Main hand control device for robot

Abstract

One or more embodiments of the present specification relate to a master manipulator control device for a robot, comprising: a puncture needle execution assembly, the puncture needle execution assembly comprising a rod-shaped structure and a position detection assembly; the posture adjusting execution assembly is configured to obtain the posture of the rod-shaped structure; wherein the rod-shaped structure can move relative to the posture adjustment execution assembly in the axial direction of the rod-shaped structure, and the position detection assembly is configured to obtain the position of the rod-shaped structure in the axial direction of the rod-shaped structure.

Description

Technical Field

[0001] This specification relates to the technical field of medical devices, and particularly to a master hand control device for a robot. Background Art

[0002] The master-slave teleoperation robot-assisted puncture surgery mode is a surgical method. By remotely operating and controlling an image-guided puncture robot to perform puncture operations, doctors can be effectively protected from radiation exposure. At the same time, real-time medical image guidance during the puncture process can monitor the entire puncture process, greatly improving the puncture success rate. During actual clinical operations, the operator controls the end effector to perform punctures through the master hand control device. The closer the master hand control device is to the puncture needle structure and the more closely the puncture process approximates the actual puncture situation when the operator holds the needle, the higher the success rate of the puncture surgery. However, the structure of the current master hand control device differs significantly from the actual puncture needle structure and size, and it cannot simulate the actual puncture situation when the operator holds the needle during the puncture surgery, which has a certain impact on the puncture success rate.

[0003] For the above reasons, this specification provides a master hand control device for a robot. The structure of the master hand control device for the operator to hold is closer to the actual puncture needle structure. Therefore, it can simulate the actual puncture situation when the operator holds the puncture needle during the puncture surgery, enabling the operator to feel the clinical puncture sensation as much as possible and improving the puncture success rate. Summary of the Invention

[0004] One embodiment of this specification provides a master hand control device for a robot, including: a puncture needle execution component, where the puncture needle execution component includes a rod-shaped structure and a position detection component; a posture adjustment execution component, where the posture adjustment execution component is configured to obtain the posture of the rod-shaped structure; wherein, the rod-shaped structure can move axially relative to the posture adjustment execution component, and the position detection component is configured to obtain the position of the rod-shaped structure in its own axial direction.

[0005] The master hand control device for a robot provided by the present invention has a rod-shaped structure that is closer to the actual slave-end puncture needle structure. Therefore, when the operator holds the rod-shaped structure for puncture or posture adjustment, it can simulate the actual puncture situation when the operator holds the puncture needle during the puncture surgery, enabling the operator to feel the clinical puncture sensation as much as possible and improving the puncture success rate. In addition, the puncture needle execution component is also provided with a position detection component, which can detect the position of the needle handle at the master end in its own axial direction, and then control the puncture depth of the puncture needle in real time during the puncture process, so as to realize the forward and backward movement control of the puncture needle under master-slave teleoperation. Brief Description of the Drawings

[0006] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same reference numerals represent the same structures, where:

[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 a 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 Figure 2 a schematic diagram of the structure shown in yet another angle;

[0011] Figure 5 is Figure 4 an enlarged schematic structural diagram of the position detection component in ;

[0012] Figure 6 is Figure 2 a schematic diagram of the structure shown in other angles;

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

[0014] Figure 8 is a schematic structural diagram of the master hand control device shown in some embodiments of this specification;

[0015] Figure 9 is a schematic diagram of the working principle of the posture adjustment execution component shown in some embodiments of this specification;

[0016] Figure 10 is Figure 8 a schematic sectional view of the dashed box in ;

[0017] Figure 11 is Figure 8 a schematic diagram of the master hand control device shown in another angle;

[0018] Figure 12 is Figure 11 an enlarged schematic structural diagram of the dashed box C in ;

[0019] Figure 13 is Figure 11 an enlarged schematic structural diagram of the dashed box D in ;

[0020] Figure 14 It is a schematic diagram of the working principle of the master manipulator shown in some embodiments of this specification;

[0021] Figure 15 It is a comparative schematic diagram before and after the rod-shaped structure moves along the first degree of freedom shown in some embodiments of this specification;

[0022] Figure 16 It is a comparative schematic diagram before and after the rod-shaped structure moves along the second degree of freedom shown in some embodiments of this specification;

[0023] Figure 17 It is a comparative schematic diagram before and after the rod-shaped structure moves along the third degree of freedom shown in some embodiments of this specification. Detailed implementation manners

[0024] To more clearly illustrate the technical solutions of the embodiments of this specification, the accompanying drawings required for the description of the embodiments will be briefly introduced below. 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 figures represent the same structure or operation.

[0025] 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.

[0026] In recent years, medical imaging technologies (such as CT, MR, etc.) have made great progress both in basic technologies and in new clinical applications. Great advancements have been achieved in various components of medical imaging technologies (such as CT, MR, etc.), including X-ray tubes, detectors, slip rings, data acquisition systems, and algorithms. Taking CT as an example, since the advent of spiral CT and multi-slice CT, many new clinical applications have emerged, with advantages such as fast scanning time and clear images, and it can be used for the examination of various diseases. After more than thirty years of development, medical imaging technologies (such as CT, MR, etc.) have once again become one of the most exciting diagnostic methods in the field of medical images. Nowadays, medical imaging technologies (such as CT, MR, etc.) no longer exist as a simple imaging examination. Driven by various diversified models in modern medical science, such as continuously breaking boundaries between different departments, interdependence, and joint exploration, medical imaging technologies (such as CT, MR, etc.) also cooperate with various clinical departments to achieve various examinations and treatments, and remarkable medical effects have been obtained. Percutaneous puncture guided by medical imaging technologies (such as CT, MR, etc.) is a technology widely used in clinical applications nowadays. It is actually a technology that, under the precise guidance of medical images, accurately inserts the puncture needle connected to the robot into the lesion in the body and obtains the diseased tissue.

[0027] Percutaneous puncture surgery is to insert the surgical tools (such as puncture needles, surgical scissors, suture needles, etc.) connected to the end effector 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 poses high requirements for the operating doctor of the percutaneous puncture surgery. Percutaneous puncture 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 enhancing the patient's recovery speed and quality of life. However, all medical imaging devices work by using X-rays, Y-rays, etc. Completing the surgery on the side of the medical imaging device will expose doctors to the radiation environment for a long time, posing a great threat to their physical health. Based on this, the master-slave teleoperation robotic-assisted percutaneous puncture surgery system came into being.

[0028] Through the master-slave teleoperation robotic-assisted percutaneous puncture system (hereinafter referred to as "the robot"), the manipulator can complete the puncture process remotely through the master operator outside the medical imaging room, avoiding doctors being irradiated by X-rays during the surgery. At the same time, medical images guide the puncture process, improving the puncture success rate. However, at present, the structure of the master hand control device of some robots is quite different from the structure and size of the end effector (such as the puncture needle), and it cannot simulate the actual puncture situation when the operator holds the needle during the percutaneous puncture surgery. The operator cannot experience the feeling of clinical puncture, which reduces the puncture success rate to a certain extent.

[0029] For the above reasons, the present invention provides a master hand control device that can fully simulate the puncture needle insertion at the master end. This master hand control device can be set in the operating room. The operator controls the puncture process of the slave end in the clinic and adjusts the posture of the puncture needle at the slave end by operating the needle handle (i.e., the rod-shaped structure hereinafter) at the master end, so that the operator can complete the puncture operation under the real-time guidance of medical imaging, thereby improving the success rate of puncture. In some embodiments, the master hand control device includes a posture adjustment execution component and a puncture needle execution component. The posture adjustment execution component is used for the operator to adjust the posture of the puncture needle so that the puncture needle can enter the needle along the correct route. The puncture needle execution component is used to execute the puncture process after the operator determines the posture of the puncture needle. The puncture needle will move following the needle handle at the master end of the puncture needle execution component of the master hand control device, thereby completing the entire process of master-slave posture adjustment and puncture, and realizing the master-slave remote operation puncture surgery under the guidance of medical images. Since the structure of the needle handle at the master end is closer to the actual puncture needle structure at the slave end, when the operator holds the needle handle at the master end for puncture or posture adjustment, it can simulate the actual puncture situation when the operator holds the puncture needle during the puncture operation, enabling the operator to feel the clinical puncture feeling as much as possible and improving the puncture success rate. In addition, the puncture needle execution component is also provided with a position detection component, which can detect the position of the needle handle at the master end in its own axial direction, and then control the puncture depth of the puncture needle in real time during the puncture process, thereby realizing the control of the advancement and retraction of the puncture needle under master-slave remote operation.

[0030] In some cases, the master hand control device can simulate the linear motion generated when the operator holds the needle for puncture during the puncture operation, enabling the operator to feel the clinical puncture feeling as much as possible and improving the puncture success rate.

[0031] In some embodiments, as shown in Figures 1 - 5 Figure 10, the master hand control device 100 includes a puncture needle execution component 10 and a posture adjustment execution component 20. The puncture needle execution component 10 includes a rod-shaped structure 11 and a position detection component 12. The posture adjustment execution component 20 is configured to obtain the posture of the rod-shaped structure 11. Among them, the rod-shaped structure 11 can move relative to the posture adjustment execution component 20 along its own axial direction. The position detection component 12 is configured to obtain the position of the rod-shaped structure 11 in its own axial direction.

