Main hand control device and puncture robot

Abstract

The invention relates to a master manipulator control device and a puncture robot. The main hand control device comprises a puncture execution unit; the force feedback unit comprises a driving assembly and a transmission assembly arranged on one side of the driving assembly, the input end of the transmission assembly is connected with the driving assembly, and the output end of the transmission assembly is connected with the puncture execution unit; wherein the puncture execution unit is configured to move relative to the force feedback unit along a first axis; the first axis penetrates through the center of the driving assembly and the center of the puncture execution unit.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a master hand control device and a puncture robot. Background Technology

[0002] Master-slave teleoperated robot-assisted puncture surgery is a relatively advanced surgical method. By remotely controlling the slave puncture device through the master hand of the teleoperated robot, the puncture procedure can be performed. This effectively avoids radiation exposure (such as X-rays) to medical personnel during the procedure. Simultaneously, real-time medical images (such as CT images and MRI images) guide the puncture process, allowing for complete control and significantly improving accuracy and success rates. However, current master hand control devices are not user-friendly, resulting in a poor experience for operators. Summary of the Invention

[0003] Based on this, this application proposes a master hand control device and a puncture robot that can improve the user experience in response to at least one of the above problems.

[0004] In a first aspect, embodiments of this application provide a master hand control device, including:

[0005] The puncture execution unit; and

[0006] The force feedback unit includes a drive component and a transmission component disposed on one side of the drive component. The input end of the transmission component is connected to the drive component, and the output end of the transmission component is connected to the puncture execution unit.

[0007] The puncture execution unit is configured to move relative to the force feedback unit along a first axis; the first axis passes through the center of the drive assembly and the center of the puncture execution unit.

[0008] The master hand control device provided in this application embodiment moves the puncture execution unit relative to the force feedback unit along a first axis, with the first axis passing through the center of the drive assembly and the center of the puncture execution unit. This minimizes the imbalance between the puncture execution unit and the force feedback unit. On one hand, it reduces the balancing weight, or even eliminates the need for balancing, thus reducing the overall weight of the master hand control device and improving the operator's experience. On the other hand, it reduces the operator's sense of gravity imbalance during use, further enhancing the user experience. Furthermore, reducing the imbalance helps reduce wear on the puncture execution unit and the force feedback unit, thereby extending the product's lifespan.

[0009] In one embodiment, the transmission assembly includes a drive wheel and a rope transmission mechanism, the drive wheel being connected to the drive assembly, and the rope transmission mechanism being connected to the drive wheel and the puncture execution unit;

[0010] Wherein, the axis of the drive wheel coincides with the first axis;

[0011] The drive wheel constitutes the input end of the transmission assembly, and the rope transmission mechanism constitutes the output end of the transmission assembly. The drive assembly responds to the force feedback signal of the puncture device and outputs a force to the drive wheel. The drive wheel applies the force to the rope transmission mechanism, and the rope transmission mechanism applies the force to the puncture execution unit, so that the operator can perceive the force feedback of the puncture device during the puncture process.

[0012] In one embodiment, the rope drive mechanism includes a driven pulley, a guide pulley assembly, and a drive rope;

[0013] The driven wheel is located on the side of the driving wheel away from the driving assembly and is spaced apart from the driving wheel; the axis of the driven wheel intersects the first axis; the guide wheel assembly is located between the driven wheel and the driving wheel;

[0014] The drive rope is wound around the driving wheel, the driven wheel, and the guide wheel assembly; the puncture execution unit is connected to the drive rope.

[0015] In one embodiment, the guide wheel assembly includes a first guide wheel, a second guide wheel, a first steering wheel, and a second steering wheel;

[0016] The axis of the first guide wheel is parallel to the axis of the second guide wheel, and the axes of both the first guide wheel and the second guide wheel are perpendicular to the first axis. Furthermore, the axes of both the first guide wheel and the second guide wheel are perpendicular to the axis of the driven wheel.

[0017] The axis of the first steering wheel intersects the axis of the second steering wheel.

[0018] In one embodiment, the drive rope has a first sub-segment, a second sub-segment, and a third sub-segment connected in sequence, the second sub-segment being wound around the driven wheel; in the direction from the driven wheel to the driving wheel, the first sub-segment is wound around the first guide wheel and the first steering wheel in sequence before being fixedly connected to the driving wheel, and the second sub-segment is wound around the second guide wheel and the second steering wheel in sequence before being fixedly connected to the driving wheel.

[0019] In one embodiment, the master hand control device further includes a support frame disposed on the side of the drive assembly near the transmission assembly;

[0020] Both the driven wheel and the guide wheel assembly are mounted on the support frame; the support frame is provided with a guide rail, and the puncture execution unit is slidably connected to the guide rail.

[0021] In one embodiment, the drive assembly includes a rotary drive and a first brake;

[0022] The output end of the rotary drive is connected to the drive wheel, and the axis of the rotary drive coincides with the first axis; the first brake is disposed between the rotary drive and the drive wheel, and the axis of the first brake coincides with the first axis; the first brake is used to brake the drive wheel.

[0023] In one embodiment, the force feedback unit further includes a position detection element disposed between the rotary drive and the first brake, the axis of the position detection element coinciding with the first axis; the position detection element is used to detect the linear motion information of the puncture execution unit.

[0024] In one embodiment, the puncture execution unit includes a gripping rod and a puncture rod connected to the gripping rod, wherein the axis of the gripping rod and the axis of the puncture rod both coincide with the first axis;

[0025] The piercing rod passes through the rotary drive, the position detection device, the first brake, and the drive wheel before being connected to the drive rope.

[0026] In one embodiment, the master hand control device further includes a guide sleeve, which is fixedly disposed relative to the puncture execution unit, the puncture rod passes through the guide sleeve, and the rotary drive component is sleeved on the guide sleeve; the axis of the guide sleeve coincides with the first axis.

[0027] And / or, the drive assembly further includes a drive shaft sleeve connected to the rotary drive member, the drive shaft sleeve being disposed on the side of the rotary drive member near the drive wheel; the drive shaft sleeve passing through the position detection member and the first brake and then connecting to the drive wheel; the axis of the drive shaft sleeve coincides with the first axis.

[0028] In one embodiment, the puncture execution unit is disposed between the driving wheel and the driven wheel; the master hand control device includes a rocker arm having a receiving cavity, and at least a portion of the rope transmission mechanism is disposed within the receiving cavity;

[0029] The puncture execution unit includes a gripping ring and a puncture part connected to the gripping ring; the gripping ring is sleeved on the outer periphery of the rocker arm, and the puncture part is connected to the drive rope.

[0030] In one embodiment, the puncture execution unit is configured to rotate about a first axis; the main hand control device further includes a first angle detection element for detecting the rotation angle of the puncture execution unit.

[0031] In one embodiment, the first angle detection element includes a first magnetic ring and a first reading head, the axis of the first magnetic ring being coincident with the first axis; the first reading head is connected to the puncture execution unit and can rotate with the puncture execution unit; the first magnetic ring is fixed relative to the puncture execution unit so that the first reading head can rotate relative to the first magnetic ring.

[0032] In one embodiment, the master hand control device further includes a posture adjustment unit, and the puncture execution unit is movable relative to the posture adjustment unit along the first axis. The posture adjustment unit is used to adjust the posture of the puncture execution unit.

[0033] In one embodiment, the attitude adjustment unit includes a first passive ring, a second passive ring, a first connecting rod, a second connecting rod, a second angle detection element, a third angle detection element, and a base;

[0034] The first passive ring and the second passive ring are coaxial and arranged around the first axis. One end of the first connecting rod is rotatably connected to the first passive ring, and the other end is rotatably connected to the base. The other end of the first connecting rod is also provided with a second angle detection element. The second angle detection element is configured to detect the angle of rotation of the other end of the first connecting rod relative to the base.

[0035] One end of the second connecting rod is rotatably connected to the second passive ring, and the other end is rotatably connected to the base. The other end of the second connecting rod is also provided with the third angle detection element. The third angle detection element is configured to detect the angle of rotation of the other end of the second connecting rod relative to the base.

[0036] The centerline of the first passive ring coincides with the first axis.

[0037] In one embodiment, the puncture execution unit is provided with a pressable first trigger key, and the main hand control device further includes a signal transmission component and a trigger component electrically connected to the signal transmission component. The first trigger key is configured such that when the first trigger key is pressed, the trigger component forms a circuit and activates the signal transmission component.

[0038] In one embodiment, the triggering component includes:

[0039] A circuit board having a first conductive portion and a second conductive portion that are mutually insulated from each other;

[0040] The first and second conductive tracks are arranged at intervals.

[0041] A first brush and a second brush, wherein the first brush is electrically connected to the first conductive portion and the first conductive track, and the second brush is electrically connected to the second conductive portion and the second conductive track; and

[0042] A conductive strain gauge is configured to deform under the action of the first trigger key and electrically connects the first conductive part and the second conductive part.

[0043] Secondly, embodiments of this application also provide another master hand control device, including:

[0044] Puncture execution agency; and

[0045] A quick-switch trigger key is provided, and the puncture actuator is communicatively connected to the quick-switch trigger key. In response to the trigger signal of the quick-switch trigger key, the puncture actuator switches from an arbitrary posture adjustment mode to a puncture mode.

[0046] The master hand control device provided in this application embodiment can switch the puncture actuator from any posture adjustment mode to the puncture mode, thereby making the operation of the master hand control device more convenient and improving the operator's operating experience.

[0047] In one embodiment, the puncture actuator includes a puncture execution unit and a force feedback unit. The force feedback unit includes a drive component and a transmission component disposed on one side of the drive component. The input end of the transmission component is connected to the drive component, and the output end of the transmission component is connected to the puncture execution unit.

[0048] The puncture execution unit is configured to move relative to the force feedback unit along a first axis; the first axis passes through the center of the drive assembly and the center of the puncture execution unit.

[0049] In one embodiment, the main hand control device further includes a posture adjustment unit, which is communicatively connected to the quick-switch trigger key;

[0050] The posture adjustment unit includes a first passive ring, a second passive ring, a first connecting rod, a second connecting rod, and a base; the first passive ring and the second passive ring are coaxial and arranged around the puncture actuator; one end of the first connecting rod is rotatably connected to the first passive ring, and the other end is rotatably connected to the base; one end of the second connecting rod is rotatably connected to the second passive ring, and the other end is rotatably connected to the base.

[0051] The puncture actuator has at least one of a first posture adjustment mode, a second posture adjustment mode, and a third posture adjustment mode.

[0052] In the first posture adjustment mode, the second passive ring and the second connecting rod remain relatively fixed, while the first passive ring, the second passive ring and the puncture actuator can rotate relative to the first connecting rod;

[0053] In the second posture adjustment mode, the first passive ring and the first connecting rod remain relatively fixed, while the first passive ring, the second passive ring and the puncture actuator can rotate relative to the second connecting rod.

[0054] In the third posture adjustment mode, the first passive ring, the second passive ring, and the puncture actuator can rotate relative to the first connecting rod, and the first passive ring, the second passive ring, and the puncture actuator can rotate relative to the second connecting rod;

[0055] The puncture actuator and the posture adjustment unit respond to the trigger signal of the quick-switch trigger key to switch the puncture actuator from any one of the first posture adjustment mode, the second posture adjustment mode and the third posture adjustment mode to the puncture mode.

[0056] In one embodiment, the main hand control device further includes a puncture release trigger key, and both the puncture actuator and the posture adjustment unit are communicatively connected to the puncture release trigger key;

[0057] The puncture actuator and the attitude adjustment unit respond to the trigger quote of the puncture release trigger key, switching the puncture actuator and the attitude adjustment unit from any mode to zero mode.

