Master manipulator structure and master-slave type robot-assisted puncture system

Abstract

The invention provides a master manipulator structure and a master-slave type robot auxiliary puncture system, and belongs to the technical field of surgical robos.The master manipulator structure specifically comprises a parallel translation mechanism, a movable platform and a posture adjusting mechanism; the parallel translation mechanism comprises a motion branch chain and a first motion information monitoring assembly; the posture adjusting mechanism comprises a first rotating pair, a puncture needle rod, a second rotating pair and a second motion information monitoring assembly; the lower end of the puncture needle rod is movably connected with the movable platform through a second rotating pair, when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod rotates relative to the movable platform and drives the movable platform to move horizontally, and the second motion information monitoring assembly monitors motion information of the second rotating pair. The puncture needle rod can axially move along the first rotating pair to simulate the process that the puncture needle pierces the tissue in the puncture operation, so that a doctor can directly operate the puncture needle rod, the puncture needle rod is closer to a real operation environment, and the experience feeling of the doctor is enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a master manipulator structure and a master-slave robot-assisted puncture system. Background Art

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

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

[0004] The master operator of existing master-slave robotic-assisted puncture systems typically uses a simulated sleeve mounted on an axially movable operating rod. The doctor grips the simulated sleeve and adjusts the angle of the operating rod to adjust the angle of the slave hand's puncture needle. After the angle is adjusted, the doctor grips the simulated sleeve and slides it on the operating rod to drive the slave hand's puncture needle to perform the puncture. This shows that during the operation, the doctor primarily manipulates the simulated sleeve. Because the simulated sleeve is attached to the operating rod, the structure of the entire master hand's operating end differs significantly from that of a real puncture needle. Furthermore, the slender operating rod, as an indirect operating component, affects the doctor's judgment and feel, weakening the doctor's clinical sense. Summary of the Invention

[0005] The purpose of this application is to provide a master operating hand structure and a master-slave surgical robot-assisted puncture system, aiming to solve the problem in the related technology that the structure of the master hand operating end is quite different from the actual puncture needle, and the slender operating rod as a non-direct operating part will also affect the doctor's judgment and feel, thereby weakening the doctor's clinical sense.

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

[0007] According to the first aspect of the present application, a main manipulator structure is provided, comprising: a parallel translation mechanism, a moving platform and a posture adjustment mechanism; wherein, The parallel translation mechanism includes a motion branch and a first motion information monitoring component, wherein the motion branch is connected in parallel to the moving platform, and the first motion information monitoring component is used to monitor the motion information of the motion branch; The posture adjustment mechanism includes a first rotating pair, a puncture needle rod, a second rotating pair, and a second motion information monitoring assembly. The lower end of the puncture needle rod slides through the movable end of the first rotating pair. The puncture needle rod can rotate using the first rotating pair and move axially relative to the movable end of the first rotating pair. The lower end of the puncture needle rod is movably connected to the moving platform through the second rotating pair, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism, and the second motion information monitoring component is used to monitor the motion information of the second rotating pair.

[0008] In an exemplary embodiment of the present application, the second rotating pair includes a first rotating block and a second rotating block, and the first rotating block is rotatably mounted on the movable platform so that the first rotating block can rotate about a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, the first direction being opposite to the second direction; The lower end of the puncture needle rod is fixed on the second rotating block.

[0009] In an exemplary embodiment of the present application, a mounting slot hole for mounting the second rotating block is formed on the first rotating block, and the second rotating block is rotatably mounted in the mounting slot hole.

[0010] In an exemplary embodiment of the present application, the second rotating pair also includes a U-shaped pair, the U-shaped pair is rotatably mounted on the moving platform, the rotation direction of the U-shaped pair is the second direction, the U-shaped pair is provided with an arcuate slot hole with a width matching the diameter of the puncture needle rod, the extension direction of the arcuate slot hole is the first direction, the lower end of the puncture needle rod passes through the arcuate slot hole, the lower end of the puncture needle rod is suitable for sliding along the arcuate slot hole in the first direction, and the end of the puncture needle rod is also suitable for driving the U-shaped pair to rotate in the second direction.

