2234, when the second posture adjustment driving mechanism 2236 rotates relative to the posture adjustment base 222, it will drive the second connecting rod 2234 to rotate around the eighth rotation axis, and then drive the second connecting rod 2234 to rotate around the eighth rotation axis O8, thereby driving the second passive ring 2232 to swing relative to the posture adjustment base 222.

[0125] It should be noted that since the two ends of the first link 2233 are respectively rotatably connected to the first passive ring 2231 and the posture adjustment base 222, and the two ends of the second link 2234 are respectively rotatably connected to the second passive ring 2232 and the posture adjustment base 222. That is, the first link 2233 and the second link 2234 are both rotatably connected to the posture adjustment base 222, which is equivalent to that the first link 2233 and the second link 2234 are in a parallel structure. When the first link 2233 rotates around the sixth rotation axis O6, it will drive the parallel second link 2234 to rotate around the seventh rotation axis O7. When the second link 2234 rotates around the eighth rotation axis O8, it will drive the parallel first link 2233 to rotate around the fifth rotation axis O5. That is to say, both the posture adjustment driving assembly 223 of the puncture device 200 and the posture adjustment execution assembly 120 of the master manipulator device 100 adopt a parallel configuration, and the configurations are basically the same. Therefore, the movement process of the puncture needle 211 relative to the posture adjustment control assembly 220 can also be simplified to Figure 11 the form shown. The fifth rotation axis O5 (equivalent to the first rotation axis O1), the sixth rotation axis O6 (equivalent to the second rotation axis O2), the seventh rotation axis O7 (equivalent to the third rotation axis O3), and the eighth rotation axis O8 (equivalent to the fourth rotation axis O4) are in the same plane. At this time, the angle between the fifth rotation axis O5 and the eighth rotation axis O8 is 180°, and the angle between the sixth rotation axis O6 and the seventh rotation axis O7 is 180°. Among them, the puncture needle 211 can rotate relative to the posture adjustment control assembly 220 in the plane formed by the fifth rotation axis O5 and the eighth rotation axis O8 (such as a vertical plane), that is, it has a third degree of freedom (as shown by the arrow M3). The puncture needle 211 can rotate relative to the posture adjustment control assembly 220 in the plane formed by the sixth rotation axis O6 and the seventh rotation axis O7 (such as a vertical plane), that is, it has a fourth degree of freedom (as shown by the arrow M4).

[0126] It should be noted that since the fifth rotating shaft O5 and the seventh rotating shaft O7 will change respectively with the movement of the first passive ring 2231 and the second passive ring 2232, the angle between the fifth rotating shaft O5 and the eighth rotating shaft O8 or the angle between the sixth rotating shaft O6 and the seventh rotating shaft O7 does not always remain 180°, and can also be 150°, 160°, etc. When the angles between the fifth rotating shaft O5 and the eighth rotating shaft O8 and between the sixth rotating shaft O6 and the seventh rotating shaft O7 are both 180°, that is, the fifth rotating shaft O5 and the eighth rotating shaft O8 are collinear and form a third rotating axis line (equivalent to the first rotating axis line), and the sixth rotating shaft O6 and the seventh rotating shaft O7 are collinear and form a fourth rotating axis line (equivalent to the second rotating axis line). At this time, the plane formed by the fifth rotating shaft O5 and the eighth rotating shaft O8 (i.e., the plane where the third rotating axis line is located) can be parallel to the horizontal plane or not parallel to the horizontal plane, and the plane formed by the sixth rotating shaft O6 and the seventh rotating shaft O7 (i.e., the plane where the fourth rotating axis line is located) can also be parallel to the horizontal plane or not parallel to the horizontal plane. When the angles between the fifth rotating shaft O5 and the eighth rotating shaft O8 and between the sixth rotating shaft O6 and the seventh rotating shaft O7 are not 180°, the eighth rotating shaft O8 forms a third rotating axis line, and the sixth rotating shaft O6 forms a fourth rotating axis line. In some embodiments, the third rotating axis line and the fourth rotating axis line always intersect and are perpendicular. Based on the above content, it can be known that when the parallel first link 2233 and the second link 2234 rotate together, the puncture needle 211 will swing.

[0127] In some embodiments, the angle between the fifth rotating shaft O5 and the seventh rotating shaft O7 is greater than 10 degrees. In some embodiments, the angle between the fifth rotating shaft O5 and the seventh rotating shaft O7 is greater than 45 degrees. In some embodiments, the angle between the fifth rotating shaft O5 and the seventh rotating shaft O7 is greater than 60 degrees. In some embodiments, as Figure 18 shown, the angle between the fifth rotating shaft O5 and the seventh rotating shaft O7 is 90 degrees, so that the posture adjustment control assembly 220 can obtain a larger operating space. Similarly, in some embodiments, the angle between the sixth rotating shaft O6 and the eighth rotating shaft O8 is greater than 10 degrees. In some embodiments, as Figure 18 shown, the angle between the sixth rotating shaft O6 and the eighth rotating shaft O8 is 90 degrees.

[0128] In some embodiments, the shape of the first link 2233 is adapted to that of the first passive ring 2231, and the shape of the second link 2234 is adapted to that of the second passive ring 2232. Only by way of example, as Figure 18As shown, the first passive ring 2231 and the second passive ring 2232 are disc-shaped structures, the first connecting rod 2233 and the second connecting rod 2234 are arc-shaped connecting rods, and the contours of the first connecting rod 2233 and the first passive ring 2231 are both circular rings. The curvature of the arc-shaped connecting rod is the same as that of the circular ring, so that during the rotation of the first connecting rod 2233 relative to the first passive ring 2231, it will never collide with the first passive ring 2231, and during the rotation of the second connecting rod 2234 relative to the second passive ring 2232, it will never collide with the second passive ring 2232, and at the same time, the structure can be made more compact. It should be noted that the first connecting rod 2233 and the second connecting rod 2234 can also be designed into other arbitrary feasible shapes (such as right-angled type, etc.), as long as the corresponding connection function can be realized.

[0129] In some embodiments, in combination with Figures 18 - 19 As shown, the posture adjustment driving assembly 223 further includes a second posture adjustment connecting shaft (not shown in the figure), a second posture adjustment support seat 2237 and a second posture adjustment end cover 2238. The second posture adjustment support seat 2237 is arranged on the posture adjustment base 222. One end of the second posture adjustment connecting shaft is connected to the other end of the second connecting rod 2234, and the other end of the second posture adjustment connecting shaft is connected to the second posture adjustment support seat 2237 through a second posture adjustment bearing (not shown in the figure). The second posture adjustment end cover 2238 fixes the second posture adjustment bearing on the second posture adjustment support seat 2237. The second connecting rod 2234 can rotate relative to the second posture adjustment bearing and the second posture adjustment support seat 2237, thereby realizing rotation relative to the posture adjustment base 222. In some embodiments, the posture adjustment driving assembly 223 further includes a first posture adjustment connecting shaft, a first posture adjustment support seat 2239 and a first posture adjustment end cover. The first posture adjustment connecting shaft, the first posture adjustment support seat 2239 and the first posture adjustment end cover are located in Figure 16 the dashed box H in, and the specific setting manners of the first posture adjustment connecting shaft, the first posture adjustment support seat 2239 and the first posture adjustment end cover are the same as or similar to those of the second posture adjustment connecting shaft, the second posture adjustment support seat 2237 and the second posture adjustment end cover 2238 respectively.