[0058] Thirdly, embodiments of this application also provide a master hand control device, including:

[0059] The puncture execution unit; and

[0060] The force feedback unit includes a drive assembly and a transmission assembly disposed on one side of the drive assembly. The transmission assembly includes a drive wheel and a transmission mechanism. The drive wheel is connected to the drive assembly, and the transmission mechanism is connected to the drive wheel and the puncture execution unit.

[0061] The puncture execution unit is configured to move relative to the force feedback unit along a first axis; the first axis passes through the drive wheel.

[0062] The master hand control device provided in this application embodiment moves the puncture execution unit relative to the force feedback unit along the first axis, and the first axis passes through the drive wheel. In this way, the imbalance between the puncture execution unit and the force feedback unit can be minimized. On the one hand, the balancing weight can be reduced, or even eliminated, which is conducive to reducing the overall weight of the master hand control device, thereby improving the operator's user experience. On the other hand, it is conducive to reducing the operator's sense of gravity imbalance during use, thereby improving the operator's user experience. Furthermore, reducing the imbalance helps to reduce the wear of the puncture execution unit and the force feedback unit, thereby extending the product life.

[0063] In one embodiment, the transmission mechanism is configured as a rope transmission mechanism;

[0064] The drive assembly responds to the force feedback signal of the puncture device by outputting a force to the drive wheel, which in turn applies the force to the rope transmission mechanism. The rope transmission mechanism then applies the force to the puncture execution unit, so that the operator can perceive the force feedback of the puncture device during the puncture process.

[0065] In one embodiment, the drive assembly includes a rotary drive and a first brake, the output end of the rotary drive being connected to the drive wheel, and the first brake being used to brake the drive wheel;

[0066] The axis of the rotary drive, the axis of the first brake, and the axis of the drive wheel coincide.

[0067] In one embodiment, the force feedback unit further includes a position detection element disposed between the rotary drive and the first brake, the position detection element being configured to detect the rotation angle of the first brake to obtain linear motion information of the puncture execution unit;

[0068] The first axis passes through the position detection element.

[0069] In one embodiment, the puncture execution unit is configured to rotate about the first axis; the main hand control device further includes a first angle detection element for detecting the rotation angle of the puncture execution unit;

[0070] The first angle detection element includes a first magnetic ring and a first reading head. The first reading head is connected to the puncture execution unit and can rotate with the puncture execution unit. The first magnetic ring is fixed relative to the puncture execution unit so that the first reading head can rotate relative to the first magnetic ring.

[0071] The axis of the first magnetic ring, the axis of the rotary drive, the axis of the first brake, and the axis of the drive wheel coincide.

[0072] In one embodiment, the master hand control device further includes a posture adjustment unit, and the puncture execution unit is movable relative to the posture adjustment unit along the first axis. The posture adjustment unit is used to adjust the posture of the puncture execution unit. The puncture execution unit includes a first passive ring and a second passive ring, which are coaxial, and the first axis passes through the first passive ring and the second passive ring.

[0073] In one embodiment, the axis of the first passive ring and the axis of the second passive ring are both parallel to the first axis.

[0074] Fourthly, embodiments of this application also provide a puncture robot, which includes a master control device as described in any of the embodiments of the first, second, and third aspects. The puncture robot provided by embodiments of this application facilitates operation by the operator, thereby improving the operator's experience. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is a schematic diagram of the structure of a master hand control device provided in an embodiment of this application from a first-view perspective.

[0077] Figure 2 for Figure 1 A schematic diagram of the partial structure of region A in the middle.

[0078] Figure 3 for Figure 1 The diagram shows the structure of the master control device from a second-view perspective.

[0079] Figure 4 for Figure 3 A schematic diagram of the local structure of region B in the middle.

[0080] Figure 5 for Figure 1 The diagram shows the structure of the main hand control device from a third-person perspective.

[0081] Figure 6 for Figure 5 A schematic diagram of the local structure of region C in the middle.

[0082] Figure 7 for Figure 1 The diagram shows the puncture execution unit and force feedback unit of the master hand control device from a first-view perspective.

[0083] Figure 8 for Figure 7 A schematic diagram of the local structure of region D in the middle.

[0084] Figure 9 for Figure 8 A schematic diagram of the transmission assembly.

[0085] Figure 10 for Figure 9 A magnified view of a portion of the image.

[0086] Figure 11 for Figure 1 The schematic diagram of the puncture execution unit and force feedback unit of the master hand control device shown is viewed from a second perspective.

[0087] Figure 12 for Figure 11 A schematic diagram of the partial structure of region E in the middle.

[0088] Figure 13 for Figure 11 A schematic diagram of the local structure of region F in the middle.

[0089] Figure 14 for Figure 11 A schematic diagram of the local structure of region G in the middle.

[0090] Figure 15 This is a schematic diagram of another master hand control device provided in an embodiment of this application.

[0091] Figure 16 for Figure 15 The diagram shows the puncture execution unit and force feedback unit of the master hand control device from a first-view perspective.

[0092] Figure 17 for Figure 16 A schematic diagram of the local structure of region H in the middle.

[0093] Figure 18 for Figure 15 The schematic diagram of the puncture execution unit and force feedback unit of the master hand control device shown is viewed from a second perspective.

[0094] Figure 19 for Figure 18 A schematic diagram of the local structure of region I.

[0095] Figure 20 for Figure 15The diagram shows the puncture execution unit and force feedback unit of the master hand control device from a third-person perspective.

[0096] Figure 21 for Figure 20 A schematic diagram of the local structure of region J in the middle.

[0097] Figure 22 This is a schematic diagram of the triggering component provided in one embodiment of the present application from a first-view perspective.

[0098] Figure 23 The diagram shows the structure of the triggering component from a second-view perspective.

[0099] Figure 24 This is a schematic diagram of another master hand control device provided in an embodiment of this application.

[0100] Explanation of reference numerals in the attached figures:

[0101] 100. Main hand control device; 10. Puncture execution unit; 11. Grip rod; 12. Puncture rod; 13. Grip ring; 14. Puncture part; 15. First trigger key; 20. Force feedback unit; 21. Drive assembly; 211. Rotary drive component; 2111. Stator; 2112. Rotor; 212. First brake; 213. Transmission shaft sleeve; 214. First adapter; 215. Second adapter; 216. Third bearing; 2 17. Mounting base; 22. Transmission assembly; 221. Drive wheel; 222. Rope drive mechanism; 2221. Driven wheel; 2222. Drive rope; 22221. First sub-segment; 22222. Second sub-segment; 22223. Third sub-segment; 2223. First guide wheel; 2224. Second guide wheel; 2225. First steering wheel; 2226. Second steering wheel; 23. Support frame; 231. Main frame; 232. First mounting bracket Components: 233, Second Assembly Part; 24, Position Detector; 241, Second Magnetic Ring; 242, Second Reading Head; 25, Guide Sleeve; 26, Connecting Seat; 27, Guide Rail; 30, Rocker; 40, First Angle Detector; 41, First Magnetic Ring; 42, First Reading Head; 50, Attitude Adjustment Unit; 51, First Passive Ring; 52, Second Passive Ring; 53, First Connecting Rod; 54, First Bearing; 55, Second Bearing; 56, Second Connecting Rod; 57, Second Angle Detector; 58, Third Angle Detector; 59, Base; 60, Trigger Assembly; 61, Circuit Board; 611, First Conductive Part; 612, Second Conductive Part; 62, First Conductive Rail; 63, Second Conductive Rail; 64, First Brush; 65, Second Brush; 66, Conductive Strain Gauge; 70, Housing; 81, Quick Cut Trigger Key; 82, Puncture Release Trigger Key; 83, Mode Selection Trigger Key. Detailed Implementation

[0102] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0103] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0106] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0107] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0108] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0109] Firstly, referring to Figures 1-22 As shown, this application embodiment provides a master hand control device 100 for a puncture robot. The master hand control device 100 includes a puncture execution unit 10 and a force feedback unit 20. The force feedback unit 20 includes a drive assembly 21 and a transmission assembly 22 disposed on one side of the drive assembly 21. The input end of the transmission assembly 22 is connected to the drive assembly 21, and the output end of the transmission assembly 22 is connected to the puncture execution unit 10. The puncture execution unit 10 is configured to move relative to the force feedback unit 20 along a first axis; the first axis passes through the center of the drive assembly 21 and the center of the puncture execution unit 10. Figure 3 The dashed line O in the diagram represents the first axis. The first axis is the axis of the puncture execution unit 10 and its extension. Here, the input end of the transmission assembly 22 refers to the force input end of the transmission assembly 22, and the output end of the transmission assembly 22 refers to the force output end of the transmission assembly 22.

[0110] It should be noted that the puncture execution unit 10 and the force feedback unit 20 together constitute the puncture execution mechanism of the master hand control device 100. The puncture execution mechanism is the main structure of the master hand control device 100 used to control the puncture device to perform needle insertion or needle withdrawal operations. Needle insertion refers to the operation of inserting the puncture needle, which is mounted on the puncture device, into the patient's body. Needle withdrawal refers to the operation of withdrawing the puncture needle, which is mounted on the puncture device, from the patient's body. That is, the puncture device responds to the puncture execution signal of the puncture execution unit 10 of the master hand control device 100 and drives the puncture needle to move. Further, the drive component 21 responds to the force feedback signal of the puncture device and outputs a force to the input end of the transmission component 22. The input end of the transmission component 22 applies the force to the output end of the transmission component 22, and the output end of the transmission component 22 applies the force to the puncture execution unit 10, so that the operator can perceive the force feedback of the puncture device during the puncture process.

[0111] In some embodiments, the master control device 100 can be communicatively and / or electrically connected to the processor (not shown) of the puncture robot. When the puncture execution unit 10 moves, the movement of the puncture execution unit 10 can be fed back to the processor in real time, and then the processor can control the puncture device to drive the puncture needle to perform the puncture operation according to the movement of the puncture execution unit 10. Furthermore, the processor can also transmit the force feedback of the puncture needle during the puncture process to the drive component 21 in the form of a force feedback signal.

[0112] It should be noted here that the center of the drive component 21 can be the center of gravity or the axis of the drive component 21, and the center of the puncture execution unit 10 can be the center of gravity or the axis of the puncture execution unit 10. Optionally, the center of gravity of the drive component 21 is located on the axis of the drive component 21, and the center of gravity of the puncture execution unit 10 is located on the axis of the puncture execution unit 10.

[0113] It should be emphasized that, due to manufacturing and assembly errors, in this embodiment, the first axis passing through the center of the drive assembly 21 and the center of the puncture execution unit 10 can also be understood as the first axis approximately passing through the center of the drive assembly 21 and the center of the puncture execution unit 10. Furthermore, the following statement that the first axis passes through the center of a component can also be understood as the first axis approximately passing through the center of a component.

[0114] The master hand control device 100 provided in this application embodiment moves the puncture execution unit 10 relative to the force feedback unit 20 along a first axis, with the first axis passing through the center of the drive assembly 21 and the center of the puncture execution unit 10. In this way, the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20 can be minimized. On the one hand, the balancing weight can be reduced, or even eliminated, which is beneficial to reducing the overall weight of the master hand control device 100, thereby improving the user experience of the operator. On the other hand, it is beneficial to reduce the operator's sense of gravitational imbalance during use, thereby improving the user experience of the operator. Furthermore, reducing the imbalance helps to reduce the wear of the puncture execution unit 10 and the force feedback unit 20, thereby increasing the product life.

[0115] It should be noted that the distance of the linear movement of the puncture needle and the distance of the linear movement of the puncture execution unit 10 can have a proportional mapping relationship. For example, the ratio of the linear movement distance of the puncture needle to the linear movement distance of the puncture execution unit 10 can be 1:1, 1:1.2, 1:1.5, 1:2, 2:1, 1.5:1, etc. In some embodiments, the ratio of the linear movement distance of the puncture needle to the linear movement distance of the puncture execution unit 10 is 1:1, so that when the operator operates the puncture execution unit 10 to output a preset distance, the operator can control the movement of the puncture needle to a preset distance, allowing the operator to feel the clinical puncture sensation as much as possible, improving the operator's operating experience and increasing the puncture success rate.