[0011] In an exemplary embodiment of the present application, the main manipulator structure further includes a housing, and the parallel translation mechanism and the moving platform are disposed in the housing; The upper end of the shell is provided with a mounting hole, the first rotating pair is arranged in the mounting hole, and the upper end of the puncture needle rod extends out of the upper end of the shell.

[0012] In an exemplary embodiment of the present application, the first rotational pair is configured as a ball pair.

[0013] In an exemplary embodiment of the present application, the housing includes an upper shell and a lower shell, and the upper shell and the lower shell are connected by a telescopic mechanism so that the upper shell can be telescoped up and down relative to the lower shell; The mounting hole is provided on the upper shell.

[0014] In an exemplary embodiment of the present application, the second motion information monitoring assembly includes a first encoder and a second encoder, wherein the first encoder is disposed on the moving platform and connected to the rotation axis of the first rotating block, and is used to obtain the rotation angle of the puncture needle rod in the first direction; The second encoder is arranged on the moving platform and connected to the rotating shaft of the U-shaped pair, and is used to obtain the rotation angle of the puncture needle rod in the second direction.

[0015] In an exemplary embodiment of the present application, the parallel translation mechanism further includes a static platform, a drive motor and a mounting bracket, wherein the mounting bracket is fixedly mounted on the static platform; The motion branch chain includes a driving rod and a passive rod, the head end of the driving rod is rotatably mounted on the mounting bracket, the head end of the passive rod is rotatably mounted on the end of the driving rod, and the end of the passive rod is rotatably connected to the moving platform; The driving motor is mounted on the mounting bracket, and a driving end of the driving motor is connected to the driving rod.

[0016] According to a second aspect of the present application, a master-slave surgical robot-assisted puncture system is provided, comprising the above-mentioned master manipulator structure.

[0017] The exemplary embodiments of the present application may have some or all of the following beneficial effects: The main manipulator structure provided in the example embodiment of the present application includes a parallel translation mechanism, a moving platform and a posture adjustment mechanism. The parallel translation mechanism includes a motion branch and a first motion information monitoring component. The motion branch of the parallel translation mechanism is connected in parallel to the moving platform. The first motion information monitoring component can monitor the motion information of the motion branch; the posture adjustment mechanism includes a first rotating pair, a second rotating pair of the puncture needle rod, and a second motion information monitoring component. The lower end of the puncture needle rod slides through the movable end of the first rotating pair. The puncture needle rod can be rotated by the first rotating pair and move axially relative to the movable end of the first rotating pair. The lower end of the puncture needle rod is movably connected to the moving platform through the second rotating pair, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism. The second motion information monitoring component can monitor the motion information of the second rotating pair.

[0018] On the one hand, during surgery, the doctor can grasp the upper end of the puncture needle rod and rotate the puncture needle rod using the first and second rotational pairs. The rotation of the slave needle is controlled based on the rotation angle of the puncture needle rod obtained by the second motion monitoring component. Simultaneously, under the action of the parallel translation mechanism, when the puncture needle rod rotates to any angle within the operating space, the moving platform translates to a position corresponding to the puncture needle rod. The parallel translation mechanism's motion branch allows the doctor to more smoothly manipulate the puncture needle rod to move linearly along the axial direction, thereby driving the moving platform to move linearly along the axial direction. During the axial movement of the moving platform, the motion branch follows, controlling the insertion and withdrawal of the slave needle based on motion information from the motion branch obtained by the first motion information monitoring component. It can be seen that in this application, the puncture needle rod is used as the operating end of the main hand. The puncture needle rod is closer to the puncture needle of the slave hand in terms of structure and movement. Therefore, it can achieve the technical effect of improving the doctor's judgment accuracy and operating feel during the surgical operation, and enhance the doctor's clinical sense, thereby solving the problem that the structure of the main hand operating end in the related technology is quite different from the real puncture needle. At the same time, the slender operating rod as a non-direct operating part will also affect the doctor's judgment and feel, weakening the doctor's clinical sense.