[0032] The puncture needle execution component 10 is the main structure of the master manipulator 100 for controlling the puncture needle to perform the needle insertion operation or the needle withdrawal operation. The needle insertion operation refers to the puncture needle puncturing into the patient's body. The needle withdrawal operation refers to the puncture needle withdrawing 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 10 moves, the movement of the puncture needle execution component 10 can be fed back to the processor in real time, and then the processor can control the robot to drive the puncture needle to perform the puncture operation according to the movement of the puncture needle execution component 10.

[0033] The posture adjustment execution component 20 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 11 means obtaining the rotation angle information of the axis of the rod-shaped structure 11 relative to the posture adjustment execution component 20. Only as an example, when it is necessary to adjust the posture of the puncture needle, the operator can control the rod-shaped structure 11 to swing relative to the posture adjustment execution component 20. The posture adjustment execution component 20 can detect the rotation angle information of the rod-shaped structure 11 relative to the posture adjustment execution component 20 (for example, the rotation angle of the first connecting rod 211 relative to the base 23 and the rotation angle of the second connecting rod 221 relative to the base 23 in the following text), 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 11 relative to the posture adjustment execution component 20, so as to achieve the purpose of adjusting the posture of the puncture needle, enabling the puncture needle to be aligned with the target puncture point and ensuring the accuracy of the puncture operation.

[0034] In some embodiments, the posture adjustment execution component 20 includes a passive degree of freedom connection component 26. The rod-shaped structure 11 is connected to the posture adjustment execution component 20 through the passive degree of freedom connection component 26. The rod-shaped structure 11 can slide relative to the passive degree of freedom connection component 26 and the posture adjustment execution component 20 along its own axis, and the rod-shaped structure 11 can rotate relative to the posture adjustment execution component 20 around its own axis through the passive degree of freedom connection component 26, so that the rod-shaped structure 11 can rotate relative to the posture adjustment execution component 20 around its own axis. For more details about the passive degree of freedom connection component, reference can be made to the description of this specification Figure 10 and its embodiments.

[0035] The rod-shaped structure 11 is a structure for the operator to hold and control the master manipulator 100. The rod-shaped structure 11 allows the operator to move axially along the rod-shaped structure 11 during the needle insertion operation or the needle withdrawal operation, thereby realizing the control of the linear motion of the puncture needle. And it allows the operator to swing relative to the posture adjustment execution component 20 during the posture adjustment, thereby realizing the control of the posture of the puncture needle. The rod-shaped structure 11 can perform linear motion. After this 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 11, 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 11 can be Figure 1 represented by the arrow X in. Wherein, when the rod-shaped structure 11 moves downward along the direction of the arrow X, the puncture needle performs the needle insertion operation. When the rod-shaped structure 11 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 11 is closer to the actual structure of the puncture needle, when the operator holds the rod-shaped structure 11 and moves axially along it, it can better simulate the linear motion generated when holding the puncture needle during the puncture operation, thereby improving the puncture accuracy.

[0036] It should be noted that there may be a proportional mapping relationship between the linear motion distance of the puncture needle and the linear motion distance of the rod-shaped structure 11. For example, the ratio of the linear motion distance of the puncture needle to the linear motion distance of the rod-shaped structure 11 can be 1:1, 1:1.2, 1:1.5, 1:2, 2:1 or 1.5:1, etc. In some embodiments, the ratio of the linear motion distance of the puncture needle to the linear motion distance of the rod-shaped structure 11 is 1:1, so that when the operator operates the rod-shaped structure 11 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.

[0037] The position detection component 12 can accurately detect the position of the rod-shaped structure 11 on its own axis, and thus can help the operator flexibly control the puncture depth of the puncture needle, thereby realizing the control of the needle advancement and withdrawal of the puncture needle under the master-slave teleoperation and improving the puncture safety.

[0038] In some embodiments, the master hand control device 100 further includes a force feedback component 30. The force feedback component 30 is configured to apply a movement resistance along the axial direction of the rod-shaped structure 11 to the rod-shaped structure 11, so as to provide a haptic feedback of the puncture needle 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 and more efficient, and improve the puncture accuracy. In some embodiments, the force feedback component 30 can obtain the puncture force feedback information of the puncture needle, and then apply a movement resistance to the rod-shaped structure 11 according to the puncture force feedback information of the puncture needle. For the related description of the force feedback component, reference can be made to Figures 6 - 7 and its embodiments.

[0039] In some embodiments, the master hand control device 100 further includes a linear guiding component 40. The linear guiding component 40 is configured to constrain the rod-shaped structure 11 to always perform linear motion along its own axial direction, simulating the process of the operator holding the needle for puncture during the puncture operation. For the related description of the linear guiding component 40, reference can be made to Figure 2 and its embodiments.

[0040] In some embodiments, the master hand control device 100 further includes a signal transmission component (not shown in the figure). The signal transmission component communicates / connects with the puncture needle execution component 10 and the posture adjustment execution component 20. The signal transmission component can receive various signals (such as rotation angle information, puncture force feedback information) fed back by the puncture needle execution component 10 and the posture adjustment execution component 20, and output corresponding control signals according to the received signals to meet the usage requirements of different scenarios (such as posture adjustment scenario, puncture scenario).

[0041] In some embodiments, the 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, and realize information interaction between the master hand control device 100 and the robot. In some embodiments, the signal transmission component can include but is not limited to Ethernet, serial port, wireless, CAN bus, EtherCAT bus, etc. For example, the signal transmission component can realize information interaction through Ethernet.

[0042] In some embodiments, in combination with Figures 2 - 4As shown, the rod-shaped structure 11 includes an operation part 111 and a sliding part 112. The operation part 111 is located at the upper end of the rod-shaped structure 11. The operation part 111 is configured to receive the operation of the operator. The sliding part 112 is configured to move axially along the rod-shaped structure 11 relative to the posture adjustment execution assembly 20. The operator can control the operation part 111 to perform corresponding operations, and then control the rod-shaped structure 11 to perform corresponding actions, ultimately achieving the purpose of controlling the puncture needle. For example, the operation part 111 is connected to the sliding part 112, and the sliding part 112 is slidably connected to the posture adjustment execution assembly 20 or slidably connected through a connecting member (such as the passive degree of freedom connection assembly 26 and other structures in the following text). The operator can control the sliding part 112 to move axially along the rod-shaped structure 11 relative to the posture adjustment execution assembly 20 through the operation part 111, and then control the puncture needle to advance or retract. Another example is that the operator can control the sliding part 112 to swing through the operation part 111, so as to adjust the posture of the puncture needle.

[0043] In some embodiments, the master manipulator device 100 further includes a resistance transmission member 13. The resistance transmission member 13 can be disposed on the rod-shaped structure 11 (for example, the sliding part 112 of the rod-shaped structure 11). The resistance transmission member 11 can be connected to the force feedback assembly 30 and is configured to transmit the movement resistance generated by the force feedback assembly 30 along the axial direction of the rod-shaped structure 11 to the rod-shaped structure 11. In some embodiments, the resistance transmission member 13 can include a rack (for example, the rack 131, and the corresponding force transmission part 32 can be a gear meshing with the rack), a worm (the corresponding force transmission part 32 can be a turbine meshing with the worm), or a synchronous belt (the corresponding force transmission part 32 can be a pulley meshing with the synchronous belt), etc. The specific structure of the resistance transmission member 13 can be adjusted based on the specific structure of the force feedback assembly 30. For more details about the resistance transmission member 13 and the force feedback assembly 30, reference can be made to Figures 4 - 5 its description and embodiments.

[0044] In some embodiments, the operation part 111 may include an interaction handle 1110, and an operator can manipulate the rod-shaped structure 11 by holding the interaction handle 1110. In some embodiments, the interaction handle 1110 may be in the structure of a prism, a cylinder, etc. In some embodiments, the interaction handle 1110 is in the structure of a cylinder. Since the posture when holding the interaction handle 1110 is relatively close to the posture when holding a puncture needle, the operator can feel the feeling of clinical puncture as much as possible, thus improving the puncture success rate. In some embodiments, the operation part 111 includes a plurality of operation areas 1111 and at least one enabling button. The enabling button refers to the button for enabling or disabling the master and slave end movements of the control system. For example, when one or more enabling buttons are triggered, the master-slave end movement enabling is turned on, and the actions applied to the master hand control device 100 can be mapped to the robot, and then the robot is used to control the puncture needle to execute the same actions as the rod-shaped structure 11.

[0045] In some embodiments, the rod-shaped structure 11 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 enabling button is electrically connected to the circuit board. When the enabling button is pressed, the circuit board processes the trigger signal of the enabling button and transmits it to the signal transmission component through the signal transmitting mechanism (such as an antenna), thereby realizing the master-slave movement enabling control. In some embodiments, the enabling button is a silicone button.

[0046] In some embodiments, the plurality of operation areas 1111 include a first control area 1112 and at least one second control area 1114, and the first control area 1112 and the second control area 1114 are arranged opposite to each other. Arranged opposite to each other means that the first operation area 1111 and the second operation area 1111 are symmetrically located at two relatively far positions on the operation part 111. The control area refers to the area where the operator's fingers can manipulate the rod-shaped structure 11. Only by way of example, in combination with Figures 2 - 3 as shown, the first control area 1112 and the second control area 1114 can be symmetrically arranged on both sides of the circumferential wall of the interaction handle 1110 with respect to the axis of the rod-shaped structure 11, and the operator can place different fingers on the first control area 1112 and the second control area 1114 respectively to hold and manipulate the rod-shaped structure 11.

[0047] In some cases, since the first control area 1112 and the second control area 1114 are arranged opposite to each other, the operator can hold the operation part 111 more firmly and it is convenient for the operator to apply force to the rod-shaped structure 11.