[0116] In one embodiment, reference Figures 7-10 As shown, the transmission assembly 22 includes a drive wheel 221 and a rope transmission mechanism 222. The drive wheel 221 is connected to the drive assembly 21, and the rope transmission mechanism 222 connects the drive wheel 221 and the puncture execution unit 10. The axis of the drive wheel 221 coincides with the first axis. The drive wheel 221 constitutes the input end of the transmission assembly 22, and the rope transmission mechanism 222 constitutes the output end of the transmission assembly 22. The drive assembly 21, in response to the force feedback signal from the puncture device, outputs a force to the drive wheel 221. The drive wheel 221 applies the force to the rope transmission mechanism 222, and the rope transmission mechanism 222 applies the force to the puncture execution unit 10, allowing the operator to perceive the force feedback of the puncture device during the puncture process. Here, "coincidence" can be understood as "approximate coincidence," and the definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" mentioned above, and will not be repeated here. The drive assembly 21 outputs rotational motion, which drives the drive wheel 221 to rotate. During the rotation of the drive wheel 221, the rope transmission mechanism 222 can move, thereby transmitting the force to the puncture execution unit 10 through the rope transmission mechanism 222. In this way, it is equivalent to using a rope drive for transmission.

[0117] This application embodiment uses a rope drive for transmission, which on the one hand simplifies the structure of the transmission component 22 and helps reduce its weight; on the other hand, compared with gear transmission, this application embodiment is more conducive to the reasonable arrangement of the force feedback unit 20 configuration, thereby maximizing the reduction of the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0118] In one embodiment, the rope drive mechanism 222 includes a driven pulley 2221, a guide pulley assembly, and a drive rope 2222. The driven pulley 2221 is located on the side of the driving pulley 221 opposite to the drive assembly 21 and is spaced apart from the driving pulley 221. The axis of the driven pulley 2221 intersects a first axis. The guide pulley assembly is located between the driven pulley 2221 and the driving pulley 221. The drive rope 2222 is wound around the driving pulley 221, the driven pulley 2221, and the guide pulley assembly. The piercing execution unit 10 is connected to the drive rope 2222. The guide pulley assembly guides the drive rope 2222 extending from the driving pulley 221, facilitating its winding around the driven pulley 2221. The driven pulley 2221 guides the drive rope 2222 extending from the driven pulley 2221, facilitating its connection to the piercing execution unit 10. The drive rope 2222 is used to apply the force output by the drive assembly 21 to the puncture execution unit 10. It can be understood that the drive rope 2222 can also be understood as the output end of the transmission assembly 22.

[0119] Thus, the feedback force generated by the drive component 21 passes sequentially through the drive wheel 221 and the drive rope 2222 before acting on the puncture execution unit 10. The above arrangement allows for a simpler structure and fewer parts in the rope transmission mechanism 222, which facilitates a reasonable arrangement of the transmission component 22, thereby minimizing the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0120] In one embodiment, the axis of the driven wheel 2221 is perpendicular to the first axis. This allows the drive rope 2222 to be horizontal with the first axis, facilitating connection of the drive rope 2222 to the piercing execution unit 10.

[0121] In one embodiment, the puncture execution unit 10 is equipped with a connecting seat 26, and the drive rope 2222 is fixedly connected to the connecting seat 26. Specifically, the drive rope 2222 and the connecting seat 26 can be connected by snap-fit, adhesive, or fastener connection. It is understood that the connecting seat 26 can be fixedly sleeved on the puncture rod 10 of the puncture execution unit 10. By providing the connecting seat 26, it is convenient to connect the drive rope 2222 to the puncture execution unit 10.

[0122] Optionally, the drive rope 2222 can be a steel wire rope, tungsten wire rope or other types of rope.

[0123] Optionally, the axis of the driven wheel 2221 is perpendicular to the first axis. Here, the perpendicularity of the axis of the driven wheel 2221 to the first axis can be understood as the axis of the driven wheel 2221 being approximately perpendicular to the first axis. Specifically, the angle between the axis of the driven wheel 2221 and the first axis is between 85° and 95°.

[0124] In this way, on the one hand, the drive rope 2222 leading out from the guide wheel assembly can be parallel (or approximately parallel) to the first axis, which makes it easier to connect the drive rope 2222 to the puncture execution unit 10; on the other hand, it is beneficial to arrange the driven wheel 2221 reasonably, so that the first axis can pass through the center of the driven wheel 2221, thereby maximizing the reduction of the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0125] In one embodiment, the guide wheel assembly includes a first guide wheel 2223, a second guide wheel 2224, a first steering wheel 2225, and a second steering wheel 2226. The axis of the first guide wheel 2223 is parallel to the axis of the second guide wheel 2224, and both the axes of the first guide wheel 2223 and the second guide wheel 2224 are perpendicular to the first axis. Furthermore, both the axes of the first guide wheel 2223 and the second guide wheel 2224 are perpendicular to the axis of the driven wheel 2221. The axes of the first steering wheel 2225 and the second steering wheel 2226 intersect. The first steering wheel 2225 and the second steering wheel 2226 are used to steer the drive rope 2222 extending from the driving wheel 221, and the first guide wheel 2223 and the second guide wheel 2224 are used to guide the steered drive rope 2222, thereby ensuring that the drive rope 2222 located between the guide wheel assembly and the driven wheel 2221 is parallel to the first axis, thus facilitating the connection of the drive rope 2222 to the piercing execution unit 10.

[0126] Here, the axis of the first guide wheel 2223 and the axis of the second guide wheel 2224 can be approximately parallel, that is, the angle between the axes of the first guide wheel 2223 and the second guide wheel 2224 can be between 0-5° or 0--5°. The axis of the first guide wheel 2223 (or the second guide wheel 2224) and the first axis can be approximately perpendicular, that is, the angle between the axes of the first guide wheel 2223 (or the second guide wheel 2224) and the first axis can be between 85° and 95°. The axis of the first guide wheel 2223 (or the second guide wheel 2224) and the axis of the driven wheel 2221 can be approximately perpendicular, that is, the angle between the axes of the first guide wheel 2223 (or the second guide wheel 2224) and the driven wheel 2221 can be between 85° and 95°.

[0127] By making the axis of the first steering wheel 2225 intersect the axis of the second steering wheel 2226, the drive rope 2222 after steering can be brought closer to the first axis, which helps to make the structure of the transmission assembly 22 more compact. By setting the first guide wheel 2223, the second guide wheel 2224, the first steering wheel 2225 and the second steering wheel 2226, the structure of the guide wheel group can be relatively simple and the number of parts can be reduced, which is conducive to the rational arrangement of the configuration of the transmission assembly 22, thereby minimizing the gravitational imbalance of the puncture execution unit 10 and the force feedback unit 20.

[0128] In one embodiment, the drive rope 2222 has a first segment 22221, a second segment 22222, and a third segment 22223 connected in sequence, with the second segment 22222 wound around the driven wheel 2221. From the driven wheel 2221 to the driving wheel 221, the first segment 22221 is wound around the first guide wheel 2223 and the first steering wheel 2225 in sequence before being fixedly connected to the driving wheel 221. The second segment 22222 is wound around the second guide wheel 2224 and the second steering wheel 2226 in sequence before being fixedly connected to the driving wheel 221. The first steering wheel 2225 is used to turn the first segment 22221 extending from the driving wheel 221, and the first guide wheel 2223 is used to guide the first segment 22221 extending from the first steering wheel 2225, thereby ensuring that the extended first segment 22221 is parallel (or approximately parallel) to the first axis. The second steering wheel 2226 is used to steer the second segment 22222 extending from the driving wheel 221, and the second guide wheel 2224 is used to guide the second segment 22222 extending from the second steering wheel 2226, so that the extended second segment 22222 is parallel (or approximately parallel) to the first axis. Here, the definition of "approximately parallel" can be the same as the definition of "approximately parallel" described above, and will not be repeated here.

[0129] In this way, the drive rope 2222 can be securely tensioned between the driving wheel 221 and the driven wheel 2221, and the force loss of the drive rope 2222 can be reduced, thereby improving the transmission efficiency of the driving force.

[0130] Specifically, with Figure 9For example, the dashed line in the figure represents the movement of the puncture execution unit 10 when the needle is inserted, and the solid line represents the movement of the puncture execution unit 10 when the needle is withdrawn. From a top-down perspective, the puncture execution unit 10 drives the drive wheel 221 to rotate clockwise when the needle is inserted, and drives the drive wheel 221 to rotate counterclockwise when the needle is withdrawn. During the puncture process, there is an interaction between the puncture needle and the human body, resulting in force feedback to the puncture needle. The puncture device (or processor) feeds back the force feedback signal to the drive component 21. The drive component 21, in response to this force feedback signal, outputs a corresponding torque, which is transmitted through the drive wheel 221 to the drive rope 2222. The drive rope 2222 applies the force to the puncture execution unit 10, thus allowing the operator to feel the corresponding puncture feedback force, achieving force following of the puncture execution unit 10 relative to the puncture needle.

[0131] In one embodiment, reference Figures 8-13 As shown, the master control device 100 also includes a support frame 23, which is disposed on the side of the drive assembly 21 near the transmission assembly 22. The driven wheel 2221 and the guide wheel assembly are both mounted on the support frame 23. A guide rail 27 is provided on the support frame 23, and the piercing execution unit 10 is slidably connected to the guide rail 27. The support frame 23 is used to mount the rope transmission mechanism 222, and the guide rail 27 is used to guide the movement of the piercing execution unit 10.

[0132] In this way, on the one hand, the driven wheel 2221 and the guide wheel assembly can be mounted on the support frame 23, making the assembly stability of the master control device 100 better; on the other hand, the support frame 23 can have a certain gravity balancing effect, which is conducive to minimizing the gravity imbalance between the puncture execution unit 10 and the force feedback unit 20. In addition, by setting the guide rail 27, the linear motion of the puncture execution unit 10 can be guided, preventing the puncture execution unit 10 from shifting during the movement, thereby affecting the surgical accuracy.

[0133] Optionally, refer to Figure 8 As shown, the support frame 23 may include a main frame body 231, a first assembly part 232, and a second assembly part 233. The main frame body 231 extends along a first axis. The first assembly part 232 is located at the end of the main frame body 231 away from the drive assembly 21. A driven wheel 2221 is mounted on the first assembly part 232. The second assembly part 233 is located at the end of the main frame body 231 close to the drive assembly 21. A guide wheel assembly is mounted on the second assembly part 233. That is, the second assembly part 233 is offset to one side of the main frame body 231. In this way, the structure of the support frame 23 can be simple and compact.

[0134] Furthermore, the first assembly part 232 can be a rod-shaped structure, with the driven wheel 2221 sleeved on the first assembly part 232. The second assembly part 233 can include a body and two assembly shafts. The body is connected to the main frame 231, and the two assembly shafts are disposed on the body. The first steering wheel 2225 and the second steering wheel 2226 are respectively passed through the two assembly shafts.

[0135] In one embodiment, reference Figure 14 As shown, the drive assembly 21 includes a rotary drive member 211 and a first brake 212. The output end of the rotary drive member 211 is connected to the drive wheel 221. The first brake 212 is located between the rotary drive member 211 and the drive wheel 221, and is used to brake the drive wheel 221. It is understood that the rotation axis of the rotary drive member 211 is its output end, and the output end of the rotary drive member 211 can be directly connected to the drive wheel 221, or it can be connected through an intermediate structural component. Optionally, the axis of the rotary drive member 211 coincides with the first axis. Optionally, the axis of the first brake 212 coincides with the first axis. Here, "coincidence" can be understood as "approximate coincidence," and the definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" above, and will not be repeated here.