[0019] On the other hand, both the first motion information monitoring component and the second motion information monitoring component can monitor the angle of the puncture needle rod, so that the doctor can accurately obtain the adjustment angle of the puncture needle rod. Specifically, by using the first rotating pair and the second rotating pair, the rotation of the puncture needle rod will drive the translation of the moving platform. During this process, the motion branch chain will also rotate to support the translation of the moving platform. Therefore, the motion information of the motion branch chain can be monitored by the first motion information monitoring component, and the angle adjustment information of the puncture needle rod can be obtained through the position movement information of the motion branch chain. The motion information of the second rotating pair can also be monitored by the second motion information monitoring component, and the angle adjustment information of the puncture needle rod can be obtained through the motion information of the second rotating pair. The first motion information monitoring component and the second motion information monitoring component can verify each other to ensure the accuracy of the puncture needle rod angle adjustment, and can also be used separately to detect the motion information of different components in the main operator's hand.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0022] Figure 1 A schematic diagram of the structure of the main operating hand structure in Example 1 of the present application is shown; Figure 2 A schematic diagram of the structure of the main operating hand structure in Example 1 of the present application is shown; Figure 3 The structure diagram of the parallel translation mechanism in Example 1 of the present application is shown; Figure 4 It shows a schematic structural diagram of the second rotating pair in Example 1 of the present application; Figure 5 shows a side view of the second rotation pair in Example 1 of the present application; Figure 6 A schematic diagram of the connection structure between the puncture needle rod and the first rotating pair in Example 1 of the present application is shown.

[0023] Description of reference numerals: 1. Outer shell; 2. Lower shell; 3. Upper shell; 4. Puncture needle rod; 5. First rotating pair; 6. Basic part; 7. Operating end; 8. Ball pair; 9. Parallel translation mechanism; 10. Passive rod; 11. Driving rod; 12. Static platform; 13. Driving motor; 14. Mounting bracket; 15. Moving platform; 16. Second rotating pair; 17. First rotating block; 18. Second rotating block; 19. U-shaped pair; 20. Second encoder; 21. First encoder. DETAILED DESCRIPTION

[0024] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present application and are not necessarily drawn to scale.

[0025] While relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It should be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through the other structure.

[0026] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and do not limit the quantity of their objects. Example 1

[0027] This embodiment provides a specific implementation of the master operator, such as Figure 1 、 Figure 2 and Figure 6As shown, it includes a parallel translation mechanism 9, a moving platform 15 and a posture adjustment mechanism. The parallel translation mechanism 9 includes a motion branch and a first motion information monitoring component. The motion branch of the parallel translation mechanism 9 is connected in parallel to the moving platform 15, and the first motion information monitoring component can monitor the motion information of the motion branch; the posture adjustment mechanism includes a first rotating pair 5, a puncture needle rod 4, a second rotating pair 16 and a second motion information monitoring component. The lower end of the puncture needle rod 4 slides through the movable end of the first rotating pair 5, and the puncture needle rod 4 can be rotated by the first rotating pair 5 and move axially relative to the movable end of the first rotating pair 5. The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 through the second rotating pair 16, so that when the upper end of the puncture needle rod 4 is operated, the lower end of the puncture needle rod 4 can rotate relative to the moving platform 15 and drive the moving platform 15 to translate under the action of the parallel translation mechanism 9, and the second motion information monitoring component can monitor the motion information of the second rotating pair 16.

[0028] In this embodiment, the lower end of the puncture needle shaft 4 passes through the first rotating joint 5 and is connected to the second rotating joint 16. The second rotating joint 16 is connected to the movable platform 15. During the puncture procedure, the doctor manipulates the upper end of the puncture needle shaft 4, controlling its rotation about the first rotating joint 5 to adjust the angle of the puncture needle shaft 4, thereby adjusting the puncture angle of the hand puncture needle. When the doctor controls the rotation of the puncture needle shaft 4, the lower end of the puncture needle shaft 4 rotates within the movable platform 15 via the second rotating joint 16, simultaneously driving the movable platform 15 to move. During the rotation of the puncture needle shaft 4, the motion information of the second rotating joint 16 is monitored by a second motion information monitoring component. The second motion information monitoring component can be an encoder, a sensor, etc.