[0048] In some embodiments, at least one enabling button includes a first enabling button 1113 arranged in the first control area 1112. In some embodiments, the number of the first enabling buttons 1113 is one. Only by way of example, in combination with Figure 2 andFigure 3 As shown, the first control area 1112 may include a first enabling button 1113. The thumb of the operator can be placed on the first enabling button 1113, and at least one of the index finger, middle finger, and ring finger of the operator can be placed within the second control area 1114. When the operator presses the first enabling button 1113, the master-slave end motion enabling can be turned on. In some embodiments, the number of the first enabling buttons 1113 is multiple. Only as an example, the first control area 1112 may include two first enabling buttons 1113, and the two first enabling buttons 1113 are distributed along the axial direction of the rod-shaped structure 11. The thumb of the operator can be placed on any one of the two first enabling buttons 1113. When the operator presses any one of the first enabling buttons 1113, the master-slave end motion enabling can be turned on.

[0049] In some cases, since the number of the first enabling buttons 1113 is multiple, the operator can choose a more suitable gripping posture for gripping, which can effectively improve the operation experience of the operator.

[0050] In some embodiments, the number of the first control areas 1112 can be one. For example, in Figure 3 the shown embodiment, the number of the first control areas 1112 is one, and there is a first enabling button 1113 provided in the first control area 1112. In some embodiments, the number of the first control areas 1112 can be multiple. For example, the number of the first control areas 1112 can be two, and the specific positions of the two first control areas 1112 can be arranged according to actual requirements.

[0051] In some embodiments, at least one enabling button includes at least one second enabling button 1115 provided in the second control area 1114. Only as an example, in combination with Figures 2 - 3As shown, the first control area 1112 may include a first enabling button 1113, and the second control area 1114 may include a second enabling button 1115. The operator's thumb can be placed at the first enabling button 1113, and any one of the operator's index finger, middle finger, and ring finger can be placed at the second enabling button 1115. When the operator presses the first enabling button 1113 and the second enabling button 1115 simultaneously, the master-slave movement enabling can be activated, thus effectively avoiding misoperations caused by the operator accidentally touching the enabling button. Conversely, when the operator does not press the first enabling button 1113 and the second enabling button 1115 simultaneously, the master-slave movement enabling is deactivated. In another example, the second control area 1114 may include two second enabling buttons 1115. The operator's thumb can be placed at the first enabling button 1113, and any two of the index finger, middle finger, and ring finger can be respectively placed at the two second enabling buttons 1115. When the operator presses the first enabling button 1113 and the two second enabling buttons 1115 simultaneously, the master-slave movement enabling can be activated, thus effectively avoiding misoperations caused by the operator accidentally touching the enabling button. Conversely, when the operator does not press the first enabling button 1113 and the two second enabling buttons 1115 simultaneously, the master-slave movement enabling is deactivated.

[0052] In some embodiments, the first control area 1112 and / or the second control area 1114 may include a finger placement area 1117. The finger placement area can help the operator better hold the rod-shaped structure 11, improve the operation efficiency, and make it more convenient to apply force to the rod-shaped structure 11. In some embodiments, the finger placement area may protrude from the surface of the rod-shaped structure 11. In some embodiments, the finger placement area may be recessed relative to the surface of the rod-shaped structure 11. In some embodiments, the finger placement area may be provided with anti-slip materials such as rubber and silica gel, making it more convenient for the operator to hold. Only by way of example, as Figure 2 shown, the second control area 1114 may include a second enabling button 1115 and two finger placement areas 1117. The operator's index finger can be placed at the second enabling button 1115, and any two of the middle finger, ring finger, and little finger can be placed on the finger placement areas 1117.

[0053] In some embodiments, at least one enabling button further includes a third enabling button 1116 provided at the top of the operation part 111. Only by way of example, in combination with Figures 2 - 3As shown, the first control area 1112 may include a first enabling button 1113, the second control area 1114 may include a second enabling button 1115 and two finger placement areas. The operator's thumb can be placed at the first enabling button 1113, the index finger can be placed at the third enabling button 1116, the middle finger can be placed at the second enabling button 1115, and the ring finger and little finger can be placed at the finger placement area 1117. When the operator presses any two of the first enabling button 1113, the second enabling button 1115, and the third enabling button 1116 simultaneously, the master-slave end motion enabling can be controlled to turn on.

[0054] In some cases, since the first enabling button 1113, the second enabling button 1115, and the third enabling button 1116 are simultaneously provided on the rod-shaped structure 11, and the operator only needs to press any two of them to turn on the master-slave end motion enabling, this can provide more optional operation postures for the operator, enable the operator to perform the puncture operation in a more comfortable holding posture, make the posture of the operator holding the rod-shaped structure 11 more flexible, and have a wider application range.

[0055] It should be noted that Figure 2 and Figure 3 The setting forms of the operation area 1111 and the enabling buttons shown are only for illustrative purposes and are not intended to limit the number and setting positions of the operation area 1111 and the enabling buttons. In actual application scenarios, the number and setting positions of the operation area 1111 and the enabling buttons can be adjusted according to the operator's holding habits and holding postures.

[0056] In some embodiments, as shown in combination with Figure 3 and Figure 6 The sliding part 112 is provided with a first limiting structure 14 and a second limiting structure 15 at the end close to and away from the operating part 111. The first limiting structure 14 and the second limiting structure 15 are configured to limit the stroke range of the rod-shaped structure 11 moving along its own axial direction.

[0057] In some cases, the first limiting mechanism 14 and the second limiting mechanism 15 can define the extreme positions of the rod-shaped structure 11 moving along its own axial direction, avoid the over-travel operation of the rod-shaped structure 11, ensure the accurate movement trajectory of the puncture needle, and prevent the puncture of the puncture needle from over-traveling, so as to avoid accidents. In some embodiments, the distance between the first limiting mechanism 14 and the second limiting mechanism 15 is the maximum stroke of the rod-shaped structure 11 moving along its own axial direction. Only by way of example, after the master manipulator device 100 is assembled, the first limiting structure 14 and the second limiting structure 15 are respectively located above and below the posture adjustment execution component 20. During the movement of the rod-shaped structure 11 along its own axial direction, the first limiting structure 14 and the second limiting structure 15 can respectively abut against the posture adjustment execution component 20 to limit the continuous movement of the rod-shaped structure 11.

[0058] In some embodiments, the first limiting structure 14 and the second limiting structure 15 can be limiting blocks. For example, as shown in Figure 1 and Figure 3 , the first limiting structure 14 (for example, the first limiting block) is located above the posture adjustment execution component 20 (for example, the passive degree of freedom connection component 26 of the posture adjustment execution component 20), and the second limiting structure 15 (for example, the second limiting block) is located below the posture adjustment execution component 20. During the needle insertion operation of the rod-shaped structure 11 (that is, the first limiting structure 14 moves towards the direction close to the passive degree of freedom connection component 26), when the rod-shaped structure 11 drives the first limiting structure 14 to abut against the passive degree of freedom connection component 26, it indicates that the rod-shaped structure 11 moves to the needle insertion extreme position, and at this time, the rod-shaped structure 11 cannot continue to insert the needle. During the needle withdrawal operation of the rod-shaped structure 11 (that is, the first limiting structure 14 moves towards the direction away from the passive degree of freedom connection component 26), when the rod-shaped structure 11 drives the second limiting structure 15 to abut against the passive degree of freedom connection component 26 during the needle withdrawal, it indicates that the rod-shaped structure 11 moves to the needle withdrawal extreme position, and at this time, the rod-shaped structure 11 cannot continue to insert the needle.

[0059] In some embodiments, the first limiting mechanism 14 may include a first photoelectric sensor, and the second limiting mechanism 15 may include a second photoelectric sensor. A first photoelectric induction sheet is disposed on the inner sidewall of the first rotating ring 212, and a second photoelectric induction sheet is disposed on the inner sidewall of the second rotating ring 222. The photoelectric sensor can detect the first photoelectric induction sheet and generate a first sensing signal, and detect the second photoelectric induction sheet and generate a second sensing signal. The first sensing signal is different from the second sensing signal. During the axial movement of the rod-shaped structure 11 along its own axis, when the first photoelectric sensor generates the first sensing signal, it indicates that the first photoelectric induction sheet moves to the passive degree-of-freedom connection assembly 26, that is, the rod-shaped structure 11 reaches the needle insertion limit position. When the second photoelectric sensor generates the second sensing signal, it indicates that the second photoelectric induction sheet moves to the passive degree-of-freedom connection assembly 26, that is, the rod-shaped structure 11 reaches the needle withdrawal limit position. In some embodiments, the first photoelectric sensor and the second photoelectric sensor are electrically connected to the signal transmission assembly. The sensing signals generated by the first photoelectric sensor and the second photoelectric sensor can be fed back to the signal transmission assembly. When the rod-shaped structure 11 moves to any limit position, the signal transmission assembly can issue a warning to the operator. For example, the signal transmission assembly issues a voice warning through a microphone provided on the master manipulator device 100. For another example, the signal transmission assembly controls a warning light provided on the master manipulator device 100 to turn on to issue a warning to the operator. In some embodiments, the signal transmission assembly can control the force feedback assembly 30 to adjust the movement resistance applied to the rod-shaped structure 11 to the maximum value to prevent the rod-shaped structure 11 from continuing to move.