[0130] As described above, in some actual application scenarios, the posture adjustment of the puncture needle and the forward and backward needle operations of the puncture needle cannot be carried out simultaneously to avoid damaging human tissues. Therefore, in some embodiments, as Figure 18 shown, the first posture adjustment driving mechanism 2235 includes a third brake (not shown in the figure), a first reducer (not shown in the figure), a first posture adjustment driving motor (not shown in the figure) and a fifth angle sensor (not shown in the figure). The third brake, the first reducer, the first posture adjustment driving motor and the fifth angle sensor are arranged at the other end of the first connecting rod 2233, and the fifth angle sensor is configured to detect the rotation angle of the output shaft of the first posture adjustment driving motor.

[0131] In some embodiments, the second posture adjustment driving mechanism 2236 includes a fourth brake 22361, a second speed reducer 22362, a second posture adjustment driving motor 22363, and a sixth angle sensor 22364. The fourth brake 22361, the second speed reducer 22362, the second posture adjustment driving motor 22363, and the sixth angle sensor 22364 are sequentially arranged at the other end of the second connecting rod 2234. The sixth angle sensor 22364 is configured to detect the rotation angle of the output shaft of the second posture adjustment driving motor 22363.

[0132] In some embodiments, when an operator controls the rod-shaped structure 111 of the master manipulator device 100 to move relative to the posture adjustment execution component 120 along its own axial direction, the posture adjustment control component 220 of the puncture device 200 can correspondingly adjust the posture of the puncture needle 211. Only as an example, when the operator controls the rod-shaped structure 111 of the master manipulator device 100 to move relative to the posture adjustment execution component 120 along its own axial direction, that is, when the operator controls the rod-shaped structure 111 to swing relative to the base 1241, the first angle sensor 1223 and the second angle sensor 1233 can respectively detect the rotation angle of the first connecting rod 1221 rotating around the second rotation axis O2 and the rotation angle of the second connecting rod 1231 rotating around the fourth rotation axis O4, and transmit the above rotation angles to the processor of the robot through the first signal transmission component. Based on the above rotation angles, the processor can respectively control the first posture adjustment driving motor and the second posture adjustment driving motor 22363 to start working. When the first posture adjustment driving motor rotates and is decelerated by the first speed reducer, when driving the first connecting rod 2233 to rotate around the fifth rotation axis O5 and / or around the sixth rotation axis O6, it will drive the first passive ring 2231 to swing relative to the posture adjustment base 222. When the second posture adjustment driving motor 22363 rotates and is decelerated by the second speed reducer 22362, when driving the second connecting rod 2234 to rotate around the seventh rotation axis O7 and / or around the eighth rotation axis O8, it will drive the second passive ring 2232 to swing relative to the posture adjustment base 222, and further enable the puncture needle 211 to swing relative to the posture adjustment base 222 to adjust the posture of the puncture needle 211. In some embodiments, the fifth angle sensor and the sixth angle sensor 22364 can respectively and real-time feedback the rotation angle of the output shaft of the first posture adjustment driving motor and the rotation angle of the output shaft of the second posture adjustment driving motor 22363. The processor can control the first connecting rod 2233 and the second connecting rod 2234 to respectively follow the rotation of the first connecting rod 1221 and the second connecting rod 1231 and rotate corresponding angles according to the above rotation angles, so as to realize the adjustment of the posture of the puncture needle 211 provided on the puncture device 200 by the master manipulator device 100. In some embodiments, the fifth angle sensor and the sixth angle sensor 22364 can be absolute encoders. It can be understood that by setting corresponding angle sensors, the posture adjustment driving mechanism can realize the detection of the rotation angle of the connecting rod and its closed-loop control.

[0133] In some embodiments, the third brake and the fourth brake 22361 function similarly to the first brake 2123 and the second brake 2133. When the operator stops the swinging of the rod-shaped structure 111, the processor controls the first attitude adjustment driving motor and the second attitude adjustment driving motor 22363 to stop working and simultaneously controls the third brake and the fourth brake 22361 to open, so as to respectively limit the rotation of the output shafts of the first attitude adjustment driving motor and the second attitude adjustment driving motor 22363, thereby further ensuring the consistency of the corresponding rotation angles.

[0134] In some embodiments of the present specification, by providing a brake and an angle sensor in the attitude adjustment driving mechanism, it is beneficial to ensure that the connecting rod of the puncture device 200 rotates by a corresponding angle with the connecting rod of the master hand control device 100, thereby improving the puncture accuracy on the basis of realizing the master-slave puncture attitude adjustment.

[0135] It should be noted that since the puncture device 200 is generally used inside the aperture of a medical imaging device and is subject to a large dose of radiation, mechanisms or components on the puncture device 200 (such as angle sensors, brakes or force sensors, etc.) are all provided with lead plate shielding for shielding radiation. At the same time, in order to avoid artifacts generated by the structure of the puncture device 200 itself from obscuring the lesion area, the material of the puncture device 200 is often made of materials that generate less artifacts, such as plastic or ceramic; moreover, when the puncture device 200 performs a puncture operation, the puncture needle driving assembly 210 usually deflects by a certain angle axially relative to the attitude adjustment control assembly 220, so that the puncture needle driving assembly 210 deviates from the lesion area, thereby avoiding the coincidence of the artifact and the medical image of the lesion area.

[0136] Some embodiments of the present specification further provide a robot, which includes the master hand control device 100 described in any of the above technical solutions and the puncture device 200 described in any of the above technical solutions. The puncture needle driving assembly 210 of the puncture device 200 drives the puncture needle 211 to move in response to the puncture execution signal of the puncture needle execution assembly 110 of the master hand control device 100.

[0137] In some embodiments, in combination with Figures 1 - 10 As shown, the master hand control device 100 includes a puncture needle execution assembly 110 and an attitude adjustment execution assembly 120. The puncture needle execution assembly 110 includes a rod-shaped structure 111. The attitude adjustment execution assembly 120 is configured to obtain the attitude of the rod-shaped structure 111. Among them, the rod-shaped structure 111 can move along its own axis and rotate around its own axis.