[0029] Since the moving platform 15 is connected to the motion branch of the parallel translation mechanism 9, the moving platform 15 can always be kept in a horizontal state under the action of the parallel translation mechanism 9. Therefore, the rotation of the lower end of the puncture needle rod 4 will drive the moving platform 15 to translate. During this process, the motion branch of the parallel translation mechanism 9 produces a rotation of a corresponding angle. During this process, the motion information of the motion branch is monitored by the first motion information monitoring component. The first motion information monitoring component can be an encoder, a sensor, etc.

[0030] After adjusting the angle of the puncture needle shaft 4, the doctor controls the puncture needle shaft 4 to move linearly along its axial direction within the movable end of the first rotating pair 5. During this process, under the action of the motion branch chain, when the puncture needle shaft 4 is at any angle within the operable space, the movable platform 15 can move linearly along its axial direction with the puncture needle shaft 4 to control the needle insertion and withdrawal.

[0031] The first rotating pair 5 includes a fixed end and a movable section. The fixed end can be fixed to the housing 1 or the base, and the movable end is rotatably connected to the fixed end. The puncture needle rod 4 is slidably inserted into the movable end, so that the puncture needle rod 4 can rotate through the movable end and move axially relative to the movable end. When the doctor controls the puncture needle rod 4 to adjust the angle, that is, controls the puncture needle rod 4 to rotate around the axis of the first rotating pair 5 to adjust the angle of the puncture needle rod 4. When the puncture needle rod 4 slides within the first rotating pair 5, it simulates the puncture process of the puncture needle. The doctor directly operates the puncture needle rod 4 to drive the slave hand puncture needle to perform surgery. Through the second rotating pair 16 at the lower end of the puncture needle rod 4, the movable platform 15, and the parallel translation mechanism 9, the puncture needle rod 4 can complete the angle adjustment and the puncture process in the main operating hand structure. The doctor's direct operation of the puncture needle rod 4 can be closer to the real surgical environment, enhance the doctor's environmental experience, and ensure the smooth progress of the operation.

[0032] The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 through the second rotating pair 16, so that the lower end of the puncture needle rod 4 can rotate relative to the moving platform 15, that is, when the operator controls the puncture needle rod 4 to adjust the angle, the lower end of the puncture needle rod 4 can rotate relative to the moving platform 15 in the moving platform 15. While the lower end of the puncture needle rod 4 rotates, the moving platform 15 can be driven to translate. A parallel translation mechanism 9 is adopted to be connected to the moving platform 15. The parallel translation mechanism 9 has high speed, small motion inertia, good dynamic response, good isotropy, and convenient position solution. At the same time, when the operator has adjusted the angle of the puncture needle rod 4, the operator can control the puncture needle rod 4 to press down to simulate puncture with a puncture needle. The puncture needle rod 4 slides in the first rotating pair 5. At the same time, the lower end of the puncture needle rod 4 drives the moving platform 15 to move downward.

[0033] In one embodiment, the first rotational pair 5 and the second rotational pair 16 can have multiple rotational directions. For example, the first rotational pair 5 can be formed by two crossed U-pairs or a universally rotatable ball pair 8, and similarly, the second rotational pair 16 can also be formed by two crossed U-pairs or a universally rotatable ball pair 8.

[0034] In another embodiment, the first rotational pair 5 is a universally rotatable ball pair 8, and the second rotational pair 16 has at least two rotational directions. The first rotational pair 5 and the second rotational pair 16 cooperate to enable the puncture needle shaft 4 to rotate at any angle within the operating space. In this embodiment, the second rotational pair 16 can be two crossed U-pairs or a similar structure, which is not limited in this embodiment.