[0060] In some embodiments, in combination Figures 4 - 5 As shown, the position detection assembly 12 includes a grating ruler 121 and a grating ruler reader head 122. The grating ruler 121 is disposed on the rod-shaped structure 11 along the axial direction of the rod-shaped structure 11, and the grating ruler reader head 122 is disposed on the passive degree-of-freedom connection assembly 26. Only by way of example, the grating ruler 121 may be fixedly connected to a rack 131 of the puncture needle execution assembly 10 (the rack 131 may be connected to the force feedback assembly 30, and for specific descriptions, please refer to the related embodiments of the force feedback assembly 30). A grating ruler reader head mounting seat 123 is provided at the bottom of the passive degree-of-freedom connection assembly 26, and the grating ruler reader head 122 is connected to the bottom of the passive degree-of-freedom connection assembly 26 through the grating ruler reader head mounting seat 123. When the operator controls the rod-shaped structure 11 to perform the puncture needle advancing and retreating simulation action of the main operation end (i.e., the master manipulator device 100), the rack 131 can drive the grating ruler 121 to move, and the grating ruler reader head 122 can read the position information of the grating ruler 121, so as to determine the position of the rod-shaped structure 11 in its own axial direction. In some cases, through the cooperation of the grating ruler 121 and the grating ruler reader head 122, the position of the rod-shaped structure 11 in its own axial direction can be determined more accurately.

[0061] In some actual application scenarios, when remotely operating to control an image-guided puncture robot to perform a puncture operation, the magnitude of the resistance encountered by the puncture needle during the puncture process cannot be feedback, and thus the actual puncture process cannot be effectively simulated. 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.

[0062] In some cases, by setting up a force feedback component 30, an axial movement resistance can be applied to the rod-shaped structure 11, so that the operator can feel the movement resistance when holding the rod-shaped structure 11 for linear movement, thereby simulating the actual puncture process and improving the success rate of the puncture operation.

[0063] In some embodiments, the force feedback component 30 applies a movement resistance along the axis of the rod-shaped structure 11 to the rod-shaped structure 11 through a resistance transmission member 13.

[0064] In some embodiments, as shown in Figures 6 - 7 The force feedback component 30 includes a force output part 31 and a force transmission part 32. The force transmission part 32 is in transmission connection with the resistance transmission member 13, and the force output part 31 outputs a movement resistance based on the puncture force feedback information. The force output part 31 refers to the component that outputs the movement resistance. The force transmission part 32 refers to the component that transmits the movement resistance output by the force output part 31 to the resistance transmission member 13. The puncture force feedback information refers to the resistance information when the puncture needle at the end of the robot advances or retracts during the linear movement of the rod-shaped structure 11 along its own axis. For example, during the process of the puncture needle piercing into the patient's tissue, the resistance of the puncture needle from the patient's tissue. In some embodiments, the resistance received by the puncture needle can be detected by a force sensor (such as a strain type force sensor, a capacitive force sensor, and an electrode bending type force sensor, etc.) arranged on the puncture needle, and then feedback to the force output part 31 through a signal transmission component, and the force output part 31 then outputs a resistance equivalent to the puncture resistance to the rod-shaped structure through the resistance transmission member 13. In this way, when the operator performs a puncture operation, the puncture resistance feedback by the force feedback component 30 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.

[0065] In some embodiments, as shown in Figures 3 - 7 The force output part 31 includes a force feedback motor 311, and the force transmission part 32 includes a coupling 321 and a gear 322. The coupling 321 is fixedly connected to the output shaft of the force feedback motor 311 and the gear 322 respectively. Among them, the torque output by the force feedback motor 311 is the source of the movement resistance. The coupling 321 can connect the output shaft of the force feedback motor 311 to the rotating shaft of the gear 322, and then transmit the output torque of the force feedback motor 311 to the gear 322.

[0066] In this embodiment, the force feedback motor 311 can generate a torque based on the puncture force feedback information. The generated torque can be transmitted to the gear 322 through the coupling 321, and then transmitted to the resistance transmission member 13 through the gear 322. Finally, the torque is transmitted to the rod-shaped structure 11 through the resistance transmission member 13 connected to the rod-shaped structure 11, so that the operator can feel the movement resistance along the axial direction of the rod-shaped structure 11 when holding the rod-shaped structure 11.

[0067] In some embodiments, the resistance transmission member 13 is connected to the force transmission portion 32 and the rod-shaped structure 11, and further transmits the movement resistance to the rod-shaped structure 11. In some embodiments, the specific structure of the resistance transmission member 13 can be adjusted according to the specific structure of the force feedback assembly 30 to facilitate their adaptation. Only as an example, if the force transmission portion 32 is the gear 322, the resistance transmission member 13 can be a rack 131 adapted to the gear 322. The rack 131 is disposed on the rod-shaped structure 11 and the setting direction of the rack 131 is parallel to the axial direction of the rod-shaped structure 11. When the rack 131 moves relative to the gear 322, it can drive the rod-shaped structure 11 to move along its own axial direction. After the force feedback motor 311 outputs a torque, this torque will hinder the relative rotation of the gear 322 and the rack 131, and thus the operator can feel the movement resistance. Among them, the greater the torque generated by the force feedback motor 311, the greater the torque required for the gear 322 to rotate relative to the rack 131, and the more obvious the movement resistance felt by the operator when holding the rod-shaped structure 11. The smaller the torque generated by the force feedback motor 311, the smaller the torque required for the gear 322 to rotate, and the weaker the movement resistance felt by the operator.

[0068] It should be noted that Figure 5 and Figure 6The structures of the force transmission part 32 and the resistance transmission part 13 shown are for illustrative purposes only and are not intended to limit the specific structures of the force transmission part 32 and the resistance transmission part 13. In some embodiments, the specific structures of the force transmission part 32 and the resistance transmission part 13 may be related to the type of movement resistance. In some embodiments, the movement resistance may be frictional resistance, transmission force, etc. By way of example only, the movement resistance may be frictional resistance. For example, the force output part 31 may include a linear motion motor, the force transmission part 32 may include a friction transmission plate, the friction transmission plate includes a frictional force transmission surface, the resistance transmission part 13 may include a friction receiving plate, the friction receiving plate includes a frictional force receiving surface, the friction receiving plate is provided on the rod-shaped structure 11, the friction transmission plate is connected to the output shaft of the linear motion motor, and the frictional force transmission surface of the friction transmission plate abuts against the frictional force receiving surface of the friction receiving plate. By the forward and reverse rotations of the linear motion motor, the pressure between the friction transmission plate and the friction receiving plate can be controlled, thereby increasing or decreasing the frictional resistance between the friction transmission plate and the friction receiving plate. Also for example, when the force transmission part 32 is a friction transmission plate, the resistance transmission part 13 may not be provided, that is, the frictional resistance is directly received through the surface of the rod-shaped structure 11. In another example, the movement resistance may be a transmission force. For example, the force output part 31 may be the force feedback motor 311 in the foregoing embodiment, the force transmission part 32 may include the coupling 321 and the gear 322 in the foregoing embodiment, and the resistance transmission part 13 is the rack 131 in the foregoing embodiment. Also for example, when the force output part 31 is the force feedback motor 311, the force transmission part 32 may include a turbine and a coupling 321, the turbine is connected to the coupling 321, and the resistance transmission part 13 may be a worm gear adapted to the turbine, and the worm gear is provided on the rod-shaped structure 11. Still for example, the force transmission part 32 may include a transmission wheel and a coupling 321, and the resistance transmission part 13 may include a conveyor belt adapted to the transmission wheel, and the conveyor belt is provided on the rod-shaped structure 11.

[0069] In some embodiments, in combination with Figure 4 and Figure 7As shown, the force feedback component 30 further includes a first angle sensor 323 configured to detect the rotation angle of the output shaft of the force feedback motor 311. Since the output shaft of the force feedback motor 311 is connected to the gear 322 through a coupling 321, and the rod-shaped structure 11 moves along its own axial direction, the rack 131 will move relative to the gear 322. Therefore, the first angle sensor 323 can detect the rotation angle of the gear 322 by detecting the rotation angle of the output shaft of the force feedback motor 311, and then determine the moving distance of the rack 131, and finally determine the position of the rod-shaped structure 11 in its own axial direction. In some embodiments, the first angle sensor 323 can be an incremental encoder. In some embodiments, both the first angle sensor 323 and the position detection component 12 in the foregoing embodiments can be used to obtain the position of the rod-shaped structure 11 in its own axial direction. Therefore, after the position detection component 12 is set, the first angle sensor 323 may not be set. On the contrary, after the first angle sensor 323 is set, the position detection component 12 may not be set either.

[0070] In some actual application scenarios, the attitude adjustment of the puncture needle and the forward and backward movement of the puncture needle cannot be performed simultaneously to avoid damage to human tissues. That is, when the operator adjusts the attitude of the rod-shaped structure 11 through the attitude adjustment execution component 20, the movement of the rod-shaped structure 11 along its own axial direction cannot be controlled. When controlling the movement of the rod-shaped structure 11 along its own axial direction, the attitude of the rod-shaped structure 11 cannot be adjusted through the attitude adjustment execution component 20.