[0136] This effectively makes the first axis pass through the centerline of the rotary drive 211 and the centerline of the first brake 212. This minimizes the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20. Firstly, it reduces the balancing weight, or even eliminates the need for balancing, thus reducing the overall weight of the main control device 100 and improving the operator's experience. Secondly, it reduces the operator's perception of gravitational imbalance during use, further enhancing the user experience. Thirdly, reducing the imbalance reduces wear on the puncture execution unit 10 and the force feedback unit 20, thereby extending the product's lifespan. Furthermore, by setting the first brake 212, the puncture execution unit 10 can be locked, preventing needle insertion or retraction in a specific state.

[0137] In one embodiment, the force feedback unit 20 further includes a position detection element 24, which is disposed between the rotary drive element 211 and the first brake 212, with the axis of the position detection element 24 coinciding with the first axis. The position detection element 24 is used to detect the linear motion information of the puncture execution unit 10. In one embodiment, the position detection element 24 directly detects the displacement information of the puncture execution unit 10, thereby obtaining the linear motion information of the puncture execution unit 10. Here, "coinciding" can be understood as "approximately coinciding," and the definition of "approximately coinciding" here can be the same as the definition of "approximately coinciding" above, and will not be repeated here.

[0138] By aligning the axis of the position detection element 24 with the first axis, the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20 can be further reduced. By setting the position detection element 24, the position of the puncture execution unit 10 along its own axis can be obtained in real time, thereby helping the operator to flexibly control the puncture depth of the puncture needle, thus realizing needle advance and retreat control in master-slave mode and improving puncture safety. By placing the position detection element 24 between the rotary drive element 211 and the first brake 212, the structure of the force feedback unit 20 can be made more compact.

[0139] Optionally, the position detection component 24 can be a laser rangefinder, displacement encoder, grating ruler, inductive displacement sensor, angle encoder, etc.

[0140] In one embodiment, reference Figures 1-14 The structure shown includes a puncture execution unit 10 comprising a gripping rod 11 and a puncture rod 12 connected to the gripping rod 11. The puncture rod 12 passes through a rotary drive member 211, a position detection member 24, a first brake 212, and a drive wheel 221 before connecting to a drive rope 2222. Exemplarily, the rotary drive member 211, the position detection member 24, the first brake 212, and the drive wheel 221 are all annular components, arranged in a ring around the puncture execution unit 10. The rotary drive member 211 can be a hollow motor. The gripping rod 11 is used by the operator to grip, thereby driving the puncture execution unit 10 to move. The puncture rod 12 is connected to the drive rope 2222 and can receive feedback force output from the rope transmission mechanism 222. The connection method between the puncture rod 12 and the drive rope 2222 has been described above and will not be repeated here. Optionally, the axis of the gripping rod 11 coincides with the first axis. Optionally, the axis of the puncture rod 12 coincides with the first axis.

[0141] Here, "overlap" can be understood as "approximate overlap". The definition of "approximate overlap" here can be the same as the definition of "approximate overlap" above, so it will not be repeated here.

[0142] In this way, the axis of the drive component 21 coincides with the axis of the puncture execution unit 10, and the direction of the puncture feedback force is perpendicular to the plane where the output torque of the rotary drive component 211 is located. This effectively moves the center of gravity of the entire puncture execution unit 10 to the central axis, thereby helping to reduce the amount of gravity imbalance and greatly improving the comfort during the human-machine interaction process.

[0143] In one embodiment, reference Figure 9As shown, the master control device 100 also includes a guide sleeve 25, which is fixedly disposed relative to the puncture execution unit 10. The puncture rod 12 passes through the guide sleeve 25, and the rotary drive member 211 is sleeved on the guide sleeve 25. The axis of the guide sleeve 25 coincides with the axis of the rotary drive member 211. It can be understood that during the movement of the puncture execution unit 10, the guide sleeve 25 remains fixed, and the guide sleeve 25 is used to guide the movement of the puncture execution unit 10. Optionally, the axis of the guide sleeve 25 coincides with the first axis.

[0144] Here, "overlap" can be understood as "approximate overlap". The definition of "approximate overlap" here can be the same as the definition of "approximate overlap" above, so it will not be repeated here.

[0145] In this way, on the one hand, it helps to further reduce the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20; on the other hand, it can guide the puncture rod 12 to prevent it from shifting during movement, thereby affecting the accuracy of the surgery.

[0146] Understandably, the guide sleeve 25 can be mounted on the housing 70 of the master control device 100 to keep the guide sleeve 25 fixed. Specifically, the housing 70 is provided with a mounting hole, and the guide sleeve 25 is fixed in the mounting hole.

[0147] Optionally, the rotary drive component 211 is a motor, which includes a stator 2111 and a rotor 2112. The rotor 2112 is sleeved on the guide sleeve 25, and the stator 2111 is sleeved on the outer periphery of the rotor 2112. A third bearing 216 is also assembled between the stator 2111 and the rotor 2112. It is understood that the stator 2111 can also be fixed to the housing 70 of the master control device 100 by fasteners.

[0148] In one embodiment, reference Figure 14 As shown, the drive assembly 21 also includes a transmission shaft sleeve 213 connected to the rotary drive member 211. The transmission shaft sleeve 213 is located on the side of the rotary drive member 211 near the drive wheel 221. The transmission shaft sleeve 213 passes through the position detection member 24 and the first brake 212 before connecting to the drive wheel 221. Specifically, one end of the transmission shaft sleeve 213 is fixedly connected to the rotation shaft of the rotary drive member 211, and the other end is fixedly connected to the drive wheel 221.

[0149] By providing the transmission shaft sleeve 213, it is easy to connect the output end of the rotary drive member 211 to the drive wheel 221. Optionally, the axis of the transmission shaft sleeve 213 coincides with the first axis, which helps to further reduce the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20. In addition, by having the position detection member 24 and the first brake 212 pass through the transmission shaft sleeve 213, the structural compactness of the force feedback unit 20 can be improved. Here, "coincident" can be understood as "approximately coincident," and the definition of "approximately coincident" here can be the same as the definition of "approximately coincident" above, and will not be repeated here.

[0150] Optionally, the position detection element 24 can be an encoder for detecting rotation angle. The position detection element 24 includes a second magnetic ring 241 and a second reading head 242. The drive assembly 21 also includes a first adapter 214, a second adapter 215, and a mounting base 217. The first adapter 214 and the second adapter 215 are disposed between the rotary drive element 211 and the first brake 212. The first adapter 214 is fixedly connected to the stator 2111, and the second adapter 215 is connected to the fixed portion of the first brake 212. The mounting base 217 is fixed to the drive shaft sleeve 213, the second magnetic ring 241 is mounted on the mounting base 217, and the second reading head 242 is mounted on the first adapter 214. This allows for a reasonable assembly of the components between the rotary drive element 211 and the first brake 212, facilitating a reasonable arrangement of the force feedback unit 20's configuration and reducing the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0151] In the above structure, when the output end of the rotary drive 211 rotates, the transmission shaft sleeve 213 rotates accordingly, driving the mounting base 217 to rotate. Since the second magnetic ring 241 is mounted on the mounting base 217, the second reading head 242 can detect the rotation angle of the second magnetic ring 241. Because the transmission shaft sleeve 213 is coaxially and fixedly connected to the drive wheel 221, the rotation angle detected by the encoder is the rotation angle of the drive wheel 221, and thus the moving distance of the transmission rope can be obtained. This moving distance is the depth information of the puncture rod 12, which is used to control the depth of the puncture needle.

[0152] Optionally, the first brake 212 may include a friction part and a fixed part. The fixed part can be mounted on the second adapter 215, and the friction part is fixedly connected to the drive wheel 221. When the first brake 212 is not braking, the fixed part and the friction part are disengaged. When the master control device 100 performs an attitude adjustment action, the puncture rod 12 needs to be locked. At this time, the friction part of the first brake 212 contacts the fixed part of the first brake 212, generating a sufficiently large frictional force so that the drive wheel 221 cannot rotate, thereby locking the needle advance and retraction action of the puncture rod 12. An electromagnet may be provided on the fixed part. When the electromagnet is energized, it generates a magnetic field that attracts the friction part to the fixed part, and the two generate frictional force. Further, a spring plate may be provided on the friction part. When attracted, the spring plate can deform. When the electromagnet does not generate a magnetic field, the spring plate can push the friction part away, separating the friction part from the fixed part.

[0153] In one embodiment, reference Figures 15-21 As shown, the puncture execution unit 10 is disposed between the driving wheel 221 and the driven wheel 2221. The master hand control device 100 includes a rocker arm 30, which has a receiving cavity in which at least a portion of the rope drive mechanism 222 is disposed. The puncture execution unit 10 includes a grip ring 13 and a puncture part 14 connected to the grip ring 13. The grip ring 13 is sleeved on the outer periphery of the rocker arm 30, and the puncture part 14 is connected to the drive rope 2222.

[0154] In the above structure, the puncture execution unit 10 is located on one side (top) of the drive assembly 21, that is, the puncture execution unit 10 is located above and the drive assembly 21 is located below, and the puncture execution unit 10 moves linearly above the drive assembly 21. Therefore, this structure does not require a hollow rotary drive component 211, which helps to reduce the structural complexity and assembly difficulty of the drive assembly 21.

[0155] Optionally, in Figure 15 In the structure shown, such as Figure 17 As shown, the output shaft of the rotary drive 211 passes through the position detection component 24 and the first brake 212 and is connected to the drive wheel 221. The fixed part of the rotary drive 211 and the fixed part of the first brake 212 are fixedly connected by a transition structure (not shown in the figure). The mounting base 217 is fixed on the output shaft, the second magnetic ring 241 is assembled on the mounting base 217, and the second reading head 242 is fixed on the fixed part of the rotary drive 211.

[0156] Furthermore, Figure 15 The transmission component 22 of the structure shown is... Figure 1The transmission component 22 shown can be the same and will not be described again here. Optionally, the driven wheel 2221 can be fixed to the rocker arm 30, and the first guide wheel 2223, the second guide wheel 2224, the first steering wheel 2225, and the second steering wheel 2226 can be fixed to the support frame 23. Optionally, the support frame 23 may include a main frame 231, a first mounting part 232, and a second mounting part 233. The main frame 231 extends along a first axis, the first mounting part 232 is located at the end of the main frame 231 away from the drive component 21, the driven wheel 2221 is mounted on the first mounting part 232, the second mounting part 233 is located at the end of the main frame 231 close to the drive component 21, and the guide wheel assembly is mounted on the second mounting part 233. That is, the second mounting part 233 is offset on one side of the main frame 231. In this way, the structure of the support frame 23 can be simple and compact.

[0157] In one embodiment, reference Figure 1 and Figure 2 As shown, the puncture execution unit 10 is configured to rotate about a first axis. Specifically, the puncture rod 12 of the puncture execution unit 10 is slidably connected to the housing 70 or other components (such as the posture adjustment unit 50 described below), so that the puncture execution unit 10 can perform linear motion, thereby controlling the insertion or withdrawal of the puncture needle. Furthermore, the puncture rod 12 of the puncture execution unit 10 is rotatably connected to the housing 70 or other components (such as the posture adjustment unit 50 described below), so that when the housing 70 or other components (such as the posture adjustment unit 50 described below) remain relatively fixed, the puncture rod 12 can rotate about the first axis, thereby controlling the rotation of the puncture needle during the puncture operation to achieve active skin puncture operation in master-slave mode.

[0158] Furthermore, the master control device 100 also includes a first angle detection element 40, which is used to detect the rotation angle of the puncture execution unit 10. It is understood that the first angle detection element 40 can be communicatively connected to the processor or puncture device, so that the processor or puncture device can obtain the rotation angle of the puncture execution unit 10 in a timely manner, thereby controlling the puncture needle to perform rotational actions.