[0138] The puncture needle execution component 110 is the main structure of the master manipulator 100 for controlling the puncture device to perform the needle insertion operation or the needle withdrawal operation. The needle insertion operation refers to the related operations of the puncture needle provided on the puncture device to puncture into the patient's body. The needle withdrawal operation refers to the related operations of the puncture needle provided on the puncture device to withdraw from the patient's body. In some embodiments, the master manipulator 100 can communicate / connect with the processor of the robot (not shown in the figure). When the puncture needle execution component 110 moves, the movement of the puncture needle execution component 110 can be fed back to the processor in real time, and then the processor can control the puncture device to drive the puncture needle to perform the puncture operation according to the movement of the puncture needle execution component 110.

[0139] The posture adjustment execution component 120 is the main structure of the master manipulator 100 for adjusting the posture of the puncture needle. Obtaining the posture of the rod-shaped structure 111 means obtaining the rotation angle information of the axis of the rod-shaped structure 111 relative to the posture adjustment execution component 120. Only as an example, when it is necessary to adjust the posture of the puncture needle, the operator can control the rod-shaped structure 111 to swing relative to the posture adjustment execution component 120. The posture adjustment execution component 120 can detect the rotation angle information of the rod-shaped structure 111 relative to the posture adjustment execution component 120 and feed the rotation angle information back to the processor of the robot. The processor can adjust the posture of the puncture needle according to the rotation angle information of the rod-shaped structure 111 relative to the posture adjustment execution component 120 to achieve the purpose of adjusting the posture of the puncture needle, so that the puncture needle can be aligned with the target puncture point and ensure the accuracy of the puncture operation.

[0140] In some embodiments, the posture adjustment execution component 120 includes a connection component 1211. The rod-shaped structure 111 is movably connected to the posture adjustment execution component 120 through the connection component 1211. The rod-shaped structure 111 can move relative to the posture adjustment execution component 120 along its own axis and can also rotate relative to the posture adjustment execution component 120 around its own axis.

[0141] The rod-shaped structure 111 is the structure of the master manipulator 100 for the operator to hold and manipulate. In some embodiments, when the operator performs a needle insertion operation or a needle withdrawal operation, the rod-shaped structure 111 can move axially along the rod-shaped structure 111 or rotate around the axis of the rod-shaped structure 111, so as to control the linear motion or rotational motion of the puncture needle, and when the operator performs a posture adjustment, the rod-shaped structure 111 can swing relative to the posture adjustment execution component 120, so as to control the posture of the puncture needle. In some embodiments, the rod-shaped structure 111 can perform a linear motion. After the linear motion is fed back to the processor of the robot, the processor can control the puncture needle to perform a needle insertion operation according to the distance of the linear motion of the rod-shaped structure 111, so that the puncture needle can smoothly penetrate into the target puncture target. After the puncture operation is completed, the master manipulator 100 moves in the reverse direction of the needle insertion operation to withdraw the puncture needle from the patient's body, and its principle is essentially the same as that of the needle insertion operation. In some embodiments, the axis of the rod-shaped structure 111 can be represented by Figure 1 the arrow X in. When the rod-shaped structure 111 moves downward along the direction of the arrow X, the puncture needle performs a needle insertion operation. When the rod-shaped structure 111 moves upward along the direction of the arrow X, the puncture needle performs a needle withdrawal operation. In some cases, since the rod-shaped structure 111 is closer to the actual structure of the puncture needle, when the operator holds the rod-shaped structure 111 and moves axially along it or rotates around its axis, it can better simulate the linear motion or rotational motion generated when holding the puncture needle during the puncture operation, thereby improving the puncture accuracy and puncture efficiency. For more information about the master manipulator 100, reference can be made to the corresponding description above.

[0142] In some embodiments, in combination with Figures 16 - 18 as shown, the puncture device 200 includes a puncture needle driving component 210 and a posture adjustment control component 220. The puncture needle driving component 210 includes a rotation driving mechanism 212 and an advancing / retreating driving mechanism 213. The rotation driving mechanism 212 is used to connect with the puncture needle 211, and the rotation driving mechanism 212 is in transmission connection with the advancing / retreating driving mechanism 213. In some embodiments, the rotation driving mechanism 212 and the advancing / retreating driving mechanism 213 are provided on the posture adjustment control component 220. The rotation driving mechanism 212 is configured to drive the puncture needle 211 to rotate around the axis of the puncture needle 211 relative to the posture adjustment control component 220, and the advancing / retreating driving mechanism 213 is configured to drive the puncture needle 211 to move axially along the axis of the puncture needle 211 relative to the posture adjustment control component 220.

[0143] The puncture needle driving assembly 210 is the main structure of the puncture device 200 for driving the puncture needle 211 to perform a needle insertion operation or a needle withdrawal operation. In some embodiments, the puncture needle driving assembly 210 can control the corresponding movement of the puncture needle driving assembly 210 based on the real-time movement conditions of the puncture needle execution assembly 110 (such as the axial movement and the rotation around its own axis of the rod-shaped structure 111) to perform a needle insertion operation or a needle withdrawal operation.

[0144] The rotation driving mechanism 212 is the main structure for driving the puncture needle 211 to rotate around its own axis. In some embodiments, as shown in Figures 16 - 18 The rotation driving mechanism 212 includes a rotation driving motor 2121, a third angle sensor 2122, and a first brake 2123. The rotation driving motor 2121 is configured to drive the puncture needle 211 to rotate around its own axis. The third angle sensor 2122 is configured to detect the rotation angle of the output shaft of the rotation driving motor 2121 to achieve the detection of the rotation angle of the puncture needle 211 and its closed-loop control. The first brake 2123 is disposed between the puncture needle 211 and the rotation driving motor 2121, and the first brake 2123 is configured to limit the rotation of the puncture needle 211 around its own axis to ensure that the rotation angle of the puncture needle 211 is always consistent with the rotation angle of the rod-shaped structure 111 around its own axis.

[0145] In some embodiments, as shown in Figures 16 - 17 The rotation driving mechanism 212 further includes a force sensor 2124. The force sensor 2124 is disposed between the puncture needle 211 and the first brake 2123, and the force sensor 2124 is configured to obtain the puncture force feedback information when the puncture needle 211 punctures.

[0146] The advancing and retreating driving mechanism 213 is the main structure for driving the puncture needle 211 to perform a needle insertion operation or a needle withdrawal operation. In some embodiments, as shown in Figures 16 - 18 The advancing and retreating driving mechanism 213 includes an advancing and retreating driving motor 2131, a fourth angle sensor 2132, and a second brake 2133. The advancing and retreating driving motor 2131 is configured to drive the puncture needle 211 to move along its own axis. The fourth angle sensor 2132 is configured to detect the rotation angle of the output shaft of the advancing and retreating driving motor 2131 to achieve the detection of the rotation angle of the output shaft of the advancing and retreating driving motor 2131 and its closed-loop control. The second brake 2133 is disposed between the puncture needle 211 and the advancing and retreating driving motor 2131, and the second brake 2133 is configured to limit the movement of the puncture needle 211 along its own axis to ensure that the rotation angle of the output shaft of the advancing and retreating driving motor 2131 is always consistent with the rotation angle of the output shaft of the force feedback motor 1311.