[0071] In some embodiments, in combination with Figure 1 、 Figure 6 and Figure 7As shown, the resistance transmission member 13 is fixedly connected to the rod-shaped structure 11. The force feedback assembly 30 further includes a first brake 324. The first brake 324 is fixedly connected to the posture adjustment execution assembly 20, and the first brake 324 is drivingly connected to the force transmission portion 32, and is configured to limit the axial movement of the rod-shaped structure 11 along its own axis by controlling the force transmission portion 32 to be fixed relative to the resistance transmission member 13. Exemplary first brakes 324 may include friction brakes, magnetic particle brakes, hysteresis brakes, and water eddy current brakes. Merely by way of example, the first brake 324 may be a hysteresis brake. The hysteresis brake is connected to the output shaft of the force feedback motor 311 and the coupling 321. The hysteresis brake can generate a braking torque, and the braking torque can be transmitted to the gear 322 through the coupling 321, thereby hindering the rotation of the gear 322, and further making the gear 322 fixed relative to the rack 131 (i.e., the resistance transmission member 13). The force feedback assembly 30 further includes a force feedback mounting seat 325. The first brake 324 is fixedly connected to the posture adjustment execution assembly 20 through the force feedback mounting seat 325 (for example, the passive degree of freedom mounting seat 261 of the posture adjustment execution assembly 20. For more details of the passive degree of freedom mounting seat 261, reference can be made to the description of other embodiments of this specification). Since the resistance transmission member 13 is fixedly connected to the rod-shaped structure 11, and the first brake 324 is fixedly connected to the posture adjustment execution assembly 20, when the gear 322 is fixed relative to the rack 131, the rod-shaped structure 11 and the posture adjustment execution assembly 20 are relatively fixed.

[0072] 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 larger; when the current in the hysteresis brake is smaller, the generated braking torque is smaller. When it is necessary to lock the puncture degree of freedom of the puncture needle, that is, to prevent the puncture needle from advancing or retracting, the current of the hysteresis brake can be adjusted to the maximum value, so as to prevent the gear 322 from rotating through the generated braking torque, and further prevent the rack 131 and the rod-shaped structure 11 from moving relative to the gear 322. When unlocking the puncture degree of freedom of the puncture needle, that is, allowing the puncture needle to advance or retract, the current of the hysteresis brake can be adjusted to the minimum value. At this time, the influence of the generated braking torque on the rotation of the gear 322 can be smaller or negligible. Therefore, the rack 131 and the rod-shaped structure 11 can move relative to the gear 322.

[0073] In some embodiments, in combination with Figures 8 - 13As shown, the attitude adjustment execution component 20 includes a first connecting rod 211, a first rotating ring 212, a second connecting rod 221, a second rotating ring 222, a second angle sensor 213, a third angle sensor 223, and a base 23. The first rotating ring 212 and the second rotating ring 222 are coaxial and arranged around the rod-shaped structure 11. One end of the first connecting rod 211 is rotatably connected to the first rotating ring 212, and the other end is rotatably connected to the base 23. A second angle sensor 213 is also provided at the other end of the first connecting rod 211. One end of the second connecting rod 221 is rotatably connected to the second rotating ring 222, and the other end is rotatably connected to the base 23. A third angle sensor 223 is also provided at the other end of the second connecting rod 221. The second angle sensor 213 is configured to detect the angle of rotation of the other end of the first connecting rod 211 relative to the base 23. The third angle sensor 223 is configured to detect the angle of rotation of the other end of the second connecting rod 221 relative to the base 23.

[0074] Among them, the base 23 is configured to support other components of the attitude adjustment execution component 20. During the attitude adjustment process, the base 23 always remains stationary. For the convenience of description, the axis of rotation of the first connecting rod 211 relative to the first rotating ring 212 can be referred to as the first rotation axis (such as Figure 8 shown as O1 in Figure 8 ), and the axis of rotation of the first connecting rod 211 relative to the base 23 can be referred to as the second rotation axis (such as Figure 8 shown as O2 in Figure 8as 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. Only by way of example, since the base 23 always remains stationary, the axis about which the first connecting rod 211 rotates relative to the base 23 (i.e., the second rotation axis O2) and the axis about which the second connecting rod 221 rotates relative to the base 23 (i.e., the fourth rotation axis O4) always remain unchanged, while the axis about which the first connecting rod 211 rotates relative to the first rotating ring 212 (i.e., the first rotation axis O1) and the axis about which the second connecting rod 221 rotates relative to the second rotating ring 222 (i.e., the third rotation axis O3) will change respectively with the movement of the first rotating ring 212 and the second rotating ring 222. 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.

[0075] In this embodiment, since the first rotating ring 212 and the second rotating ring 222 are coaxially arranged around the rod-shaped structure 11, the rod-shaped structure 11 always maintains a coaxial relationship with the first rotating ring 212 and the second rotating ring 222, that is, the axial direction of the rod-shaped structure 11 coincides with the central axis of the first rotating ring 212 and the central axis of the second rotating ring 222. Therefore, when the rod-shaped structure 11 swings relative to the base 23, it can drive the first rotating ring 212 and the second rotating ring 222 to swing relative to the base 23. Since the first connecting rod 211 is arranged between the first rotating ring 212 and the base 23, the swing of the first rotating ring 212 relative to the base 23 will drive the first connecting rod 211 to rotate around the second rotation axis O2. Similarly, since the second connecting rod 221 is arranged between the second rotating ring 222 and the base 23, the swing of the second rotating ring 222 relative to the base 23 will drive the second connecting rod 221 to rotate around the fourth rotation axis O4. The second angle sensor 213 and the third angle sensor 223 can respectively detect the rotation angle of the first connecting rod 211 rotating around the second rotation axis O2 and the rotation angle of the second connecting rod 221 rotating around the fourth rotation axis O4, and then determine the attitude of the rod-shaped structure 11 according to the rotation angle, so as to adjust the attitude of the puncture needle.

[0076] It should be noted that since the two ends of the first connecting rod 211 are respectively rotationally connected to the first rotating ring 212 and the base 23, and the two ends of the second connecting rod 221 are respectively rotationally connected to the second rotating ring 222 and the base 23. That is, the first connecting rod 211 and the second connecting rod 221 are both rotationally connected to the base 23, which is equivalent to that the first connecting rod 211 and the second connecting rod 221 are in a parallel structure. When the first rotating ring 212 rotates around the first rotation axis O1, it will drive the first connecting rod 211 to rotate around the second rotation axis O2, and then drive the parallel second connecting rod 221 to rotate around the fourth rotation axis O4, so that the rotation angle of the second connecting rod 221 is detected by the third angle sensor 223. When the second rotating ring 212 rotates around the third rotation axis O3, it will drive the second connecting rod 221 to rotate around the fourth rotation axis O4, and then drive the parallel first connecting rod 211 to rotate around the second rotation axis O2, so that the rotation angle of the first connecting rod 211 is detected by the second angle sensor 213. Therefore, the movement process of the rod-shaped structure 11 relative to the pose adjustment execution component 20 can be simplified as Figure 9 the form shown. Figure 9 It is only a schematic diagram of the working principle of the pose adjustment execution component 20. The above embodiments can be implemented in various feasible ways and are not limited thereto. Figure 9 In [the figure], 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 included angle between the first rotation axis O1 and the fourth rotation axis O4 is 180°, and the included angle between the second rotation axis O2 and the third rotation axis O3 is 180°. Among them, the rod-shaped structure 11 can rotate relative to the pose adjustment execution component 20 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 11 can rotate relative to the pose adjustment execution component 20 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).

[0077] It should be noted that since the first rotating shaft O1 and the third rotating shaft O3 will change respectively with the movement of the first rotating ring 212 and the second rotating ring 222, 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. 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 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 11 swings, it will cause the parallel first connecting rod 211 and / or the second connecting rod 221 to rotate, and then the rotation angles of the first connecting rod 211 and the second connecting rod 221 are detected by the second angle sensor 213 and the third angle sensor 223, and finally the attitude of the rod-shaped structure 11 is determined.

[0078] 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 8 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 assembly 20 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 8 shown, the included angle between the second rotating shaft O2 and the fourth rotating shaft O4 is 90 degrees.

[0079] In some embodiments, the shape of the first connecting rod 211 is adapted to that of the first rotating ring 212, and the shape of the second connecting rod 221 is adapted to that of the first rotating ring 212. Only by way of example, as Figure 8As shown, the first rotating ring 212 and the second rotating ring 222 are circular rings, the first connecting rod 211 and the second connecting rod 221 are arc-shaped connecting rods, and the first connecting rod 211 and the first rotating ring 212 are both circular rings, and the curvature of the arc-shaped connecting rod is the same as the curvature of the circular ring, so that the first connecting rod 211 will never collide with the first rotating ring 212 during the rotation relative to the first rotating ring 212, and the second connecting rod 221 will never collide with the second rotating ring 222 during the rotation relative to the second rotating ring 222, and the structure can also be made more compact. It should be noted that the first connecting rod 211 and the second connecting rod 221 can also be designed as any other feasible shape (such as a right angle, etc.) as long as the corresponding connection function can be achieved.

[0080] In some embodiments, the posture adjustment actuator 20 further includes a second connecting shaft 224, a second support seat 225, and a second shaft end cover 226. The second support seat 225 is disposed on the base 23, one end of the second connecting shaft 224 is connected to the other end of the second connecting rod 221, the other end of the second connecting shaft 224 is connected to the second support seat 225 through a second bearing (not shown in the figure), and the second shaft end cover 226 fixes the second bearing on the second support seat 225, and the second connecting rod 221 can rotate relative to the second bearing and the second support seat 225, thereby realizing rotation relative to the base 23. In some embodiments, the posture adjustment actuator 20 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, and the specific arrangement of the first connecting shaft, the first support seat, and the first shaft end cover is the same or similar to that of the second connecting shaft 224, the second support seat 225, and the second shaft end cover 226.