[0159] It should be noted that different patients have different skin toughness. For example, some patients' skin is relatively easy to puncture directly with a needle; while some patients' skin is very tough and difficult to puncture directly with a needle. During the puncture process, the skin will deform more, causing the needle to bend or even break, which may cause accidental injury to the patient.

[0160] The above settings effectively increase the degree of freedom in actively puncturing the skin. This allows the puncture needle to rotate during the procedure, making it easier to puncture the patient's skin and enter the tissue. Furthermore, areas within the tissue where puncture resistance is high are also easier to puncture by rotating the needle during the procedure.

[0161] In one embodiment, such as Figure 2 As shown, the first angle detection component 40 includes a first magnetic ring 41 and a first reading head 42. The first reading head 42 is connected to the puncture execution unit 10 and can rotate with the puncture execution unit 10. The first magnetic ring 41 is fixed relative to the puncture execution unit 10 so that the first reading head 42 can rotate relative to the first magnetic ring 41. It can be understood that the first magnetic ring 41 can be mounted on components other than the puncture execution unit 10 and the force feedback unit 20, as long as it can achieve the goal of fixing the first magnetic ring 41 relative to the puncture execution unit 10 when the puncture execution unit 10 rotates. The first reading head 42 can be mounted on the force feedback unit 20. The first magnetic ring 41 is arranged around a first axis. Optionally, the axis of the first magnetic ring 41 coincides with the first axis. Here, "coincidence" can be understood as "approximate coincidence," and the definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" above, and will not be repeated here.

[0162] The above settings help reduce the structural complexity of the main hand control device 100 and reduce the operator's sense of gravity imbalance during use, thereby improving the operator's user experience.

[0163] In one embodiment, the master hand control device 100 further includes an attitude adjustment unit 50, the puncture execution unit 10 being movable relative to the attitude adjustment unit 50 along a first axis, the attitude adjustment unit 50 being used to adjust the attitude of the puncture execution unit 10 so that the puncture needle can be inserted along the correct path.

[0164] This makes it easier for operators to adjust the direction of needle insertion.

[0165] Optionally, the first magnetic ring 41 is disposed on the attitude adjustment unit 50. In this way, the first angle detection element 40 can be assembled without adding extra components, which helps to reduce the structural complexity of the master hand control device 100.

[0166] It should be noted that the attitude adjustment unit 50 is configured to acquire the attitude of the puncture execution unit 10. Acquiring the attitude of the puncture execution unit 10 means acquiring the rotation angle information of the axial direction of the puncture execution unit 10 relative to the attitude adjustment unit 50. As an example only, when it is necessary to adjust the attitude of the puncture needle, the operator can control the puncture execution unit 10 to swing relative to the attitude adjustment unit 50. The attitude adjustment unit 50 can detect the rotation angle information of the puncture execution unit 10 relative to the attitude adjustment unit 50 (for example, the rotation angle of the first connecting rod 53 relative to the base 59 and the rotation angle of the second connecting rod 56 relative to the base 59 in the following text), and feed the rotation angle information back to the robot's processor. The processor can adjust the attitude of the puncture needle according to the rotation angle information of the puncture execution unit 10 relative to the attitude adjustment unit 50, so as to achieve the purpose of adjusting the attitude of the puncture needle, so that the puncture needle can be aligned with the target puncture point, ensuring the accuracy of the puncture operation.

[0167] Optionally, when in posture adjustment mode, the active skin-piercing degree of freedom is converted into a passive degree of freedom, that is, the processor of the puncture robot does not acquire or respond to the detection information of the first angle detection element 40.

[0168] In one embodiment, the attitude adjustment unit 50 includes a first passive ring 51, a second passive ring 52, a first connecting rod 53, a second connecting rod 56, a second angle detection element 57, a third angle detection element 58, and a base 59. The first passive ring 51 and the second passive ring 52 are coaxial and arranged around a first axis. One end of the first connecting rod 53 is rotatably connected to the first passive ring 51, and the other end is rotatably connected to the base 59. The other end of the first connecting rod 53 is also provided with the second angle detection element 57, which is configured to detect the angle of rotation of the other end of the first connecting rod 53 relative to the base 59. One end of the second connecting rod 56 is rotatably connected to the second passive ring 52, and the other end is rotatably connected to the base 59. The other end of the second connecting rod 56 is also provided with the third angle detection element 58, which is configured to detect the angle of rotation of the other end of the second connecting rod 56 relative to the base 59. The first passive ring 51 is arranged around the first axis. Optionally, the axis of the first passive ring 51 coincides with the first axis. Here, "overlap" can be understood as "approximate overlap". The definition of "approximate overlap" here can be the same as the definition of "approximate overlap" above, so it will not be repeated here.

[0169] The above settings can simplify the structure of the posture adjustment unit 50 and reduce the gravitational imbalance of the main hand control device 100, thereby greatly improving the comfort of human-computer interaction during posture adjustment.

[0170] In this embodiment, the base 59 is configured to support other components of the attitude adjustment unit 50, and the base 59 remains stationary during the attitude adjustment process. For ease of description, the axis of rotation of the first connecting rod 53 relative to the first passive ring 51 can be referred to as the first rotation axis, and the axis of rotation of the first connecting rod 53 relative to the base 59 can be referred to as the second rotation axis. The axis of rotation of the second connecting rod 56 relative to the second passive ring 52 can be referred to as the third rotation axis, and the axis of rotation of the first connecting rod 53 relative to the base 59 can be referred to as the fourth rotation axis. In some embodiments, the first rotation axis, the second rotation axis, the third rotation axis, and the fourth rotation axis may be in the same plane. In some embodiments, the first rotation axis, the second rotation axis, the third rotation axis, and the fourth rotation axis may not be in the same plane. As an example only, since the base 59 remains stationary, the axis of rotation of the first connecting rod 53 relative to the base 59 (i.e., the second rotation axis) and the axis of rotation of the second connecting rod 56 relative to the base 59 (i.e., the fourth rotation axis) remain unchanged. However, the axis of rotation of the first connecting rod 53 relative to the first passive ring 51 (i.e., the first rotation axis) and the axis of rotation of the second connecting rod 56 relative to the second passive ring 52 (i.e., the third rotation axis) change with the movement of the first passive ring 51 and the second passive ring 52, respectively. In this case, the first, second, third, and fourth rotation axes may not be in the same plane. For example, the second and fourth rotation axes may be in the same plane, and the first and third rotation axes may be in the same plane. Another example is that the first and fourth rotation axes may be in the same plane, and the second and third rotation axes may be in the same plane.

[0171] In this embodiment, since the first passive ring 51 and the second passive ring 52 are coaxially arranged around the puncture execution unit 10, the puncture execution unit 10 always maintains a coaxial relationship with the first passive ring 51 and the second passive ring 52, that is, the axial direction of the puncture execution unit 10 coincides with the central axis of the first passive ring 51 and the central axis of the second passive ring 52. Therefore, when the puncture execution unit 10 swings relative to the base 59, it can drive the first passive ring 51 and the second passive ring 52 to swing relative to the base 59. Since the first connecting rod 53 is located between the first passive ring 51 and the base 59, the swing of the first passive ring 51 relative to the base 59 will drive the first connecting rod 53 to rotate around the second rotation axis O2. Similarly, since the second connecting rod 56 is located between the second passive ring 52 and the base 59, the swing of the second passive ring 52 relative to the base 59 will drive the second connecting rod 56 to rotate around the fourth rotation axis. The second angle detection element 57 and the third angle detection element 58 can respectively detect the rotation angle of the first connecting rod 53 around the second rotating axis and the rotation angle of the second connecting rod 56 around the fourth rotating axis, and then determine the posture of the puncture execution unit 10 based on the rotation angle, thereby adjusting the posture of the puncture needle. Here, "coincidence" can be understood as "approximate coincidence". The definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" above, and will not be repeated here.

[0172] It should be noted that, since the two ends of the first connecting rod 53 are rotatably connected to the first passive ring 51 and the base 59 respectively, and the two ends of the second connecting rod 56 are rotatably connected to the second passive ring 52 and the base 59 respectively, the first connecting rod 53 and the second connecting rod 56 are simultaneously rotatably connected to the base 59, which is equivalent to the first connecting rod 53 and the second connecting rod 56 being a parallel structure. When the first passive ring 51 rotates around the first rotation axis, it will drive the first connecting rod 53 to rotate around the second rotation axis, which in turn will drive the parallel second connecting rod 56 to rotate around the fourth rotation axis, and thus the rotation angle of the second connecting rod 56 will be detected by the third angle detection element 58. When the second passive ring 52 rotates around the third rotation axis, it will drive the second connecting rod 56 to rotate around the fourth rotation axis, which in turn will drive the parallel first connecting rod 53 to rotate around the second rotation axis, and thus the rotation angle of the first connecting rod 53 will be detected by the second angle detection element 57.

[0173] In some embodiments, the first connecting rod 53 is shaped to match the first passive ring 51, and the second connecting rod 56 is shaped to match the first passive ring 51. As an example only, the first passive ring 51 and the second passive ring 52 are circular rings, and the first connecting rod 53 and the second connecting rod 56 are arc-shaped connecting rods. Both the first connecting rod 53 and the first passive ring 51 are circular rings, and the curvature of the arc-shaped connecting rod is the same as the curvature of the circular ring. This ensures that the first connecting rod 53 will not collide with the first passive ring 51 during rotation relative to it, and that the second connecting rod 56 will not collide with the second passive ring 52 during rotation relative to it. This also makes the structure more compact. It should be noted that the first connecting rod 53 and the second connecting rod 56 can also be designed in any other feasible shape (such as a right angle), as long as the corresponding connection function is achieved.

[0174] In one embodiment, the first magnetic ring 41 is mounted on the second passive ring 52, and the first reading head 42 is mounted on the drive wheel 221. This allows the first angle detection element 40 to be mounted without adding extra components, thus reducing the structural complexity of the master control device 100.

[0175] Optionally, the first axis passes through the center of the posture adjustment unit 50. This reduces the gravitational imbalance of the main hand control device 100, significantly improving the comfort of human-computer interaction during posture adjustment.

[0176] Optionally, such as Figure 4 As shown, a first bearing 54 and a second bearing 55 are fitted on the first brake 212, a first passive ring 51 is fitted on the first bearing 54, and a second passive ring 52 is fitted on the second bearing 55.

[0177] In one embodiment, reference Figure 5 , Figure 6 , Figure 12 , Figure 18 and Figure 21 As shown, the puncture execution unit 10 is provided with a pressable first trigger key 15. The main hand control device 100 also includes a signal transmission component (not shown) and a trigger component 60 electrically connected to the signal transmission component. The first trigger key 15 is configured such that when the first trigger key 15 is pressed, the trigger component 60 forms a circuit and activates the signal transmission component.

[0178] Thus, when the first trigger button 15 is pressed, the trigger component 60 activates the signal transmission component, and transmits the signal to the processor of the puncture robot via the signal transmission component (e.g., an antenna), thereby achieving master-slave motion enable control. In some embodiments, the first trigger button 15 is a silicone button.

[0179] In one embodiment, reference Figure 12 , Figure 21 and Figure 23 As shown, the trigger assembly 60 includes a circuit board 61, a first conductive track 62, a second conductive track 63, a first brush 64, a second brush 65, and a conductive strain gauge 66. The circuit board 61 has a first conductive portion 611 and a second conductive portion 612 that are insulated from each other. The first conductive track 62 and the second conductive track 63 are spaced apart from each other. The first brush 64 is electrically connected to the first conductive portion 611 and the first conductive track 62, and the second brush 65 is electrically connected to the second conductive portion 612 and the second conductive track 63. The conductive strain gauge 66 is configured to deform under the action of the first trigger key 15 and is electrically connected to the first conductive portion 611 and the second conductive portion 612.