[0147] In some embodiments, such as Figure 17As shown, the advancing and retracting drive mechanism 213 further includes a second position detection component 2139, which is configured to obtain the position of the puncture needle 211 in its own axial direction. The second position detection component 2139 includes a second grating ruler 21391 and a second grating ruler reading component 21392. The second grating ruler 21391 is arranged on the linear guide 2134 along the axial direction of the linear guide 2134, and the second grating ruler reading component 21392 is arranged on the slider 2135.

[0148] The posture adjustment control component 220 is the main structure of the puncture device 200 for controlling the posture of the puncture needle 211. In some embodiments, the posture adjustment control component 220 can control the corresponding rotation of the posture adjustment drive component 223 based on the rotation angle information of the rod-shaped structure 111 relative to the posture adjustment execution component 120 (such as the rotation angle of the first connecting rod 1221 relative to the base 1241, the rotation angle of the second connecting rod 1231 relative to the base 1241, etc.), so as to achieve the purpose of controlling the posture of the puncture needle 211, enabling the puncture needle 211 to be aligned with the target puncture target and ensuring the accuracy of the puncture operation. For more content about the puncture device 200, reference can be made to the corresponding descriptions above.

[0149] In some embodiments, the robot further includes a processor (not shown), which is configured to process data related to the master hand manipulation device 100 and the puncture device 200. Only by way of example, the processor can control the puncture needle drive component 210 of the puncture device 200 to drive the puncture needle 211 to move in response to the puncture execution signal of the puncture needle execution component 110 of the master hand manipulation device 100. In some embodiments, the processor can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processor can be local or remote. In some embodiments, the processor can be implemented on a cloud platform. Only by way of example, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc. or any combination thereof.

[0150] In some embodiments, the puncture needle execution component 110 includes an angle detection component 114 and a first position detection component 115. The angle detection component 114 is configured to obtain the rotation angle of the rod-shaped structure 111 rotating around its own axial direction, and the first position detection component 115 is configured to obtain the position of the rod-shaped structure 111 in its own axial direction. The puncture execution signal includes the above rotation angle and the position of the rod-shaped structure 111 in its own axial direction. In some embodiments, the rotation drive mechanism 212 includes a rotation drive motor 2121, which is configured to drive the puncture needle 211 to rotate around its own axial direction by a corresponding angle based on the above rotation angle.

[0151] In some embodiments, in combination with Figures 4 - 5As shown, the angle detection component 114 includes an encoder 1141 and an encoder reading component 1142. The encoder 1141 is disposed on the rod-shaped structure 111 and rotates synchronously with the rod-shaped structure 111. The encoder reading component 1142 is disposed on the posture adjustment execution component 120.

[0152] The rotation of the puncture needle 211 by a corresponding angle around its own axis can be understood as that there is a corresponding relationship between the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis, including a mapping or proportional mapping relationship. For example, the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis can be a 1:1 mapping, that is, the rotation angle of the puncture needle 211 around its own axis is the same as the rotation angle of the rod-shaped structure 111 around its own axis. Another example is that there is always an angle difference between the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis, such as an angle difference of 5°, 10°, etc. Still another example is that there is always an angle ratio between the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis, such as an angle ratio of 1:1.5, 1:2, 2:1, etc. In some embodiments, the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis can be a 1:1 mapping, so that when an operator operates the rod-shaped structure 111 to rotate around its own axis by a preset angle, the puncture needle 211 can be controlled to rotate around its own axis by the preset angle, thereby improving the puncture accuracy and puncture success rate.

[0153] In some embodiments, the advancing and retreating driving mechanism 213 includes an advancing and retreating driving motor 2131, and the advancing and retreating driving motor 2131 is configured to drive the puncture needle 211 to move a corresponding distance along its own axis based on the position of the rod-shaped structure 111 in its own axis.

[0154] In some embodiments, in combination Figures 6 - 7 As shown, the first position detection component 115 includes a first grating ruler 1151 and a first grating ruler reading component 1152. The first grating ruler 1151 is disposed on the rod-shaped structure 111 along the axial direction of the rod-shaped structure 111, and the first grating ruler reading component 1152 is disposed on the connection component 1211.

[0155] In some embodiments, the position of the rod-like structure 111 in its own axial direction acquired by the first position detection component 115 can reflect the distance of the rod-like structure 111 moving along its own axial direction (i.e., the distance of the rod-like structure 111 moving in a straight line). In some embodiments, the corresponding distance of the puncture needle 211 moving along its own axial direction can be understood as a corresponding relationship between the distance of the puncture needle 211 moving along its own axial direction (i.e., the distance of the puncture needle 211 moving in a straight line) and the distance of the rod-like structure 111 moving along its own axial direction, including a mapping or proportional mapping relationship. For example, the distance of the puncture needle 211 moving along its own axial direction and the distance of the rod-like structure 111 moving along its own axial direction can be mapped 1:1, that is, the distance of the puncture needle 211 moving along its own axial direction is consistent with the distance of the rod-like structure 111 moving along its own axial direction. For another example, there is always a distance difference between the distance of the puncture needle 211 moving along its own axial direction and the distance of the rod-like structure 111 moving along its own axial direction, such as a distance difference of 0.5 mm, 1 mm, etc. For another example, there is always a distance ratio between the distance that the puncture needle 211 moves along its own axis and the distance that the rod-shaped structure 111 moves along its own axis, such as a distance ratio of 1:1.2, 1:1.5, 1:2, 2:1, 1.5:1, etc. In some embodiments, the distance that the puncture needle 211 moves along its own axis and the distance that the rod-shaped structure 111 moves along its own axis can be mapped 1:1, so that when the operator operates the rod-shaped structure 111 to output a preset distance, the puncture needle 211 can be controlled to move a preset distance, so that the operator can feel the feeling of clinical puncture as much as possible, improve the operator's operating experience, and improve the puncture success rate.

[0156] For more information about how the puncture needle drive assembly 210 drives the puncture needle 211 to perform the puncture operation based on the puncture execution signal, please refer to the above Figures 16 - 18 and its related description.

[0157] In some embodiments of the present specification, the puncture needle actuator component 110 of the master-hand control device 100 and the puncture needle drive component 210 of the puncture device 200 are both provided with corresponding detection components or instruments (such as angle detection components, position detection components), which is conducive to realizing closed-loop control of the puncture operation in the master-slave mode, so as to make the master-slave puncture motion control more precise, thereby improving the puncture accuracy and puncture success rate.