[0081] In some practical application scenarios, when the operator adjusts the posture of the rod-like structure 11, the rod-like structure 11 will need to rotate at a certain angle relative to the posture adjustment actuator 20, so that during the posture adjustment process, the rod-like structure 11 can adapt to the operator's holding posture and improve the comfort of human-computer interaction. Based on the above reasons, it is necessary to connect the posture adjustment actuator 20 to the rod-like structure 11 through a passive degree of freedom connection assembly 26, so that the rod-like structure 11 can rotate along its own axis relative to the posture adjustment actuator 20. In some embodiments, the passive degree of freedom connection assembly 26 is rotationally connected to the first rotating ring 212 and the second rotating ring 222, and the passive degree of freedom connection assembly 26 is slidingly connected to the rod-like structure 11. As an example only, Figure 10As shown, the passive degree-of-freedom connection assembly 26 includes a passive degree-of-freedom mounting base 261, a first passive degree-of-freedom bearing 262, and a second passive degree-of-freedom bearing 263. The first rotating ring 212 is sleeved on the outer ring of the first passive degree-of-freedom bearing 262 and is relatively fixed to the outer ring of the first passive degree-of-freedom bearing 262. The second rotating ring 222 is sleeved on the outer ring of the second passive degree-of-freedom bearing 263 and is relatively fixed to the outer ring of the second passive degree-of-freedom bearing 263. The inner rings of the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263 are both sleeved on the passive degree-of-freedom mounting base 261, and the inner rings of the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263 are relatively fixed to the passive degree-of-freedom mounting base 261. The rod-shaped structure 11 is inserted through the passive degree-of-freedom mounting base 261, and the passive degree-of-freedom mounting base 261 is slidably connected to the rod-shaped structure 11, so that the rod-shaped structure 11 can rotate relative to the first rotating ring 212 and the second rotating ring 222 along its own axis (as shown by the arrow M2 in Figure 10 ). In some embodiments, the rod-shaped structure 11 and the passive degree-of-freedom mounting base 261 cannot rotate relative to each other, while the rod-shaped structure 11 can rotate relative to the first rotating ring 212 and the second rotating ring 222 around the axis of the rod-shaped structure 11 through the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263, so that the rod-shaped structure 11 can rotate relative to the attitude adjustment execution assembly 20 around its own axis. In some embodiments, the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263 are rolling bearings.

[0082] In other embodiments, the rod-shaped structure 11 can rotate relative to the passive degree-of-freedom mounting base 261, and the rod-shaped structure 11 can rotate relative to the first rotating ring 212 and the second rotating ring 222 around the axis of the rod-shaped structure 11 through the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263, so that the rod-shaped structure 11 can also rotate relative to the attitude adjustment execution assembly 20 around its own axis.

[0083] It should be noted that the passive degree-of-freedom mounting base 261 forms a rotating pair with the first rotating ring 212 through the first passive degree-of-freedom bearing 262, and also forms a rotating pair with the second rotating ring 222 through the second passive degree-of-freedom bearing 263. Since both the first connecting rod 211 and the second connecting rod 221 are connected to the base 23, when the first rotating ring 212 rotates relative to the passive degree-of-freedom mounting base 261, it will drive the second rotating ring 222 to rotate relative to the passive degree-of-freedom mounting base 261. Similarly, when the second rotating ring 222 rotates relative to the passive degree-of-freedom mounting base 261, it will also drive the first rotating ring 212 to rotate relative to the passive degree-of-freedom mounting base 261, so that the angle between the first rotation axis O1 and the second rotation axis O2 remains unchanged.

[0084] In some embodiments, such as Figure 10As shown, the posture adjustment execution assembly 20 further includes a bearing locking seat 264. The bearing locking seat 264 is provided at the top of the passive degree-of-freedom mounting seat 261, and fixedly connects the inner rings of the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263 to the passive degree-of-freedom mounting seat 261 (for example, by screw connection), to prevent the first passive degree-of-freedom bearing 262 and the second passive degree-of-freedom bearing 263 from loosening from the passive degree-of-freedom mounting seat 261.

[0085] In some embodiments, the passive degree-of-freedom connection assembly 26 may not be necessary, and the rod-shaped structure 11 can be rotated relative to the posture adjustment execution assembly 20 about its own axis in other ways. Only as an example, the sliding portion 112 and the operating portion 111 of the rod-shaped structure 11 are rotatably connected (for example, by a bearing), wherein the sliding portion 112 is slidably connected to the first rotating ring 212 and the second rotating ring 222. The first rotating ring 212 and the second rotating ring 222 can move relative to the sliding portion 112 along the axial direction of the sliding portion 112, and the operating portion 111 can rotate relative to the sliding portion 112 along the axial direction of the sliding portion 112. In addition, the first rotating ring 212 and the second rotating ring 222 are also rotatably connected, so that the first rotating ring 212 and the second rotating ring 222 can rotate relative to each other along the axial direction of the rod-shaped structure 11. When the operator holds the operating portion 111, the operator can also hold it in a more comfortable posture, meeting the rotation requirement that the rod-shaped structure 11 has a certain angle relative to the posture adjustment execution assembly 20, so that during the posture adjustment process by the operator, the rod-shaped structure 11 can adapt to the holding posture of the operator.

[0086] In some embodiments, the posture adjustment execution assembly 20 can provide a damping force to prevent the rod-shaped structure 11 from deflecting (i.e., deflecting relative to the base 23), so as to simulate the posture adjustment resistance when the puncture needle is actually operated. In some embodiments, the magnitude of the damping force provided by the posture adjustment execution assembly 20 is fixed. In some actual application scenarios, when adjusting the posture of the rod-shaped structure 11 (and the puncture needle at the distal end) during the needle insertion operation, when the operator applies a deflecting force to adjust the posture of the rod-shaped structure 11, as the rod-shaped structure 11 continuously moves in the first direction along its own axis (i.e., along Figure 1When the rod-shaped structure 11 moves downward along the arrow X), the moment arm of the deflection force applied by the operator on the rod-shaped structure 11 (the length of this moment arm can be equal to the axial direction of the rod-shaped structure 11, and the distance between the force application point of the operator on the rod-shaped structure 11 and the contact point between the rod-shaped structure 11 and the posture adjustment execution assembly 20) gradually decreases. Since the torque (i.e., the damping force applied by the posture adjustment execution assembly 20 to the rod-shaped structure 11 to prevent the rod-shaped structure 11 from deflecting) remains unchanged, the movement resistance felt by the operator will gradually increase. When the rod-shaped structure 11 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 11 continue to move in the first direction, resulting in the axial movement of the rod-shaped structure 11 being too difficult and being unfavorable for the precise adjustment of the puncture depth of the puncture needle. Similarly, during the needle withdrawal operation, as the rod-shaped structure 11 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 11 gradually increases, and the movement resistance felt by the operator will gradually decrease. When the rod-shaped structure 11 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 11 can continue to move in the second direction, resulting in the axial movement of the rod-shaped structure 11 being too flexible. From the above content, it can be known that although the posture adjustment execution assembly 20 provides a damping force of a fixed magnitude and can also simulate the posture adjustment resistance of the puncture needle to a certain extent, when the rod-shaped structure 11 moves a certain distance in the first direction, it will cause the axial movement of the rod-shaped structure 11 to be too difficult and be unfavorable for the precise adjustment of the puncture depth of the puncture needle. When the rod-shaped structure 11 moves a certain distance in the second direction, it will cause the axial movement of the rod-shaped structure 11 to be too flexible and also be unfavorable for the precise adjustment of the puncture depth of the puncture needle.

[0087] In some embodiments, in combination with Figures 11 - 13As shown, the posture adjustment actuator 20 also includes a first damper (not shown in the figure) and a second damper 25. The first damper is configured to provide a motion resistance that hinders the first connecting rod 211 from rotating relative to the base 23 based on the position of the rod-like structure 11 in its own axial direction. The second damper 25 is configured to provide a motion resistance that hinders the second connecting rod 221 from rotating relative to the base 23 based on the position of the rod-like structure 11 in its own axial direction. As an example only, as shown in the figure, taking the second damper 25 as an example, the second damper 25 may include a rotating end and a fixed end, the rotating end is fixedly connected to the second connecting shaft 224, and the fixed end is fixed to the second support seat 225 through a second damper mounting seat 251. There is pressure between the rotating end and the fixed end, which in turn generates a friction force that hinders the rotating end from rotating relative to the fixed end, thereby generating damping that hinders the second connecting rod 221 from rotating relative to the base 23. In some embodiments, the friction force between the rotating end and the fixed end is positively correlated with the current of the second damper 25, and the second damper 25 can be detected from the position detection component 12 or the first angle sensor (for example, Figure 7 The first angle sensor 323 in the control device 20 obtains the position of the rod-like structure 11 in its own axial direction, and then adjusts the current according to the position of the rod-like structure 11, and finally changes the output damping. For example, the greater the stroke along the first direction, the deeper the puncture depth of the puncture needle, and the current of the second damper 25 can be reduced to reduce the output damping, so as to ensure that the motion resistance felt by the operator at the rod-like structure 11 during the posture adjustment process remains basically constant. For another example, the greater the stroke along the second direction, the shallower the puncture depth of the puncture needle, and the current of the second damper 25 can be increased to increase the output damping, so as to ensure that the motion resistance felt by the operator at the rod-like structure 11 during the posture adjustment process remains basically constant. In some embodiments, the structure and working principle of the first damper may be the same or similar to those of the second damper 25, which will not be repeated here.