[0180] The above configuration simplifies the structure of the trigger component 60 and improves the compactness of the main control device 100. Specifically, the first conductive rail 62 and the second conductive rail 63 have positive and negative voltages, respectively. When the operator presses the first trigger button 15, the conductive strain gauge 66 deforms, electrically connecting the first conductive part 611 and the second conductive part 612, thus connecting the positive and negative voltages and generating a corresponding electrical signal. This indicates that the first trigger button 15 has been triggered, thereby activating the signal transmission component. When the operator releases the first trigger button 15, the conductive strain gauge 66 returns to its initial state under its own elasticity, and the electrical signal is disconnected.

[0181] In one embodiment, reference Figure 6 As shown, when Figure 22 and Figure 23 The trigger component 60 shown is applied in Figure 1 When the master control device 100 is shown, the first brush 64 and the second brush 65 can be mounted on the piercing rod 12, and the first conductive rail 62 and the second conductive rail 63 can be mounted on the support frame 23. Simultaneously, the conductive strain gauge 66 is connected to the first trigger key 15 via an intermediate connector. When the first trigger key 15 is pressed, it causes the conductive strain gauge 66 to deform via the intermediate connector, thereby electrically connecting the first conductive part 611 and the second conductive part 612.

[0182] In one embodiment, reference Figure 21 As shown, when Figure 22 and Figure 23 The trigger component 60 shown is applied in Figure 15When the master control device 100 is shown, the first brush 64 and the second brush 65 can be disposed on the puncture part 14, and the first conductive rail 62 and the second conductive rail 63 can be disposed on the guide rail 27 on the rocker arm 30. The conductive strain gauge 66 can be directly connected to the first trigger key 15. When the operator presses the first trigger key 15, the conductive strain gauge 66 deforms, and the first conductive part 611 and the second conductive part 612 are electrically connected.

[0183] In one embodiment, the attitude adjustment unit 50 further includes a first damper and a second damper. The first damper is configured to provide motion resistance against rotation of the first connecting rod 53 relative to the base 59 based on the axial position of the puncture execution unit 10. The second damper is configured to provide motion resistance against rotation of the second connecting rod 56 relative to the base 59 based on the axial position of the puncture execution unit 10. As an example only, the second damper may include a rotating end and a fixed end, with pressure between them, generating frictional force that resists rotation of the rotating end relative to the fixed end, thereby generating damping that resists rotation of the second connecting rod 56 relative to the base 59. The frictional force between the rotating end and the fixed end is positively correlated with the current of the second damper. The second damper can obtain the axial position of the puncture execution unit 10 from the position detection component 12, and then adjust the current according to the position of the puncture execution unit 10, ultimately changing the output damping. For example, a larger insertion stroke of the puncture execution unit 10 indicates a deeper puncture depth of the puncture needle. This allows for a reduction in the current of the second damper, thus decreasing the output damping and ensuring that the motion resistance felt by the operator at the puncture execution unit 10 remains essentially constant during posture adjustment. Conversely, a smaller insertion stroke of the puncture execution unit 10 indicates a shallower puncture depth. This allows for an increase in the current of the second damper, thus increasing the output damping and ensuring that the motion resistance felt by the operator at the puncture execution unit 10 remains essentially constant during posture adjustment. In some embodiments, the structure and working principle of the first damper may be the same as or similar to that of the second damper, and will not be elaborated further here.

[0184] In some practical applications, the posture adjustment of the puncture needle and the insertion and withdrawal of the puncture needle cannot be performed simultaneously to avoid damage to human tissue. Therefore, in some embodiments, the posture adjustment unit 50 further includes a second brake and a third brake. The output shaft of the second brake is drivenly connected to the first connecting rod 53 through a first damper, and the second brake is configured to restrict the rotation of the first connecting rod 53 around a third rotation axis. The output shaft of the third brake is drivenly connected to the second connecting rod 56 through a second damper, and the third brake is configured to restrict the rotation of the second connecting rod 56 around a fourth rotation axis. Taking the third brake as an example, the third brake can be connected to the second damper, and by restricting the relative rotation between the fixed end and the rotating end of the second damper, the rotation of the second connecting rod 56 around the fourth rotation axis is restricted, thereby restricting the rotation of the second connecting rod 56 relative to the base 59. In some embodiments, the structure and working principle of the second brake and the third brake can be the same as or similar to the structure and working principle of the first brake 212 in the aforementioned embodiments, and will not be repeated here.

[0185] Understandably, by setting the second and third brakes to restrict the rotation of the first connecting rod 53 and the second connecting rod 56 respectively, it is possible to effectively ensure that the posture of the puncture needle does not swing when performing the puncture operation.

[0186] In some embodiments, when it is necessary to control the puncture execution unit 10 to perform needle insertion or withdrawal operations, it is necessary to restrict the adjustment of the posture of the puncture execution unit 10 through the posture adjustment unit 50. At this time, the current of the second brake and the third brake can be adjusted to the maximum value, thereby preventing the first connecting rod 53 and the second connecting rod 56 from rotating relative to the base 59 through the generated braking torque, and thus preventing the adjustment of the posture of the puncture execution unit 10 through the posture adjustment unit 50. When it is necessary to adjust the posture of the puncture execution unit 10 through the posture adjustment unit 50, the current of the second brake and the third brake can be adjusted to the minimum value. At this time, the effect of the generated braking torque on the rotation of the first connecting rod 53 and the second connecting rod 56 relative to the base 59 can be small or negligible, so the posture adjustment unit 50 can perform posture adjustment.

[0187] In some embodiments, the attitude adjustment unit 50 further includes a first return-to-zero component and a second return-to-zero component. The first return-to-zero component is configured to return the first connecting rod 53 to the zero position, and the second return-to-zero component is configured to return the second connecting rod 56 to the zero position. The zero position refers to the standard position of the first connecting rod 53 and the second connecting rod 56. In some embodiments, the zero position can be set according to usage requirements.

[0188] In some practical applications, the operator can perform a zeroing operation before the puncture procedure to ensure that the posture adjustment unit 50 is in the zero position. The operator can also perform a zeroing operation after the puncture procedure to ensure that the posture adjustment unit 50 returns to the zero position for use in the next puncture procedure.

[0189] In some embodiments, the first return-to-zero assembly may include a first return-to-zero motor and a first reducer, and the second return-to-zero assembly includes a second return-to-zero motor and a second reducer. The output shaft of the first return-to-zero 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 return-to-zero motor is connected to the input shaft of the second reducer, and the output shaft of the second reducer is connected to the second damper. The first return-to-zero motor is configured to output a torque that overcomes the output damping of the first damper. The second return-to-zero motor is configured to output a torque that overcomes the output damping of the second damper. The first reducer is configured to reduce the rotational speed of the output shaft of the first return-to-zero motor, thereby increasing the torque of the output shaft of the first return-to-zero motor. The second reducer is configured to reduce the rotational speed of the output shaft of the second return-to-zero motor, thereby increasing the torque of the output shaft of the second return-to-zero motor.

[0190] In this embodiment, when it is necessary to return the first connecting rod and the second connecting rod to zero, the first zero-return motor and the second zero-return motor can be driven to operate. The output torque of the first zero-return motor is amplified by the first reducer and transmitted to the first damper, completely overcoming the output damping of the first damper, thereby causing the first connecting rod 53 to rotate relative to the base 59 (i.e., rotate about the second rotation axis) and return to the zero position. At the same time, the rotation of the first connecting rod 53 relative to the base 59 will also cause the second connecting rod 56 to rotate relative to the second passive ring 52 (i.e., rotate about the third rotation axis) and return to the zero position. Similarly, the output torque of the second zero-return motor is amplified by the second reducer and transmitted to the second damper, completely overcoming the output damping of the second damper, thereby causing the second connecting rod 56 to rotate relative to the base 59 (i.e., rotate about the fourth rotation axis) and return to the zero position, thereby causing the first connecting rod 53 to rotate relative to the first passive ring 51 (i.e., rotate about the first rotation axis) and return to the zero position.

[0191] Secondly, referring to Figures 1-24 As shown, this application embodiment also provides a master hand control device 100, including a puncture actuator and a quick-switch trigger key 81. The puncture actuator is communicatively connected to the quick-switch trigger key 81. In response to the trigger signal of the quick-switch trigger key 81, the puncture actuator switches from an arbitrary posture adjustment mode to a puncture mode.

[0192] The puncture actuator is the main structure of the master control device 100 used to control the puncture device to perform needle insertion or withdrawal operations. Needle insertion refers to the operation of inserting the puncture needle, which is mounted on the puncture device, into the patient's body. Needle withdrawal refers to the operation of withdrawing the puncture needle, which is mounted on the puncture device, from the patient's body. In the posture adjustment mode, the posture of the puncture actuator 10 can be adjusted so that the puncture needle can be inserted along the correct path. In puncture mode, the puncture actuator can control the puncture device to perform needle insertion or withdrawal operations. In some embodiments, in the posture adjustment mode, the puncture actuator cannot control the puncture device to perform needle insertion or withdrawal operations.

[0193] The master hand control device 100 provided in this application embodiment can switch the puncture actuator from any posture adjustment mode to the puncture mode, which reduces the complexity of mode switching. During operation, the operator can quickly switch from posture adjustment mode to puncture mode, thereby making the operation of the master hand control device 100 more convenient and improving the operator's operating experience.

[0194] In one embodiment, the master hand control device 100 further includes a posture adjustment unit 50, which is communicatively connected to the quick-switch trigger key 81. The posture adjustment unit 50 includes a first passive ring 51, a second passive ring 52, a first connecting rod 53, a second connecting rod 56, and a base 59; the first passive ring 51 and the second passive ring 52 are coaxial and arranged around the puncture actuator; one end of the first connecting rod 53 is rotatably connected to the first passive ring 51, and the other end is rotatably connected to the base 59; one end of the second connecting rod 56 is rotatably connected to the second passive ring 52, and the other end is rotatably connected to the base 59.

[0195] The puncture actuator has at least one of a first attitude adjustment mode, a second attitude adjustment mode, and a third attitude adjustment mode. In the first attitude adjustment mode, the second passive ring 52 remains relatively fixed to the second connecting rod 56, while the first passive ring 51, the second passive ring 52, and the puncture actuator can rotate relative to the first connecting rod 53. In the second attitude adjustment mode, the first passive ring 51 remains relatively fixed to the first connecting rod 53, while the first passive ring 51, the second passive ring 52, and the puncture actuator can rotate relative to the second connecting rod 56. In the third attitude adjustment mode, the first passive ring 51, the second passive ring 52, and the puncture actuator can rotate relative to the first connecting rod 53, and the first passive ring 51, the second passive ring 52, and the puncture actuator can rotate relative to the second connecting rod 56.

[0196] The puncture actuator and the attitude adjustment unit 50 respond to the trigger signal of the quick-switch trigger key 81 to switch the puncture actuator from any of the first attitude adjustment mode, the second attitude adjustment mode and the third attitude adjustment mode to the puncture mode.

[0197] It should be noted that the master hand control device 100 in the second aspect embodiment can be the same as the master hand control device 100 in the first aspect embodiment. The specific structure of the puncture actuator and the posture adjustment unit 50 will not be described in detail in this application embodiment.

[0198] In this embodiment, the first attitude adjustment mode can be an intra-layer attitude adjustment mode, in which the puncture actuator can only perform attitude adjustment within a layer. The second attitude adjustment mode can be an inter-layer attitude adjustment mode, in which the puncture actuator can only perform attitude adjustment between layers. The third attitude adjustment mode can be a free attitude adjustment mode, in which the puncture actuator can perform attitude adjustment both intra-layer and inter-layer.