[0035] On the one hand, during the operation, the doctor can hold the upper end of the puncture needle rod 4, and use the first rotating pair 5 and the second rotating pair 16 to rotate the puncture needle rod 4, and control the rotation of the puncture needle rod 4 from the hand according to the rotation angle of the puncture needle rod 4 obtained by the second motion monitoring component; at the same time, under the action of the parallel translation mechanism 9, when the puncture needle rod 4 is rotated to any angle in the operating space, the moving platform 15 is translated to the position corresponding to the puncture needle rod 4, and under the action of the motion branch of the parallel translation mechanism 9, the doctor can more smoothly operate the puncture needle rod 4 to move in a straight line along the axial direction and drive the moving platform 15 to move in a straight line along the axial direction. During the axial movement of the moving platform 15, the motion branch follows, and the motion information of the motion branch obtained by the first motion information monitoring component is used to control the advancement and withdrawal of the puncture needle from the hand.

[0036] It can be seen that in this application, the puncture needle rod is used as the operating end 7 of the main hand, and the puncture needle rod 4 is relatively close to the puncture needle of the slave hand in terms of structure and movement. Therefore, it can achieve the technical effect of improving the doctor's judgment accuracy and operation feel during the surgical operation, and enhance the doctor's clinical sense, thereby solving the problem that the structure of the main hand operating end 7 in the related technology is quite different from the real puncture needle, and the slender operating rod as a non-direct operating part will also affect the doctor's judgment and feel, weakening the doctor's clinical sense.

[0037] On the other hand, both the first motion information monitoring component and the second motion information monitoring component can monitor the angle of the puncture needle rod 4 so that the doctor can accurately obtain the adjustment angle of the puncture needle rod 4.

[0038] Specifically, utilizing the first and second rotating joints 5 and 16, the rotation of the puncture needle shaft 4 drives the translation of the movable platform 15. During this process, the motion branch also rotates to support the translation of the movable platform 15. Therefore, the first motion information monitoring component can monitor the motion information of the motion branch, and the positional movement information of the motion branch can be used to derive the angle adjustment information of the puncture needle shaft 4. The second motion information monitoring component can also monitor the motion information of the second rotating joint 16, and the motion information of the second rotating joint 16 can be used to derive the angle adjustment information of the puncture needle shaft 4. The first and second motion information monitoring components can verify each other to ensure the accuracy of the angle adjustment of the puncture needle shaft 4, and can also be used separately to detect the motion information of different components in the main operator's hand.

[0039] In this embodiment, Figure 4 and Figure 5As shown, the second rotating pair 16 includes a first rotating block 17 and a second rotating block 18. Both ends of the first rotating block 17 are rotatably mounted on the movable platform 15, so that the first rotating block 17 can rotate around a first direction, and the second rotating block 18 is rotatably mounted on the first rotating block 17, so that the second rotating block 18 can rotate around a second direction, wherein the first direction and the second direction are in opposite directions; the lower end of the puncture needle rod 4 is fixedly mounted on the second rotating block 18. When the doctor operates the upper end of the puncture needle rod 4, the lower end of the puncture needle rod 4 can drive the first rotating block 17 to rotate in the first direction and the second rotating block 18 to rotate in the second direction. At the same time, the lower end of the puncture needle rod 4 can also drive the movable platform 15 to move translationally through the first rotating block 17 and the second rotating block 18; wherein, the rotating connection positions of the first rotating block 17 and the second rotating block 18 are both shaft connections, with low friction, and the rotation process can be completed accurately and quickly.

[0040] Furthermore, a mounting slot hole for mounting the second rotating block 18 is provided on the first rotating block 17 , and the second rotating block 18 is rotatably mounted in the mounting slot hole.