[0158] In some embodiments, the posture control component 220 includes a posture base 222 and a posture drive component 223, the posture drive component 223 is disposed on the posture base 222, and the puncture drive component 210 is installed on the posture base 222 through the posture drive component 223. The posture drive component 210 responds to the posture signal of the posture execution component 210 of the master hand control device 100 to adjust the posture of the puncture needle relative to the posture base 222.

[0159] In some embodiments, the posture adjustment execution component 120 includes a connection component 1211, a first connecting rod 1221, a first rotating ring 1222, a second connecting rod 1231, a second rotating ring 1232, a first angle sensor 1223, a second angle sensor 1233, and a base 1241. The connection component 1211 is slidably connected to the rod-shaped structure 111. The first rotating ring 1222 and the second rotating ring 1232 are coaxial and rotatably connected to the connection component 1211. One end of the first connecting rod 1221 is rotatably connected to the first rotating ring 1222, and the other end of the first connecting rod 1221 is rotatably connected to the base 1241. A first angle sensor 1223 is further provided at the other end of the first connecting rod 1221. One end of the second connecting rod 1231 is rotatably connected to the second rotating ring 1232, and the other end of the second connecting rod 1231 is rotatably connected to the base 1241. A second angle sensor 1233 is further provided at the other end of the second connecting rod 1231. The first angle sensor 1223 is configured to detect the angle of rotation of the other end of the first connecting rod 1221 relative to the base 1241, and the second angle sensor 1233 is configured to detect the angle of rotation of the other end of the second connecting rod 1231 relative to the base 1241. The posture adjustment signal includes the angle of rotation of the other end of the first connecting rod 1221 relative to the base 1241 and the angle of rotation of the other end of the second connecting rod 1231 relative to the base 1241.

[0160] In some embodiments, the posture adjustment driving component 223 includes a first passive ring 2231, a second passive ring 2232, a first connecting rod 2233, a second annular connecting rod 2234, a first posture adjustment driving mechanism 2235, and a second posture adjustment driving mechanism 2236. The first passive ring 2231 and the second passive ring 2232 are coaxial and rotatably connected to the posture adjustment base 222. The puncture needle 211 axially passes through the first passive ring 2231 and the second passive ring 2232 along the axis of the first passive ring 2231. The first passive ring 2231 is rotatably connected to one end of the first connecting rod 2233, and the other end of the first connecting rod 2233 is rotatably connected to the posture adjustment base 222. A first posture adjustment driving mechanism 2235 is further provided at the other end of the first connecting rod 2233. The second passive ring 2232 is rotatably connected to one end of the second connecting rod 2234, and the other end of the second connecting rod 2234 is rotatably connected to the posture adjustment base 222. A second posture adjustment driving mechanism 2236 is further provided at the other end of the second connecting rod 2234.

[0161] In some embodiments, such as Figure 18As shown, the first posture adjustment driving mechanism 2235 includes a third brake (not shown in the figure), a first speed reducer (not shown in the figure), a first posture adjustment driving motor (not shown in the figure), and a fifth angle sensor (not shown in the figure). The third brake, the first speed reducer, the first posture adjustment driving motor, and the fifth angle sensor are provided at the other end of the first link 2233, and the fifth angle sensor is configured to detect the rotation angle of the output shaft of the first posture adjustment driving motor.

[0162] In some embodiments, the second posture adjustment driving mechanism 2236 includes a fourth brake 22361, a second speed reducer 22362, a second posture adjustment driving motor 22363, and a sixth angle sensor 22364. The fourth brake 22361, the second speed reducer 22362, the second posture adjustment driving motor 22363, and the sixth angle sensor 22364 are sequentially provided at the other end of the second link 2234, and the sixth angle sensor 22364 is configured to detect the rotation angle of the output shaft of the second posture adjustment driving motor 22363.

[0163] In some embodiments, the posture adjustment driving assembly 210 responds to the posture adjustment signal of the posture adjustment execution assembly 110 of the master hand manipulation device 100 and adjusts the puncture posture of the puncture needle 211, including: the first posture adjustment driving mechanism 2235 drives the first link 2233 to rotate a corresponding angle relative to the posture adjustment base 222 based on the angle of rotation of the other end of the first connecting rod 1221 relative to the base 1241; and the second posture adjustment driving mechanism 2236 drives the second link 2234 to rotate a corresponding angle relative to the posture adjustment base 222 based on the angle of rotation of the other end of the second connecting rod 1231 relative to the base 1241. For more content on how the posture adjustment driving assembly 220 adjusts the puncture posture of the puncture needle 211 based on the posture adjustment signal, reference can be made to the previous text Figures 16 - 19 and its related descriptions.

[0164] In some embodiments of the present specification, the posture adjustment execution assembly 120 of the master hand manipulation device 100 and the posture adjustment control assembly 220 of the puncture device 200 adopt similar structures and configurations (such as a parallel configuration) and have the same degrees of freedom, which is beneficial to realizing master-slave posture movement control. In addition, both the posture adjustment execution assembly 120 and the posture adjustment control assembly 220 are provided with corresponding angle sensors, which is beneficial to realizing closed-loop control of the posture adjustment operation in the master-slave mode, making the master-slave posture movement control more accurate, thereby improving the puncture accuracy and puncture success rate.

[0165] In some embodiments, in combination with Figure 20 As shown, the robot further includes a moving device 300. The moving device 300 is connected to the puncture device 200, and the moving device 300 can drive the puncture device 200 to move in multiple degrees of freedom.

[0166] The mobile device 300 is a device for supporting the puncture device 200 and capable of adjusting the overall position of the puncture device 200. In some embodiments, the mobile device 300 may be a mobile cart, which includes a cart body 310, a transmission connection assembly 320, and casters 330. A plurality of casters 330 are respectively arranged at the corners of the lower end surface of the cart body 310, and the transmission connection assembly 320 is arranged on the upper end surface of the cart body 310. The casters 330 are configured to drive the puncture device 200 to move as a whole, so as to realize the adjustment of the overall position of the puncture device 200. The transmission connection assembly 320 is configured to connect the puncture device 200 and provide movement of the puncture device 200 in multiple degrees of freedom.

[0167] In some embodiments, as Figure 20 shown, the transmission connection assembly 320 may include a telescopic part 321, a first connection part 322, and a second connection part 323. The telescopic part 321 is arranged in the vertical direction (parallel to the arrow X direction in the figure), and both the first connection part 322 and the second connection part 323 are arranged in the horizontal direction (perpendicular to the arrow X direction in the figure). One end of the telescopic part 321 is fixedly connected to the cart body 310, the other end of the telescopic part 321 is rotatably connected to one end of the first connection part 322, the other end of the first connection part 322 is rotatably connected to one end of the second connection part 323, and the other end of the second connection part 323 is fixedly connected to the puncture device 200. In some embodiments, the telescopic part 321 may include a cylinder, a piston, etc. Transmission bearings are arranged between the first connection part 322 and the telescopic part 321, and between the first connection part 322 and the second connection part 323. In some embodiments, the transmission connection assembly 320 may also be other feasible structures such as a robotic arm.