[0199] Specifically, the master control device 100 also includes a mode selection trigger key 83. Both the puncture actuator and the posture adjustment unit 50 are communicatively connected to the mode selection trigger key 83. The operator can select the working mode (such as the first posture adjustment mode, the second posture adjustment mode, the third posture adjustment mode, and the puncture mode) by pressing the mode selection trigger key 83.

[0200] When the puncture mode is selected, the rotary drive 211 of the puncture actuator is energized and supplied with a certain control current. The control current of the rotary drive 211 is proportional to the feedback force (the force between the puncture needle and the human body) experienced by the puncture needle. The force output by the rotary drive 211 is applied to the puncture actuator 10 through the transmission component 22, thereby allowing the operator to feel the feedback force during the actual puncture process, thus realizing the force feedback process. In the puncture mode, the second and third brakes of the posture adjustment unit 50 remain at a low level (locked state), and the posture adjustment unit 50 cannot perform posture adjustment actions.

[0201] When the first posture adjustment mode is selected, the second brake is at a high level (rotatable state), allowing the first passive ring 51, the second passive ring 52, and the puncture actuator to rotate relative to the first connecting rod 53. The third brake remains at a low level (locked state), fixing the second passive ring 52 to the second connecting rod 56. When the first brake 212 is at a low level, the puncture actuator 10 cannot insert the needle.

[0202] When the second posture adjustment mode is selected, the third brake is at a high level (rotatable state), allowing the first passive ring 51, the second passive ring 52, and the puncture actuator to rotate relative to the second connecting rod 56. The second brake remains at a low level (locked state), and the first passive ring 51 and the first connecting rod 53 remain relatively fixed. When the first brake 212 is at a low level, the puncture actuator 10 cannot insert the needle.

[0203] When the third posture adjustment mode is selected, the second brake is at a high level (rotatable state), allowing the first passive ring 51, the second passive ring 52, and the puncture actuator to rotate relative to the first connecting rod 53. When the third brake is at a high level (rotatable state), the first passive ring 51, the second passive ring 52, and the puncture actuator to rotate relative to the second connecting rod 56. When the first brake 212 is at a low level, the puncture actuator 10 cannot insert the needle.

[0204] In one embodiment, when the operator completes the posture adjustment and is ready to perform the needle insertion action, they can press the quick-cut trigger key 81 without releasing the first trigger key to enter the quick-cut mode. At this time, the processor can quickly switch to the puncture mode, and the operator can perform the needle insertion or withdrawal action. When the operator finds that the needle insertion path has deviated, the operator can release the first trigger key 81, and the main hand control device 100 will be in the mode (or gear) indicated by the mode selection trigger key 83.

[0205] In one embodiment, the master hand control device 100 also has a skin-piercing mode. When the skin-piercing mode is selected, the rotary drive 211 of the puncture actuator is powered on and given a certain control current. The control current of the rotary drive 211 is proportional to the feedback force (the force between the puncture needle and the human body) received by the puncture needle. The force output by the rotary drive 211 is applied to the puncture actuator 10 through the transmission component 22, thereby allowing the operator to feel the feedback force during the actual puncture process, realizing the force feedback process. In the puncture mode, the second and third brakes of the posture adjustment unit 50 remain at a low level (locked state), and the posture adjustment unit 50 cannot perform posture adjustment actions. At the same time, the rotational degree of freedom of the puncture actuator 10 is transmitted to the puncture needle at the end, realizing the master-slave active skin-piercing function. At this time, the needle can be inserted or not. In the needle-insertion state, the first brake 212 is at a high level, and the puncture actuator 10 can move up and down; in the needle-insertion-not-insertion state, the first brake 212 is at a low level, and the puncture actuator 10 cannot move up and down, but can only rotate.

[0206] In one embodiment, the master hand control device 100 further includes a puncture release trigger key 82, and both the puncture actuator and the posture adjustment unit 50 are communicatively connected to the puncture release trigger key 82. In response to the trigger signal of the puncture release trigger key 82, the puncture actuator and the posture adjustment unit 50 switch from any mode to a zero-position mode.

[0207] In this way, after the operation is completed, the operator can quickly switch the puncture actuator and the posture adjustment unit 50 to the zero position, which improves the storage efficiency of the main hand control device 100.

[0208] Specifically, when the puncture release trigger key 82 is pressed, the first brake 212, the second brake, and the third brake are all at a high level and are in the released state. The first return-to-zero component drives the first connecting rod 53 back to the zero position, the second return-to-zero component drives the second connecting rod 56 back to the zero position, and the rotation drive 211 drives the puncture execution unit 10 back to the zero position. When the above components reach the zero position, the first brake 212, the second brake, and the third brake are all at a low level and are in the locked state.

[0209] In one embodiment, such as Figure 24 As shown, the main control device 100 also includes a housing 70, which has multiple button holes. A quick-cut trigger button 81, a puncture release trigger button 82, and a mode selection trigger button 83 are movably disposed in the corresponding button holes. The housing 70 has mounting holes, in which a guide sleeve 25 is fixed.

[0210] Thirdly, referring to Figures 1-24 As shown, this application embodiment provides a master hand control device 100, including a puncture execution unit 10 and a force feedback unit 20. The force feedback unit 20 includes a drive assembly 21 and a transmission assembly 22 disposed on one side of the drive assembly 21. The transmission assembly 22 includes a drive wheel 221 and a transmission mechanism. The drive wheel 221 is connected to the drive assembly 21, and the transmission mechanism is connected to the drive wheel 221 and the puncture execution unit 10.

[0211] The puncture execution unit 10 is configured to move relative to the force feedback unit 20 along a first axis; the first axis passes through the drive wheel 221. Figure 3 The dashed line O in the diagram represents the first axis. The first axis is the axis of the puncture execution unit 10 and its extension.

[0212] It should be noted that the puncture execution unit 10 and the force feedback unit 20 together constitute the puncture execution mechanism of the main hand control device 100. The puncture execution mechanism is the main structure of the main hand control device 100 used to control the puncture device to perform needle insertion or withdrawal operations. Needle insertion refers to the operation of inserting the puncture needle, which is mounted on the puncture device, into the patient's body. Needle withdrawal refers to the operation of withdrawing the puncture needle, which is mounted on the puncture device, from the patient's body. In some embodiments, the main hand control device 100 can be communicatively and / or electrically connected to the processor (not shown in the figure) of the puncture robot. When the puncture execution unit 10 moves, the movement of the puncture execution unit 10 can be fed back to the processor in real time, and then the processor can control the puncture device to drive the puncture needle to perform the puncture operation according to the movement of the puncture execution unit 10. Furthermore, the processor can also transmit the force feedback of the puncture needle during the puncture process to the drive component 21 through a force feedback signal.

[0213] The master hand control device 100 provided in this application embodiment moves the puncture execution unit 10 relative to the force feedback unit 20 along a first axis, and makes the first axis pass through the drive wheel 221. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be reduced. On the one hand, the balancing weight can be reduced, or even eliminated, which is conducive to reducing the overall weight of the master hand control device 100, thereby improving the user experience of the operator. On the other hand, it is conducive to reducing the operator's sense of gravity imbalance during use, thereby improving the user experience of the operator. Furthermore, after reducing the imbalance, it is conducive to reducing the wear of the puncture execution unit 10 and the force feedback unit 20, thereby improving the product life.

[0214] In one embodiment, the first axis is parallel to the axis of the drive wheel 221. Here, the parallelism of the first axis to the axis of the drive wheel 221 can also be understood as the first axis being approximately parallel to the axis of the drive wheel 221, that is, the angle between the first axis and the axis of the drive wheel 221 can be between 0-5° or 0--5°.

[0215] This can further reduce the imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0216] In a preferred embodiment, the first axis coincides with the axis of the drive wheel 221. Here, the first axis coinciding with the axis of the drive wheel 221 can also be understood as the first axis approximately coinciding with the axis of the drive wheel 221, that is, there is a slight deviation between the first axis and the axis of the drive wheel 221.

[0217] In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be minimized.

[0218] In one embodiment, the transmission mechanism is configured as a rope drive mechanism 222. The drive assembly 21 outputs a force to the drive wheel 221 in response to the force feedback signal from the puncture device. The drive wheel 221 applies the force to the rope drive mechanism 222, which in turn applies the force to the puncture execution unit 10, allowing the operator to perceive the force feedback from the puncture device during the puncture process. Here, the motion output by the drive assembly 21 is rotational, driving the drive wheel 221 to rotate. During rotation, the drive wheel 221 causes the rope drive mechanism 222 to move, thereby transmitting the force to the puncture execution unit 10. This is equivalent to using a rope-driven transmission method.

[0219] This application embodiment uses a rope drive for transmission, which on the one hand simplifies the structure of the transmission component 22 and helps reduce its weight; on the other hand, compared with gear transmission, this application embodiment is more conducive to the reasonable arrangement of the force feedback unit 20 configuration, thereby maximizing the reduction of the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0220] It should be noted that the specific structure of the rope transmission mechanism 222 in this embodiment can be the same as that of the rope transmission mechanism 222 in the first aspect embodiment, and will not be described again here.

[0221] In one embodiment, the drive assembly 21 includes a rotary drive member 211 and a first brake 212. The output end of the rotary drive member 211 is connected to the drive wheel 221, and the first brake 212 is used to brake the drive wheel 221. The axes of the rotary drive member 211, the first brake 212, and the drive wheel 221 coincide. Here, "coincident" can be understood as "approximately coincident," and the definition of "approximately coincident" here can be the same as the definition of "approximately coincident" above, and will not be repeated here. It is understood that the rotation axis of the rotary drive member 211 is the output end of the rotary drive member 211, and the output end of the rotary drive member 211 can be directly connected to the drive wheel 221, or it can be connected through an intermediate structural member.

[0222] The above arrangement is equivalent to making the rotary drive 211, the first brake 212, and the drive wheel 221 coaxial, which allows the output torque of the rotary drive 211 to be better transmitted to the drive wheel 221. In addition, since the first axis passes through the drive wheel 221, the first axis also passes through the rotary drive 211 and the first brake 212, which helps to reduce the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0223] In one embodiment, the axis of the rotary drive 211 and the axis of the first brake 212 are parallel to the first axis. Here, "parallel" can be understood as "approximately parallel", and the definition of "approximately parallel" here can be the same as the definition of "approximately parallel" above, and will not be repeated here.

[0224] This can further reduce the imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0225] In a preferred embodiment, the axis of the rotary drive 211 and the axis of the first brake 212 both coincide with the first axis. Here, "coincident" can be understood as "approximately coincident," and the definition of "approximately coincident" here can be the same as the definition of "approximately coincident" above, and will not be repeated here. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be minimized.

[0226] In one embodiment, the force feedback unit 20 further includes a position detection element 24 disposed between the rotary drive element 211 and the first brake 212. The position detection element 24 is configured to detect the rotation angle of the first brake 212 to obtain linear motion information of the puncture execution unit 10. The first axis passes through the position detection element 24. This helps to reduce the gravitational imbalance between the puncture execution unit 10 and the force feedback unit 20.

[0227] In one embodiment, the axis of the position detection element 24 is parallel to the first axis. Here, "parallel" can be understood as "approximately parallel," and the definition of "approximately parallel" here can be the same as the definition of "approximately parallel" above, so it will not be repeated here. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be further reduced.

[0228] In a preferred embodiment, the axis of the position detection element 24 coincides with the first axis. Here, "coincidence" can be understood as "approximate coincidence," and the definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" above, and will not be repeated here. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be minimized.

[0229] It should be noted that the structure and assembly method of the position detection component 24 in this embodiment can be the same as those in the first aspect embodiment, and will not be described again here.