[0088] As mentioned above, in some practical application scenarios, the posture adjustment of the puncture needle and the operation of advancing and withdrawing the puncture needle cannot be performed at the same time to avoid damage to human tissue. Figures 11 - 13 As shown, the posture adjustment actuator 20 also includes a second brake (not shown in the figure) and a third brake 227. The output shaft of the second brake is connected to the first connecting rod 211 through the first damper, and the second brake is configured to limit the first connecting rod 211 from rotating about the third rotation axis (for example, Figure 8 The output shaft of the third brake 227 is connected to the second connecting rod 221 through the second damper 25, and the third brake 227 is configured to limit the second connecting rod 221 from rotating around the fourth rotation axis (for example, Figure 8Rotate as shown in O4 in the figure. Taking the third brake 227 as an example, the third brake 227 can be connected to the second damper 25. By restricting the relative rotation between the fixed end and the rotating end of the second damper 25, the rotation of the second connecting rod 221 around the fourth rotation axis is restricted, and further the rotation of the second connecting rod 221 relative to the base 23 is restricted. In some embodiments, the structures and working principles of the second brake and the third brake 227 may be the same as or similar to those of the first brake 324 in the foregoing embodiments, and will not be elaborated here.

[0089] It can be understood that by providing the second brake and the third brake 227 to respectively restrict the rotation of the first connecting rod 211 and the second connecting rod 221, the posture of the puncture needle can be effectively ensured not to swing during the puncture operation.

[0090] In some embodiments, when it is necessary to control the rod-shaped structure 11 to perform a needle insertion or retraction operation, it is necessary to restrict the adjustment of the posture of the rod-shaped structure 11 by the posture adjustment execution assembly 20. At this time, the currents of the second brake and the third brake 227 can be adjusted to the maximum value, so as to respectively prevent the first connecting rod 211 and the second connecting rod 221 from rotating relative to the base 23 by the generated braking torque, and further prevent the adjustment of the posture of the rod-shaped structure 11 by the posture adjustment execution assembly 20. When it is necessary to adjust the posture of the rod-shaped structure 11 by the posture adjustment execution assembly 20, the currents of the second brake and the third brake 227 can be adjusted to the minimum value. At this time, the influence of the generated braking torque on the rotation of the first connecting rod 211 and the second connecting rod 221 relative to the base 23 can be small or negligible, so the rack 13l and the rod-shaped structure 11 can move relative to the gear 322.

[0091] In some embodiments, the second brake and the third brake 227 are communicatively connected to the first brake 324. When the braking torques output by the second brake and the third brake 227 are at the maximum value (i.e., restricting the adjustment of the posture of the rod-shaped structure 11 by the posture adjustment execution assembly 20), the braking torque output by the first brake 324 is at the minimum value (i.e., allowing the needle insertion or retraction operation of the rod-shaped structure 11); when the braking torques output by the second brake and the third brake 227 are at the minimum value (i.e., allowing the adjustment of the posture of the rod-shaped structure 11 by the posture adjustment execution assembly 20), the braking torque output by the first brake 324 is at the maximum value (i.e., restricting the needle insertion or retraction operation of the rod-shaped structure 11).

[0092] In some embodiments, the posture adjustment execution component 20 further includes a first homing component and a second homing component. The first homing component is configured to return the first connecting rod 211 to the zero position, and the second homing component is configured to return the second connecting rod 221 to the zero position. The zero position refers to the standard positions of the first connecting rod 211 and the second connecting rod 221. In some embodiments, the zero position can be set according to the usage requirements. For example, when the angle between the second rotating shaft (e.g., Figure 8 shown as O2 in Figure 8 ) and the plane where the first rotating ring 212 is located is a first preset angle, and the angle between the fourth rotating shaft and the plane where the second rotating ring 222 is located is a second preset angle, the positions of the first connecting rod 211 and the second connecting rod 221 are defined as the zero position. For the convenience of description, in the embodiments of this specification, the first rotating shaft (e.g., Figure 8 shown as O1 in Figure 8 ) can be coaxial with the fourth rotating shaft (i.e., the angle between the fourth rotating shaft and the plane where the second rotating ring 222 is located is 0), and the second rotating shaft is coaxial with the third rotating shaft (e.g., shown as O3 in

[0093] ) (i.e., the angle between the second rotating shaft and the plane where the first rotating ring 212 is located is 0), and the positions of the first connecting rod 211 and the second connecting rod 221 at this time are defined as the zero position, as shown in

[0094]

[0095] In some actual application scenarios, the operator can perform a homing operation before the puncture surgery to ensure that the posture adjustment execution component 20 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 20 returns to the zero position for use in the next puncture surgery. In some embodiments, the first homing component includes a first homing motor (not shown in the figure) and a first reducer (not shown in the figure), and the second homing component includes a second homing motor 228 and a second reducer 229. The output shaft of the first homing motor is connected to the input shaft of the first reducer, and the output shaft of the first reducer is connected to a first damper. The output shaft of the second homing motor 228 is connected to the input shaft of the second reducer 229, and the output shaft of the second reducer 229 is connected to a second damper 25. The first homing motor is configured to output a torque that overcomes the output damping of the first damper. The second homing motor 228 is configured to output a torque that overcomes the output damping of the second damper 25. The first 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 reducer 229 is configured to reduce the rotational speed of the output shaft of the second homing motor 228, thereby increasing the torque of the output shaft of the second homing motor 228.In this embodiment, when it is necessary to zero the first connecting rod and the second connecting rod, the first zeroing motor and the second zeroing motor 228 can be driven to work. The output torque of the first zeroing motor is amplified by the first reducer and then transmitted to the first damper, completely overcoming the output damping of the first damper. As a result, the first connecting rod 211 rotates relative to the base 23 (i.e., rotates around the second rotation axis) and returns to the zero position. At the same time, the rotation of the first connecting rod 211 relative to the base 23 also drives the second connecting rod 221 to rotate relative to the second rotating ring 222 (i.e., rotates around the third rotation axis) and returns to the zero position. Similarly, the output torque of the second zeroing motor 228 is amplified by the second reducer 229 and then transmitted to the second damper 25, completely overcoming the output damping of the second damper 25. As a result, the second connecting rod 221 rotates relative to the base 23 (i.e., rotates around the fourth rotation axis) and returns to the zero position, thereby driving the first connecting rod 211 to rotate relative to the first rotating ring 212 (i.e., rotates around the first rotation axis) and returns to the zero position.

[0096] 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 2281. The first zeroing angle sensor is configured to detect the rotational speed of the output shaft of the first zeroing motor to control the output torque of the first zeroing motor during the zeroing process. The second zeroing angle sensor 2281 is configured to detect the rotational speed of the output shaft of the second zeroing motor 228 to control the output torque of the output shaft of the second zeroing motor 228 during the zeroing process.

[0097] It should be noted that Figure 13The structures of the first and second zero-return components shown are for illustrative purposes only and are not intended to limit the specific structures of the first and second zero-return components. In some embodiments, the specific structures of the first and second zero-return components can be adjusted according to the actual situation. Taking the second zero-return component as an example, to return the second connecting rod 221 to the zero position, it is necessary to overcome the damping output by the second damper 25. If the second damper 25 is an adaptive adjustment type damper, when the puncture needle completes the puncture, the current of the second damper 25 can be adjusted to the minimum value (for example, 0). At this time, the output damping of the second damper 25 is small or almost negligible. At this time, the torque output by the second zero-return motor 228 can completely overcome the output damping of the second damper 25, so that the second connecting rod 221 returns to the zero position. If the second damper 25 is a fixed output type damper, since the output damping of the second damper 25 is constant (non-adjustable), the output damping of the second damper 25 remains unchanged at all times. The torque output by the second zero-return motor 228 may not be able to completely overcome the output damping of the second damper 25, and thus the second connecting rod 221 cannot be completely returned to the zero position. At this time, it is necessary to increase the torque output by the second zero-return motor 228 through the second speed reducer 229.

[0098] In some embodiments, as Figure 2 shown, the linear guide assembly 40 includes a linear guide rail 41 and a slider 42 that can slide along the linear guide rail 41. The linear guide rail 41 is provided on the rod-shaped structure 11, and the setting direction of the linear guide rail 41 is parallel to the extending direction of the rod-shaped structure 11. Only as an example, the slider 42 can be connected to the passive degree-of-freedom connection assembly 26 (for example, the passive degree-of-freedom mounting seat 261), and the linear guide rail 41 can be connected to the rack 131 on the rod-shaped structure 11, so that the rod-shaped structure 11 can move relative to the slider.

[0099] In some embodiments, the linear guide rail 41 and the rack 131 can be fixedly connected. Exemplary fixed connection methods can include welding, riveting, bonding, etc. In some embodiments, the linear guide rail 41 and the rack 131 can be detachably connected. Exemplary detachable connection methods can include magnetic attraction connection, snap connection, screw connection, etc. Similarly, in some embodiments, the slider 42 and the passive degree-of-freedom mounting seat 261 can be fixedly connected. In other embodiments, the slider 42 and the passive degree-of-freedom mounting seat 261 can be detachably connected.

[0100] In some embodiments, in addition to the form of the slider 42 and the linear guide rail 41, the linear guide assembly 40 can also include a magnetic attraction assembly, a worm and worm gear assembly, etc., which will not be elaborated here.

[0101] In some cases, the master manipulator device 100 of this specification improves the puncture and posture adjustment schemes. By using the rod-shaped structure 11 and the linear guiding component 40 to simulate the clinical puncture action, it not only better conforms to the clinical puncture process but also better meets the human-computer interaction requirements under master-slave teleoperation.