[0168] In some embodiments, the transmission connection assembly 320 can achieve three degrees of freedom. Only as an example, the telescopic part 321 can move along the arrow X direction in the figure, that is, it has a fifth degree of freedom (as shown by the arrow M5); rotation can occur between the first connection part 322 and the telescopic part 321, that is, it has a sixth degree of freedom (as shown by the arrow M6); and rotation can occur between the first connection part 322 and the second connection part 323, that is, it has a seventh degree of freedom (as shown by the arrow M7). It can be understood that based on the fifth degree of freedom, the vertical movement of the puncture device 200 can be realized; based on the sixth and seventh degrees of freedom, the horizontal movement of the puncture device 200 can be realized.

[0169] It should be noted that the mobile device 300 can be in any other feasible structural form as long as it can meet the requirement of adjusting the overall position of the puncture device 200. Only as an example, the mobile device 300 can also adopt a bedside robotic arm or a robotic arm with other configurations.

[0170] In some embodiments, the mobile device 300 may further include a third signal transmission component (not shown in the figure). Based on the communication / connection between the third signal transmission component and the processor, the automatic control of the mobile device 300 is realized. In some embodiments, when the operator controls the master manipulator 100 to perform a posture adjustment operation, the transmission connection component 320 of the mobile device 300 can follow, so that the tip of the puncture needle 211 remains stationary at a preset position. In some embodiments, for a puncture operation guided by a medical image, when the operator controls the master manipulator 100 to perform a posture adjustment operation, the transmission connection component 320 of the mobile device 300 can follow, so that the tip of the puncture needle 211 remains stationary at a preset position in the medical image.

[0171] In some embodiments of the present specification, by setting a mobile device, the overall position of the puncture device can be adjusted, so that the puncture device can be in an optimal position, facilitating the operator to further adjust the puncture needle, thereby improving the puncture accuracy.

[0172] To more clearly illustrate the working principle of the robot, Figure 21 The schematic diagram of the working principle of the master manipulator 100 is shown. Combining Figure 1 and Figure 21 As shown, the master manipulator 100 provided in some embodiments of the present specification is a four-degree-of-freedom force feedback master operating device with attitude increment mapping. That is, the movement of the operator on the master manipulator 100 is mapped to the puncture needle 211 provided on the puncture device 200, and then the puncture needle 211 is controlled. The rod-shaped structure 111 can move along its own axial direction relative to the posture adjustment execution component 120 (move in the direction of arrow X in Figure 1 ), that is, it has a first degree of freedom (as shown by arrow M1). The distance that the rod-shaped structure 111 moves in the first degree of freedom is D, and the puncture needle driving component 210 drives the puncture needle 211 to move a corresponding distance D along its own axial direction. For example, in the embodiment shown in Figure 22 , in the order from left to right, the rod-shaped structure 111 punctures along the first degree of freedom relative to the posture adjustment execution component 120, and the puncture depth is D. In the embodiment shown in Figure 23 , in the order from left to right, the puncture needle 211 punctures along the first degree of freedom relative to the posture adjustment control component 220, and the puncture depth is D. The rod-shaped structure 111 can rotate around its own axial direction through a passive degree-of-freedom mounting seat (such as the passive degree-of-freedom mounting seat 12111 in Figure 7 ), that is, it has a second degree of freedom (as shown in Figure 10as shown by arrow M2). The rod-shaped structure 111 can rotate relative to the pose adjustment execution assembly 120 in the plane where the first rotation axis O1 and the fourth rotation axis O4 are located (such as a vertical plane), that is, it has a third degree of freedom (as shown by arrow M3). The rod-shaped structure 111 can swing relative to the pose adjustment execution assembly 120 in the plane where the second rotation axis O2 and the third rotation axis O3 are located (such as a vertical plane), that is, it has a fourth degree of freedom (as shown by arrow M4). For example, in Figure 24 the illustrated embodiment, the order from left to right is that the rod-shaped structure 111 swings relative to the pose adjustment execution assembly 120 along the fourth degree of freedom. In Figure 25 the illustrated embodiment, the order from left to right is that the puncture needle 211 swings relative to the pose adjustment control assembly 220 along the fourth degree of freedom.

[0173] To more clearly illustrate the working process of the robot, Figure 26 a schematic diagram of the working process of the robot is shown. As Figure 26As shown, when the operator controls the master manipulator device 100 to perform a puncture operation or a posture adjustment operation (corresponding to the puncture mode and the posture adjustment mode respectively), corresponding motion information will be generated. For example, the motion distance information of the rod-shaped structure 111 moving along its own axial direction relative to the posture execution component 120 (i.e., the puncture depth) and the rotation angle information of the rod-shaped structure 111 relative to the posture execution component 120 (i.e., the posture adjustment angle). The puncture depth and the posture adjustment angle can be obtained based on the first position detection component 115 and the posture adjustment angle sensors (such as the first angle sensor 1223 and the second angle sensor 1233) respectively, and are transmitted to the processor through the first signal transmission component. The processor will control the puncture device 200 to perform corresponding operations according to the corresponding motion information. When the master manipulator device 100 is in the puncture mode, the transmission connection component 320 of the mobile device 300 remains stationary, and the puncture needle driving component 210 (such as the rotation driving mechanism 212 and the advance and retreat driving mechanism 213) of the puncture device 200 will drive the puncture needle 211 to perform corresponding puncture operations. Moreover, the second position detection component 2139 can detect the position of the puncture needle 211 in its axial direction in real time, so that the puncture depth of the puncture needle 211 is consistent with the motion distance of the rod-shaped structure 111 moving along its own axial direction. When the master manipulator device 100 is in the posture adjustment mode, the transmission connection component 320 of the mobile device 300 will follow, so that the tip of the puncture needle 211 remains stationary at a preset position in the medical image. The posture adjustment control component 220 (such as the first posture adjustment driving mechanism 2235 and the second posture adjustment driving mechanism 2236) of the puncture device 200 will drive the first connecting rod 2233 and the second connecting rod 2234 to perform corresponding rotations to realize the adjustment of the posture of the puncture needle 211. Moreover, the fifth angle sensor and the sixth angle sensor 22364 can detect the rotation angles of the first connecting rod 2233 and the second connecting rod 2234 in real time, so that the posture adjustment angle of the puncture needle 211 is consistent with the rotation angle of the rod-shaped structure 111 relative to the posture execution component 120. In addition, when the puncture device 200 is performing a puncture operation, the force sensor 2124 provided on the puncture needle 211 can obtain the puncture force feedback information and feedback it to the force feedback component 130 through the signal transmission components (such as the first signal transmission component and the second signal transmission component). The force feedback component 130 then outputs a resistance equivalent to the puncture resistance to the rod-shaped structure 111 through the resistance transmission member 116 to realize the master-slave puncture force feedback function.