[0041] In some other embodiments, the second rotation pair 16 can also be a combination of a rotation block and a rotation ball, or a sphere stuck in the moving platform 15, as long as it can achieve rotation in two directions. Figure 4 and Figure 5 As shown, the second rotating pair 16 also includes a U-shaped pair 19, both ends of the U-shaped pair 19 are rotatably mounted on the movable platform 15, the rotation direction of the U-shaped pair 19 is the second direction (i.e., consistent with the rotation direction of the second rotating block 18), and the U-shaped pair 19 is provided with an arcuate slot (not shown) having a width matching the diameter of the puncture needle rod 4, and the extension direction of the arcuate slot is the first direction (when the puncture needle rod 4 is in a vertical state, the extension direction of the arcuate slot is consistent with the first direction). Figure 5 As shown, the arcuate slot extends in the horizontal direction, and the lower end of the puncture needle rod 4 passes through the arcuate slot, so that the lower end of the puncture needle rod 4 can slide in the arcuate slot and can drive the U-shaped pair 19 to rotate. When adjusting the angle of the puncture needle rod 4 in the first direction, the puncture needle rod 4 drives the first rotating block 17 to rotate in the movable platform 15, and at the same time, the lower end of the puncture needle rod 4 slides in the arcuate slot; when adjusting the angle of the puncture needle rod 4 in the second direction, the puncture needle rod 4 drives the second rotating block 18 to rotate in the first rotation, and at the same time, the lower end of the puncture needle rod 4 drives the U-shaped pair 19 to rotate synchronously in the second direction.

[0042] On the one hand, the use of the U-shaped pair 19 can make the lower end of the puncture needle rod 4 slide in the arc-shaped slot, and can guide the puncture needle rod 4 to slide in the arc-shaped slot; on the other hand, after the U-shaped pair 19 is set, the two ends of the U-shaped pair 19 are installed on the moving platform 15, so that the second motion information monitoring component for monitoring the rotation angle of the puncture needle rod 4 in the second direction can be set on the moving platform 15, avoiding being set on the first rotating block 17 and rotating with the second rotating block 18 to reduce inertia.

[0043] In this embodiment, a shell 1 is also included. The parallel translation mechanism 9, the moving platform 15 and the posture adjustment mechanism are all installed in the shell 1. A mounting hole is provided at the upper end of the shell 1. The first rotating pair 5 is provided in the mounting hole. The upper end of the puncture needle rod 4 extends out of the upper end of the shell 1. The shell 1 can be used to simulate the human body surface. The operating end 7 exposed outside the shell 1 is provided for the operator to operate, so as to avoid the puncture needle rod 4 being exposed for a long length, which is inconvenient for the doctor to operate. At the same time, only the operating end 7 is exposed from the shell 1, which can simulate the scene of the doctor holding the tail end of the puncture needle to perform a puncture operation, which is closer to the real surgical environment.

[0044] Specifically, if Figure 1 and Figure 6 As shown, the first rotational pair 5 is a ball pair 8, comprising a spherical movable end and a base member 6 capable of accommodating the universal rotation of the movable end. The base member 6 serves as the fixed end of the first rotational pair 5 and is fixed within the mounting hole of the housing 1. The puncture needle rod 4 is slidably mounted on the movable end. When the operating end 7 of the puncture needle rod 4 is controlled to adjust the angle of the puncture needle rod 4, the puncture needle rod 4 rotates about the center of the sphere at the movable end as the fulcrum. The lower end of the puncture needle rod 4 drives the first rotating block 17 and the second rotating block 18 to rotate, and simultaneously drives the movable platform 15 to translate.

[0045] In some other embodiments, the first rotational pair 5 may also be a universal joint structure, as long as the puncture needle rod 4 can be rotated and moved at the first rotational pair 5 .

[0046] Furthermore, the shell 1 includes an upper shell 3 and a lower shell 2, and the upper shell 3 and the lower shell 2 are connected by a telescopic mechanism. When the upper shell 3 moves up and down relative to the lower shell 2 through the telescopic mechanism, it is used to simulate the floating of the human body surface during breathing, so that the doctor can be closer to the real surgical environment when controlling the main operator to drive the slave operator to perform a puncture operation.