[0102] To more clearly illustrate the working principle of the master manipulator device 100, Figure 14 a schematic diagram showing the working principle of the master manipulator device 100 is shown. Combining Figure 1 and Figure 14 As shown, the master manipulator device 100 provided in the embodiments of this specification is a master-slave attitude increment mapping type four-degree-of-freedom force feedback master operation device. That is, the movement of the operator on the master manipulator device 100 is mapped to the puncture needle at the end of the robot, and then the puncture needle is controlled. The rod-shaped structure 11 can move axially relative to the posture adjustment execution component 20 (move in the direction of the arrow X in Figure 1 ), that is, it has the first degree of freedom (as shown by the arrow M1), and the distance that the rod-shaped structure moves in the first degree of freedom is L. For example, in the embodiment shown in Figure 15 , in the order from left to right, the rod-shaped structure 11 punctures relative to the posture adjustment execution component 20 along the first degree of freedom, and the puncture depth is L. The rod-shaped structure 11 can rotate around its own axis through a passive degree-of-freedom mounting seat (for example, the passive degree-of-freedom mounting seat 261 in Figure 8 ), that is, it has the second degree of freedom (as shown by the arrow M2). For example, in the embodiment shown in Figure 16 , in the order from left to right, the rod-shaped structure 11 rotates relative to the posture adjustment execution component 20 along the second degree of freedom. The rod-shaped structure 11 can rotate relative to the posture adjustment execution component 20 in the plane where the first rotation axis (for example, O1 shown in Figure 8 ) and the fourth rotation axis (for example, O4 shown in Figure 8 ) are located, that is, it has the third degree of freedom (as shown by the arrow M3). The rod-shaped structure 11 can swing relative to the posture adjustment execution component 20 in the plane where the second rotation axis and the third rotation axis are located, that is, it has the fourth degree of freedom (as shown by the arrow M4). For example, in the embodiment shown in Figure 17 , in the order from left to right, the rod-shaped structure 11 swings relative to the posture adjustment execution component 20 along the fourth degree of freedom.

[0103] The beneficial effects of the master hand control device for robots provided in this specification may include, but are not limited to: (1) The master hand control device can simulate the linear motion generated when an operator holds a needle for puncture during a puncture operation, enabling the operator to feel the clinical puncture sensation as much as possible and improving the puncture success rate; (2) The master hand control device combines expert trials and clinical feedback requirements, improves the puncture and posture adjustment schemes, and uses the operation needle handle and the linear guiding component to simulate clinical puncture actions, which not only better conforms to the clinical puncture process but also better meets the master-end human-computer interaction requirements under master-slave teleoperation; (3) After setting the force feedback component, when the operator holds the rod-shaped structure and moves along the axial direction of the rod-shaped structure, the force feedback component can apply a motion resistance to the rod-shaped structure, enabling the operator to feel the motion resistance received by the puncture needle during actual puncture, thereby simulating the actual puncture process and improving the success rate of the puncture operation; (4) Since the number of enabling buttons is multiple, the operator can choose a more suitable holding posture, which can effectively improve the operator's operation experience.

[0104] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, and improvements made within the spirit and principle of this specification shall be included within the protection scope of this specification.

Claims

1. A master hand control device (100) for a robot, characterized in that, Comprising: A puncture needle execution assembly (10), the puncture needle execution assembly (10) comprising a rod-shaped structure (11) and a position detection assembly (12); An attitude adjustment execution assembly (20), the attitude adjustment execution assembly (20) being configured to obtain the attitude of the rod-shaped structure (11); Wherein, the rod-shaped structure (11) is capable of moving axially relative to the attitude adjustment execution assembly (20) along its own axis, and the position detection assembly (12) is configured to obtain the position of the rod-shaped structure (11) along its own axis.

2. The master hand control device (100) according to claim 1, characterized in that, The master manipulator device (100) further comprises a force feedback assembly (30), the force feedback assembly (30) being configured to apply a movement resistance along the axis of the rod-shaped structure (11) to the rod-shaped structure (11).

3. The master hand control device (100) according to claim 2, characterized in that, The puncture needle execution assembly (10) further comprises a resistance transmission member (13) provided on the rod-shaped structure (11), and the force feedback assembly (30) applies a movement resistance along the axis of the rod-shaped structure (11) to the rod-shaped structure (11) through the resistance transmission member (13).

4. The master hand control device (100) according to claim 3, characterized in that The force feedback assembly (30) comprises a force output portion (31) and a force transmission portion (32), the force transmission portion (32) being in transmission connection with the resistance transmission member (13), and the force output portion (31) outputting a movement resistance based on the puncture force feedback information of the rod-shaped structure (11).

5. The master hand control device (100) according to claim 4, characterized in that, The resistance transmission member (13) is fixedly connected to the rod-shaped structure (11); the force feedback assembly (30) further comprises a first brake (324), the first brake (324) being fixedly connected to the attitude adjustment execution assembly (20), and the first brake (324) being in transmission connection with the force transmission portion (32), the first brake (324) being configured to limit the relative axial movement of the rod-shaped structure (11) by controlling the force transmission portion (32) to be fixed relative to the resistance transmission member (13).

6. The master manipulator device (100) according to claim 1, characterized in that, The attitude adjustment execution assembly (20) comprises a first connecting rod (211), a first rotating ring (212), a second connecting rod (221), a second rotating ring (222), a second angle sensor (213), a third angle sensor (223) and a base (23); The first rotating ring (212) and the second rotating ring (222) are coaxial and arranged around the rod-shaped structure (11). One end of the first connecting rod (211) is rotatably connected to the first rotating ring (212), and the other end is rotatably connected to the base (23). A second angle sensor (213) is further provided at the other end of the first connecting rod (211). One end of the second connecting rod (221) is rotatably connected to the second rotating ring (222), and the other end is rotatably connected to the base (23). A third angle sensor (223) is further provided at the other end of the second connecting rod (221). The second angle sensor (213) is configured to detect the angle of rotation of the other end of the first connecting rod (211) relative to the base (23). The third angle sensor (223) is configured to detect the angle of rotation of the other end of the second connecting rod (221) relative to the base (23).

7. The master hand control device (100) according to claim 6, characterized in that, The posture adjustment execution assembly (20) further includes a passive degree-of-freedom connection assembly (26). The passive degree-of-freedom connection assembly (26) is rotatably connected to the first rotating ring (212) and the second rotating ring (222), and the passive degree-of-freedom connection assembly (26) is slidably connected to the rod-shaped structure (11).

8. The master hand control device (100) according to claim 7, characterized in that, The posture adjustment execution assembly (20) further includes a first damper and a second damper (25). The first damper is configured to provide a movement resistance that hinders the rotation of the first connecting rod (211) relative to the base (23) based on the position of the rod-shaped structure (11) in its own axial direction. The second damper (25) is configured to provide a movement resistance that hinders the rotation of the second connecting rod (221) relative to the base (23) based on the position of the rod-shaped structure (11) in its own axial direction.

9. The master hand control device (100) according to claim 8, characterized in that, The posture adjustment execution assembly (20) further includes a first homing motor, a first reducer, a second homing motor (228), and a second reducer (229). The first homing motor is connected to the first damper through the first reducer. The second homing motor (228) is connected to the second damper (25) through the second reducer (229). The first homing motor is configured to output a torque that overcomes the output damping of the first damper. The second homing motor (228) is configured to output a torque that overcomes the output damping of the second damper (25). The first reducer is configured to increase the output torque of the first damper. The second reducer (229) is configured to increase the output torque of the second damper (25).

10. The master hand control device (100) according to claim 8, characterized in that, The posture adjustment execution component (20) further includes a second brake and a third brake (227). The output shaft of the second brake is drivingly connected to the first connecting rod (211) through the first damper. The second brake is configured to restrict the rotation of the first connecting rod (211) relative to the base (23). The output shaft of the third brake (227) is drivingly connected to the second connecting rod (221) through the second damper (25). The third brake (227) is configured to restrict the rotation of the second connecting rod (221) relative to the base (23).

11. The master manipulator device (100) according to claim 7, characterized in that, The position detection component (12) includes a grating scale (121) and a grating scale reader head (122). The grating scale (121) is disposed on the rod-shaped structure (11) along the axial direction of the rod-shaped structure (11), and the grating scale reader head (122) is disposed on the connecting component (26).

12. The master hand control device (100) according to claim 1, characterized in that, The rod-shaped structure (11) includes an operation part (111) and a sliding part (112). The operation part (111) is configured to receive user operations. The sliding part (112) is configured to move axially relative to the posture adjustment execution component (20). The operation part (111) is located at the upper end of the rod-shaped structure (11).

13. The master manipulator device (100) according to claim 12, characterized in that, The operation part (111) includes a plurality of operation areas (1111) and at least one enabling button.

14. The master hand control device (100) according to claim 13, wherein, The plurality of operation areas (1111) includes a first control area (1112) and at least one second control area (1114). The first control area (1112) and the second control area (1114) are arranged opposite to each other.

15. The master hand control device (100) according to claim 14, characterized in that, The at least one enabling button includes a first enabling button (1113) provided in the first control area (1112).

16. The master manipulator device (100) according to claim 15, characterized in that, The at least one enabling button further includes at least one second enabling button (1115) provided in the second control area (1114).

17. The master manipulator device (100) according to claim 15, characterized in that, The at least one enabling button further includes a third enabling button (1116) provided at the top of the operation part (111).

18. The master hand control device (100) according to claim 12, characterized in that, A first limiting structure (14) and a second limiting structure (15) are respectively provided at the end of the sliding part (112) close to the operation part (111) and away from the operation part (111). The first limiting structure (14) and the second limiting structure (15) are configured to limit the stroke range of the axial movement of the rod-shaped structure (11).

Images