[0174] The beneficial effects of the master manipulator device, the puncture device, and the robot provided in this specification may include, but are not limited to: (1) Based on the puncture needle execution component, the master manipulator device can truly simulate the puncture process of the puncture device and can control the puncture device to rotate while advancing the needle, which is beneficial to improving the puncture success rate; based on the posture adjustment execution component, the rod-shaped structure can swing relative to the posture adjustment execution component, so that the rod-shaped structure can adapt to the operator's holding posture and improve the comfort of human-machine interaction; (2) By setting the angle detection component and the first position detection component on the puncture needle execution component of the master-slave manipulator device, puncture execution signals (such as the rotation angle of the rod-shaped structure relative to the posture adjustment execution component and the position of the rod-shaped structure in its own axial direction) can be obtained, so that the puncture needle drive component can perform corresponding puncture operations based on the puncture execution signals, realizing master-slave puncture motion control; (3) The posture adjustment execution component of the master manipulator device adopts a parallel configuration, and the posture adjustment execution component is provided with a damper for adaptive posture adjustment, which can change the damping magnitude correspondingly according to the position of the rod-shaped structure in its own axial direction to ensure a constant damping during the posture adjustment process; moreover, the posture adjustment execution component is also provided with a zeroing component and a zeroing angle sensor, which can detect the rotation speed of the output shaft of the zeroing motor in real time and can ensure the accuracy of zeroing to a certain extent; (4) Based on the puncture needle drive component and the posture adjustment execution component, the puncture device can stably execute the puncture operation and the posture adjustment operation controlled by the master manipulator device, and the puncture needle can rotate while performing the needle insertion or needle withdrawal operation, so that active skin breaking in the master-slave mode can be realized, avoiding accidental injury to the patient and improving the puncture efficiency; (5) By adopting a rotation drive motor, a third angle sensor, and a first brake, the rotation drive mechanism of the puncture device can realize the rotation control of the puncture needle provided on the puncture device by the master manipulator device, and by setting the third angle sensor and the first brake, the consistency of the rotation angle can be effectively guaranteed and the control accuracy can be improved; (6) By setting a force sensor on the rotation drive mechanism of the puncture device, the force (puncture force feedback information) between the puncture needle and the human tissue during the puncture process can be directly detected, which is beneficial to the master manipulator device to simulate the actual puncture process and improve the puncture success rate; (7) The posture adjustment control component of the puncture device adopts a parallel configuration and is consistent with the configuration of the posture adjustment execution component of the master manipulator device, making the motion transmission and motion control simple and easy to implement; (8) By setting a grating scale system (second position detection component), the puncture device can detect and feedback the puncture depth of the puncture needle in real time, which is beneficial to improving the master-slave puncture accuracy; (9) The puncture needle execution component of the master manipulator device and the puncture needle drive component of the puncture device are both provided with corresponding detection components or instruments (such as angle detection components, position detection components), which is beneficial to realizing the closed-loop control of the puncture operation in the master-slave mode, making the master-slave puncture motion control more accurate, thereby improving the puncture accuracy and the puncture success rate.(10) The posture adjustment execution component of the master hand control device and the posture adjustment control component of the puncture device adopt similar structures and configurations (such as some structures are in parallel configurations), and have the same degrees of freedom, which is beneficial to realizing master-slave posture movement control. In addition, angle sensors are respectively arranged on the posture adjustment execution component and the posture adjustment control component, which is beneficial to realizing the closed-loop control of the posture adjustment operation in the master-slave mode, making the master-slave posture movement control more accurate, thereby improving the puncture accuracy and the puncture success rate.

[0175] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A master hand control device (100) for a robot, characterized in that, Comprising: A puncture needle execution component (110), the puncture needle execution component (110) including a rod-shaped structure (111); An attitude adjustment execution component (120), the attitude adjustment execution component (120) being configured to obtain the attitude of the rod-shaped structure (111); wherein, the rod-shaped structure (111) can move along its own axis and rotate around its own axis.

2. The master manipulator device (100) according to claim 1, characterized in that, The puncture needle execution component (110) includes an angle detection component (114), the angle detection component (114) being configured to obtain the rotation angle of the rod-shaped structure (111) rotating around its own axis.

3. The master hand control device (100) according to claim 2, characterized in that, The angle detection component (114) includes an encoder (1141) and an encoder reading component (1142); The encoder (1141) is provided on the rod-shaped structure (111) and rotates synchronously with the rod-shaped structure (111), and the encoder reading component (1142) is provided on the attitude adjustment execution component (120).

4. The master manipulator device (100) according to claim 1, characterized in that, The puncture needle execution component (110) further includes a first position detection component (115), the first position detection component (115) being configured to obtain the position of the rod-shaped structure (111) in its own axial direction.

5. The master manipulator device (100) according to claim 4, characterized in that, The first position detection component (115) includes a first grating ruler (1151) and a first grating ruler reading component (1152), the first grating ruler (1151) being arranged along the axial direction of the rod-shaped structure (111) on the rod-shaped structure (111), and the first grating ruler reading component (1152) being provided on the attitude adjustment execution component (120).

6. The master hand control device (100) according to claim 1, characterized in that, The attitude adjustment execution component (120) includes a connection component (1211), a first connecting rod (1221), a first rotating ring (1222), a second connecting rod (1231), a second rotating ring (1232), a first angle sensor (1223), a second angle sensor (1233) and a base (1241); The connection component (1211) is slidably connected to the rod-shaped structure (111), the first rotating ring (1222) and the second rotating ring (1232) are coaxial and rotatably connected to the connection component (1211), one end of the first connecting rod (1221) is rotatably connected to the first rotating ring (1222), the other end is rotatably connected to the base (1241), and the other end of the first connecting rod (1221) is further provided with the first angle sensor (1223), one end of the second connecting rod (1231) is rotatably connected to the second rotating ring (1232), the other end is rotatably connected to the base (1241), and the other end of the second connecting rod (1231) is further provided with the second angle sensor (1233); The first angle sensor (1223) is configured to detect the angle of the other end of the first connecting rod (1221) rotating relative to the base (1241), and the second angle sensor (1233) is configured to detect the angle of the other end of the second connecting rod (1231) rotating relative to the base (1241).