[0047] Specifically, the upper shell 3 and the lower shell 2 are connected by a ball screw structure, so that the upper shell 3 can be telescopically connected to the lower shell 2 up and down. Ball screw structures are provided at both ends of the upper shell 3 and the lower shell 2. The bottom end of the ball screw structure is installed in the lower shell 2 and is fixedly connected to the lower shell 2. The driving end of the ball screw is connected to the upper shell 3. When the driving end of the ball screw moves up and down, it drives the upper shell 3 away from or close to the lower shell 2, so as to realize the floating of the upper shell 3 on the lower shell 2, that is, simulating the floating of the upper body surface when the human body breathes.

[0048] In some other embodiments, the telescopic mechanism can also move the upper shell 3 up and down by means of a cylinder, a telescopic rod, a motor drive, etc.

[0049] In this embodiment, the second motion information monitoring component includes a first encoder 21 and a second encoder 20. The first encoder 21 is arranged on the moving platform 15 and connected to the rotating shaft of the first rotating block 17, and is used to obtain the rotation angle of the puncture needle rod 4 in the first direction; the second encoder 20 is arranged on the moving platform 15 and connected to the rotating shaft of the U-shaped pair 19, and is used to obtain the rotation angle of the puncture needle rod 4 in the second direction. Among them, the first encoder 21 and the second encoder 20 are both installed on the moving platform 15 to avoid the encoder being installed on the rotating block to rotate with the rotating block, which can reduce inertia.

[0050] Further, if Figure 3 As shown, the motion branch includes a driving rod 11 and a passive rod 10. The head end of the passive rod 10 is rotatably mounted on the driving rod 11, and the tail end of the passive rod 10 is rotatably connected to the moving platform 15. The motion branch is used to keep the moving platform 15 horizontally moving or moving up and down. In this embodiment, the motion branch includes three, and the three motion branches are evenly distributed around the moving platform 15, which can further ensure the horizontal movement of the moving platform 15; the moving platform 15 includes a mounting frame, and the posture adjustment mechanism is installed in the mounting frame. The three motion branches are connected in parallel to the four sides of the mounting frame. The three motion branches form a three-point support for the moving platform 15, which is relatively stable. In some other embodiments, the motion branches can also be set to two, four, five, etc., and this embodiment does not make any specific restrictions on this, as long as it can support the moving platform 15 and drive the platform 15 to move horizontally.

[0051] In this embodiment, Figure 3As shown, the parallel translation mechanism 9 also includes a static platform 12, a driving motor 13 and a mounting bracket 14. The mounting bracket 14 is fixedly mounted on the static platform 12, the head end of the driving rod 11 is rotatably mounted on the mounting bracket 14, the head end of the passive rod 10 is rotatably connected to the end of the driving rod 11, the end of the passive rod 10 is rotatably connected to the mounting frame, the driving motor 13 is mounted on the mounting bracket 14, and the driving end of the driving motor 13 is connected to the head end of the driving rod 11. The driving motor 13 provides torque for the motion branch chain to support the moving platform 15 and support the movement of the moving platform 15. At the same time, when the moving platform 15 is adjusted with the angle and position of the puncture needle rod 4, the moving platform 15 will drive the passive rod 10 and the driving rod 11 to overcome the torque provided by the driving motor 13, which is used to simulate the resistance generated by the tissue during the puncture needle piercing the human body, so that the operator's experience of operating the main operator is closer to the real surgical scene.

[0052] The first encoder 21 and the second encoder 20 are both installed on the mounting frame. The first encoder 21 is located at a position connected to the rotating shaft of the first rotating block 17, and the second encoder 20 is installed at a position connected to the rotating shaft of the U-shaped pair 19. The first encoder 21 can obtain the rotation angle of the puncture needle rod 4 in the first direction, and the second encoder 20 can obtain the rotation angle of the U-shaped pair 19 in the second direction, that is, the rotation angle of the puncture needle rod 4 in the second direction can be obtained. Through the first encoder 21 and the second encoder 20, the adjustment angle of the puncture needle rod 4 can be obtained, so as to adjust the puncture needle rod 4 to the puncture angle, thereby facilitating the subsequent puncture operation.