7. A puncture device (200) for a robot, characterized in that, Comprising: The puncture needle driving assembly (210) includes a rotation driving mechanism (212) and a forward and backward driving mechanism (213). The rotation driving mechanism (212) is used to connect with the puncture needle (211), and the rotation driving mechanism (212) is in transmission connection with the forward and backward driving mechanism (213). The posture adjustment control assembly (220) is provided with the rotation driving mechanism (212) and the forward and backward driving mechanism (213). The rotation driving mechanism (212) is configured to drive the puncture needle (211) to rotate relative to the posture adjustment control assembly (220) around the axial direction of the puncture needle (211), and the forward and backward driving mechanism (213) is configured to drive the puncture needle (211) to move relative to the posture adjustment control assembly (220) along the axial direction of the puncture needle (211).

8. The puncture device (200) according to claim 7, characterized in that, The rotation driving mechanism (212) includes a rotation driving motor (2121), a third angle sensor (2122), and a first brake (2123). The rotation driving motor (212) is configured to drive the puncture needle (211) to rotate around its own axial direction. The third angle sensor (2122) is configured to detect the rotation angle of the output shaft of the rotation driving motor (2121). The first brake (2123) is arranged between the puncture needle (211) and the rotation driving motor (2121), and the first brake (2123) is configured to limit the puncture needle (211) from rotating around its own axial direction.

9. The puncture device (200) according to claim 7, wherein, The rotation driving mechanism (212) further includes a force sensor (2124). The force sensor (2124) is arranged between the puncture needle (211) and the first brake (2123), and the force sensor (2124) is configured to obtain the puncture force feedback information when the puncture needle (211) punctures.

10. The puncture device (200) according to claim 7, characterized in that, The forward and backward driving mechanism (213) includes a forward and backward driving motor (2131), a fourth angle sensor (2132), and a second brake (2133). The forward and backward driving motor (2131) is configured to drive the puncture needle (211) to move along its own axial direction. The fourth angle sensor (2132) is configured to detect the rotation angle of the output shaft of the forward and backward driving motor (2131). The second brake (2133) is arranged between the puncture needle (211) and the forward and backward driving motor (2131), and the second brake (2133) is configured to limit the puncture needle (211) from moving along its own axial direction.

11. The puncture device (200) according to claim 10, characterized in that, The advancing and retracting drive mechanism (213) further includes a second position detection component (2139), and the second position detection component (2139) is configured to obtain the position of the puncture needle (211) in its own axial direction; the second position detection component (2139) includes a second grating ruler (21391) and a second grating ruler reading component (21392), the second grating ruler (21391) is arranged on the linear guide rail (2134) along the axial direction of the linear guide rail (2134), and the second grating ruler reading component (21392) is arranged on the slider (2135).

12. The puncture device (200) according to claim 7, characterized in that, The posture adjustment control component (220) includes a posture adjustment base (222) and a posture adjustment drive component (223), the posture adjustment drive component (223) is arranged on the posture adjustment base (222), and the puncture drive component (210) is installed on the posture adjustment base (222) through the posture adjustment drive component (223); the posture adjustment drive component (223) drives the puncture needle (211) to adjust the posture of the puncture needle (211) relative to the posture adjustment base (222).

13. The puncture device (200) according to claim 12, characterized in that, The posture adjustment drive component (223) includes a first passive ring (2231), a second passive ring (2232), a first connecting rod (2233), a second connecting rod (2234), a first posture adjustment drive mechanism (2235) and a second posture adjustment drive mechanism (2236), the first passive ring (2231) and the second passive ring (2232) are coaxial and rotatably connected to the posture adjustment base (222); the puncture needle (211) passes through the first passive ring (2231) and the second passive ring (2232) along the axial direction of the first passive ring (2231). The first passive ring (2231) is rotatably connected to one end of the first connecting rod (2233), the other end of the first connecting rod (2233) is rotatably connected to the posture adjustment base (222), and the other end of the first connecting rod (2233) is further provided with the first posture adjustment drive mechanism (2235); the second passive ring (2232) is rotatably connected to one end of the second connecting rod (2234), the other end of the second connecting rod (2234) is rotatably connected to the posture adjustment base (222), and the other end of the second connecting rod (2234) is further provided with the second posture adjustment drive mechanism (2236).

14. The puncture device (200) according to claim 13, characterized in that, The first posture adjustment drive mechanism (2235) includes a third brake, a first reducer, a first posture adjustment drive motor and a fifth angle sensor, the third brake, the first reducer, the first posture adjustment drive motor and the fifth angle sensor are arranged at the other end of the first connecting rod (2233), and the fifth angle sensor is configured to detect the rotation angle of the output shaft of the first posture adjustment drive motor. and / or The second posture adjustment driving mechanism (2236) includes a fourth brake (22361), a second speed reducer (22362), a second posture adjustment driving motor (22363), and a sixth angle sensor (22364). The fourth brake (22361), the second speed reducer (22362), the second posture adjustment driving motor (22363), and the sixth angle sensor (22364) are arranged at the other end of the second connecting rod (2234). The sixth angle sensor (22364) is configured to detect the rotation angle of the output shaft of the second posture adjustment driving motor (22363).

15. A robot, characterized in that, It includes the master manipulator device (100) described in claim 1 and the puncture device (200) described in claim 7. The puncture needle driving assembly (210) of the puncture device (200) drives the puncture needle (211) to move in response to the puncture execution signal of the puncture needle execution assembly (110) of the master manipulator device (100).

16. The robot according to claim 15, characterized in that, The puncture needle execution assembly (110) includes an angle detection assembly (114) and a first position detection assembly (115). The angle detection assembly (114) is configured to obtain the rotation angle of the rod-shaped structure (111) rotating around its own axis. The first position detection assembly (115) is configured to obtain the position of the rod-shaped structure (111) in its own axial direction. The puncture execution signal includes the rotation angle and the position of the rod-shaped structure (111) in its own axial direction. The rotation driving mechanism (212) includes a rotation driving motor (2121), and the rotation driving motor (2121) is configured to drive the puncture needle (211) to rotate around its own axis by a corresponding angle based on the rotation angle. The advancing and retreating driving mechanism (213) includes an advancing and retreating driving motor (2131), and the advancing and retreating driving motor (2131) is configured to drive the puncture needle (211) to move a corresponding distance along its own axis based on the position of the rod-shaped structure (111) in its own axial direction.

17. The robot according to claim 15, wherein, The posture adjustment control component (220) includes a posture adjustment base (222) and a posture adjustment driving component (223). The posture adjustment driving component (223) is arranged on the posture adjustment base (222), and the puncture driving component (210) is installed on the posture adjustment base (222) through the posture adjustment driving component (223). The posture adjustment driving component (223) adjusts the posture of the puncture needle (211) relative to the posture adjustment base (222) in response to the posture adjustment signal of the posture adjustment execution component (120) of the master manipulator device (100).

18. The robot according to claim 15, wherein It further includes a moving device (300). The moving device (300) is connected to the puncture device (200), and the moving device (300) drives the puncture device (200) to move in multiple degrees of freedom.

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