[0053] Example 2 This embodiment provides a specific implementation of a master-slave surgical robot-assisted puncture system, including the master manipulator structure in Example 1.

[0054] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the embodiments of the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not covered by this application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A main operating hand structure, characterized in that: include: Parallel translation mechanism, moving platform and attitude adjustment mechanism; among them, The parallel translation mechanism includes a motion branch and a first motion information monitoring component, wherein the motion branch is connected in parallel to the moving platform, and the first motion information monitoring component is used to monitor the motion information of the motion branch; The posture adjustment mechanism includes a first rotating pair, a puncture needle rod, a second rotating pair, and a second motion information monitoring assembly. The lower end of the puncture needle rod slides through the movable end of the first rotating pair. The puncture needle rod can rotate using the first rotating pair and move axially relative to the movable end of the first rotating pair. The lower end of the puncture needle rod is movably connected to the moving platform through the second rotating pair, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism, and the second motion information monitoring component is used to monitor the motion information of the second rotating pair.

2. The main operating hand structure according to claim 1, characterized in that: The second rotating pair includes a first rotating block and a second rotating block, and the first rotating block is rotatably mounted on the movable platform so that the first rotating block can rotate around a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, the first direction being opposite to the second direction; The lower end of the puncture needle rod is fixed on the second rotating block.

3. The main operating hand structure according to claim 2, characterized in that: The first rotating block is provided with a mounting slot hole for mounting the second rotating block, and the second rotating block is rotatably mounted in the mounting slot hole.

4. The main operating hand structure according to claim 2 or 3, characterized in that: The second rotating pair also includes a U-shaped pair, which is rotatably mounted on the moving platform. The rotation direction of the U-shaped pair is the second direction. The U-shaped pair is provided with an arcuate slot with a width matching the diameter of the puncture needle rod. The extension direction of the arcuate slot is the first direction. The lower end of the puncture needle rod passes through the arcuate slot. The lower end of the puncture needle rod is suitable for sliding along the arcuate slot in the first direction, and the end of the puncture needle rod is also suitable for driving the U-shaped pair to rotate in the second direction.

5. The main operating hand structure according to claim 4, characterized in that: The main manipulator structure further includes a housing, and the parallel translation mechanism and the moving platform are arranged in the housing; The upper end of the shell is provided with a mounting hole, the first rotating pair is arranged in the mounting hole, and the upper end of the puncture needle rod extends out of the upper end of the shell.

6. The main operating hand structure according to claim 1, characterized in that: The first rotational pair is configured as a ball pair.

7. The main operating hand structure according to claim 5, characterized in that: The housing includes an upper shell and a lower shell, wherein the upper shell and the lower shell are connected by a telescopic mechanism so that the upper shell can be telescoped up and down relative to the lower shell; The mounting hole is provided on the upper shell.

8. The main operating hand structure according to claim 5, characterized in that: The second motion information monitoring component includes a first encoder and a second encoder, wherein the first encoder is disposed on the moving platform and connected to the rotation axis of the first rotating block, and is used to obtain the rotation angle of the puncture needle rod in the first direction; The second encoder is arranged on the moving platform and connected to the rotating shaft of the U-shaped pair, and is used to obtain the rotation angle of the puncture needle rod in the second direction.

9. The main operating hand structure according to claim 1, characterized in that: The parallel translation mechanism further comprises a static platform, a drive motor and a mounting bracket, wherein the mounting bracket is fixedly mounted on the static platform; The motion branch chain includes a driving rod and a passive rod, the head end of the driving rod is rotatably mounted on the mounting bracket, the head end of the passive rod is rotatably mounted on the end of the driving rod, and the end of the passive rod is rotatably connected to the moving platform; The driving motor is mounted on the mounting bracket, and a driving end of the driving motor is connected to the driving rod.

10. A master-slave surgical robot-assisted puncture system, characterized in that: The invention comprises the main operating hand structure according to any one of claims 1 to 9.

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