[0230] In one embodiment, the puncture execution unit 10 is configured to rotate about a first axis; the master hand control device 100 further includes a first angle detection element 40, which is used to detect the rotation angle of the puncture execution unit 10. The first angle detection element 40 includes a first magnetic ring 41 and a first reading head 42. The first reading head 42 is connected to the puncture execution unit 10 and can rotate with the puncture execution unit 10; the first magnetic ring 41 is fixed relative to the puncture execution unit 10 so that the first reading head 42 can rotate relative to the first magnetic ring 41. The axis of the first magnetic ring 41, the axis of the rotation drive 211, the axis of the first brake 212, and the axis of the drive wheel 221 coincide. Here, "coincidence" can be understood as "approximate coincidence". The definition of "approximate coincidence" here can be the same as the definition of "approximate coincidence" above, and will not be repeated here.

[0231] The above-mentioned design, on the one hand, increases the degree of freedom in active skin penetration. This allows the puncture needle to rotate during the puncture process, making it easier to pierce the patient's skin and enter the human tissue. Furthermore, areas within human tissue exhibit high puncture resistance; rotating the needle during puncture also facilitates puncturing these areas. On the other hand, it helps reduce the structural complexity of the main hand control device 100. Moreover, it helps reduce the operator's sense of gravity imbalance during use, thereby improving the operator's user experience.

[0232] In one embodiment, the axis of the first magnetic ring 41 is parallel to the first axis. Here, "parallel" can be understood as "approximately parallel," and the definition of "approximately parallel" here can be the same as the definition of "approximately parallel" above, and will not be repeated here. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be further reduced.

[0233] In a preferred embodiment, the axis of the first magnetic ring 41 coincides with the first axis. Here, "coincident" can be understood as "approximately coincident," and the definition of "approximately coincident" here can be the same as the definition of "approximately coincident" above, and will not be repeated here. In this way, the imbalance between the puncture execution unit 10 and the force feedback unit 20 can be minimized.

[0234] In one embodiment, the master hand control device 100 further includes a posture adjustment unit 50, and the puncture execution unit 10 is movable relative to the posture adjustment unit 50 along a first axis. The posture adjustment unit 50 is used to adjust the posture of the puncture execution unit 10. The puncture execution unit 10 includes a first passive ring 51 and a second passive ring 52, which are coaxial, and the first axis passes through the first passive ring 51 and the second passive ring 52.

[0235] The above settings can reduce the gravitational imbalance of the main hand control device 100, and greatly improve the comfort of human-computer interaction during posture adjustment.

[0236] In one embodiment, the axes of the first passive ring 51 and the second passive ring 52 are both parallel to the first axis. Here, "parallel" can be understood as "approximately parallel," and the definition of "approximately parallel" here can be the same as the definition of "approximately parallel" above, so it will not be repeated here. In this way, the gravitational imbalance of the master hand control device 100 can be further reduced, and the comfort of human-computer interaction can be greatly improved during posture adjustment.

[0237] In a preferred embodiment, the axes of the first passive ring 51 and the second passive ring 52 both coincide with the first axis. Here, "coincident" can be understood as "approximately coincident," and the definition of "approximately coincident" here can be the same as the definition of "approximately coincident" above, and will not be repeated here. In this way, the gravitational imbalance of the master hand control device 100 can be minimized, and the comfort of human-computer interaction can be greatly improved during posture adjustment.

[0238] It should be noted that the master hand control device 100 in the third aspect may have the same function or structure as the master hand control device 100 in the first or second aspect, which will not be repeated here in the embodiments of this application.

[0239] Fourthly, embodiments of this application provide a puncture robot, which includes a puncture device and a master control device 100 as described in either the first or second aspect. The puncture needle drive of the puncture device drives the puncture needle to move in response to a puncture execution signal from the puncture execution unit 10 of the master control device 100.

[0240] It should be noted that the puncture robot may include a processor, and the master control device 100 is capable of communicating and / or electrically connecting with the processor (not shown in the figure) of the puncture robot.

[0241] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0242] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0243] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A master hand control device, characterized in that, include: Puncture execution unit (10); as well as The force feedback unit (20) includes a drive component (21) and a transmission component (22) disposed on one side of the drive component (21). The input end of the transmission component (22) is connected to the drive component (21), and the output end of the transmission component (22) is connected to the puncture execution unit (10). The puncture execution unit (10) is configured to move relative to the force feedback unit (20) along a first axis; the first axis passes through the center of the drive assembly (21) and the center of the puncture execution unit (10).

2. The master hand control device according to claim 1, characterized in that, The transmission assembly (22) includes a drive wheel (221) and a rope transmission mechanism (222). The drive wheel (221) is connected to the drive assembly (21), and the rope transmission mechanism (222) is connected to the drive wheel (221) and the puncture execution unit (10). Wherein, the axis of the drive wheel (221) coincides with the first axis; The drive wheel (221) constitutes the input end of the transmission assembly (22), and the rope transmission mechanism (222) constitutes the output end of the transmission assembly (22). The drive assembly (21) responds to the force feedback signal of the puncture device and outputs a force to the drive wheel (221). The drive wheel (221) applies the force to the rope transmission mechanism (222), and the rope transmission mechanism (222) applies the force to the puncture execution unit (10), so that the operator can perceive the force feedback of the puncture device during the puncture process.

3. The master hand control device according to claim 2, characterized in that, The rope drive mechanism (222) includes a driven pulley (2221), a guide pulley group, and a drive rope (2222); The driven wheel (2221) is located on the side of the driving wheel (221) away from the driving assembly (21) and is spaced apart from the driving wheel (221); the axis of the driven wheel (2221) intersects the first axis; the guide wheel group is located between the driven wheel (2221) and the driving wheel (221); The drive rope (2222) is wound around the drive wheel (221), the driven wheel (2221) and the guide wheel assembly; the piercing execution unit (10) is connected to the drive rope (2222).

4. The master hand control device according to claim 3, characterized in that, The guide wheel assembly includes a first guide wheel (2223), a second guide wheel (2224), a first steering wheel (2225), and a second steering wheel (2226); The axis of the first guide wheel (2223) is parallel to the axis of the second guide wheel (2224), and the axes of the first guide wheel (2223) and the second guide wheel (2224) are both perpendicular to the first axis. The axes of the first guide wheel (2223) and the second guide wheel (2224) are both perpendicular to the axis of the driven wheel (2221). The axis of the first steering wheel (2225) intersects the axis of the second steering wheel (2226).

5. The master hand control device according to claim 4, characterized in that, The drive rope (2222) has a first sub-segment (22221), a second sub-segment (22222), and a third sub-segment (22223) connected in sequence. The second sub-segment (22222) is wound around the driven wheel (2221). In the direction from the driven wheel (2221) to the driving wheel (221), the first sub-segment (22221) is wound around the first guide wheel (2223) and the first steering wheel (2225) in sequence and then fixedly connected to the driving wheel (221). The second sub-segment (22222) is wound around the second guide wheel (2224) and the second steering wheel (2226) in sequence and then fixedly connected to the driving wheel (221).

6. The master hand control device according to claim 3, characterized in that, The master control device (100) also includes a support frame (23), which is disposed on the side of the drive assembly (21) near the transmission assembly (22); The driven wheel (2221) and the guide wheel assembly are both mounted on the support frame (23); the support frame (23) is provided with a guide rail (27), and the piercing execution unit (10) is slidably connected to the guide rail (27).

7. The master hand control device according to claim 3, characterized in that, The drive assembly (21) includes a rotary drive (211) and a first brake (212); The output end of the rotary drive (211) is connected to the drive wheel (221), and the axis of the rotary drive (211) coincides with the first axis. The first brake (212) is disposed between the rotary drive member (211) and the drive wheel (221), and the axis of the first brake (212) coincides with the first axis. The first brake (212) is used to brake the drive wheel (221).

8. The master hand control device according to claim 7, characterized in that, The force feedback unit (20) further includes a position detection element (24), which is located between the rotary drive element (211) and the first brake (212). The axis of the position detection element (24) coincides with the first axis. The position detection element (24) is used to detect the linear motion information of the puncture execution unit (10).

9. The master hand control device according to claim 8, characterized in that, The puncture execution unit (10) includes a gripping rod (11) and a puncture rod (12) connected to the gripping rod (11). The axis of the gripping rod (11) and the axis of the puncture rod (12) are both coincident with the first axis. The piercing rod (12) passes through the rotary drive (211), the position detection component (24), the first brake (212) and the drive wheel (221) and is then connected to the drive rope (2222).

10. The master hand control device according to claim 9, characterized in that, The main hand control device (100) also includes a guide sleeve (25), which is fixedly disposed relative to the puncture execution unit (10). The puncture rod (12) passes through the guide sleeve (25), and the rotary drive (211) is sleeved on the guide sleeve (25). The axis of the guide sleeve (25) coincides with the first axis. And / or, the drive assembly (21) further includes a drive shaft sleeve (213) connected to the rotary drive member (211), the drive shaft sleeve (213) being disposed on the side of the rotary drive member (211) near the drive wheel (221); the drive shaft sleeve (213) passes through the position detection member (24) and the first brake (212) and is connected to the drive wheel (221); the axis of the drive shaft sleeve (213) coincides with the first axis.

11. The master hand control device according to claim 8, characterized in that, The puncture execution unit (10) is located between the driving wheel (221) and the driven wheel (2221); the master hand control device (100) includes a rocker arm (30), the rocker arm (30) has a receiving cavity, and at least a portion of the rope transmission mechanism (222) is located in the receiving cavity; The puncture execution unit (10) includes a grip ring (13) and a puncture part (14) connected to the grip ring (13); the grip ring (13) is sleeved on the outer periphery of the rocker arm (30), and the puncture part (14) is connected to the drive rope (2222).

12. The master hand control device according to any one of claims 1-11, characterized in that, The puncture execution unit (10) is configured to rotate about a first axis; the main hand control device (100) further includes a first angle detection element (40), which is used to detect the rotation angle of the puncture execution unit (10).

13. The master hand control device according to claim 12, characterized in that, The first angle detection element (40) includes a first magnetic ring (41) and a first reading head (42). The axis of the first magnetic ring (41) coincides with the first axis. The first reading head (42) is connected to the puncture execution unit (10) and can rotate with the puncture execution unit (10). The first magnetic ring (41) is fixed relative to the puncture execution unit (10) so that the first reading head (42) can rotate relative to the first magnetic ring (41).

14. The master hand control device according to any one of claims 1-11, characterized in that, The main hand control device (100) further includes a posture adjustment unit (50), and the puncture execution unit (10) can move relative to the posture adjustment unit (50) along the first axis. The posture adjustment unit (50) is used to adjust the posture of the puncture execution unit (10).

15. The master hand control device according to claim 14, characterized in that, The attitude adjustment unit (50) includes a first passive ring (51), a second passive ring (52), a first connecting rod (53), a second connecting rod (56), a second angle detection element (57), a third angle detection element (58), and a base (59); The first passive ring (51) and the second passive ring (52) are coaxial and arranged around the first axis. One end of the first connecting rod (53) is rotatably connected to the first passive ring (51), and the other end is rotatably connected to the base (59). The other end of the first connecting rod (53) is also provided with a second angle detection element (57). The second angle detection element (57) is configured to detect the angle of rotation of the other end of the first connecting rod (53) relative to the base (59). One end of the second connecting rod (56) is rotatably connected to the second passive ring (52), and the other end is rotatably connected to the base (59). The other end of the second connecting rod (56) is also provided with the third angle detection element (58). The third angle detection element (58) is configured to detect the angle of rotation of the other end of the second connecting rod (56) relative to the base (59). The centerline of the first passive ring (51) coincides with the first axis.

16. The master hand control device according to any one of claims 1-11, characterized in that, The puncture execution unit (10) is provided with a pressable first trigger key (15). The main hand control device (100) also includes a signal transmission component and a trigger component (60) electrically connected to the signal transmission component. The first trigger key (15) is configured such that when the first trigger key (15) is pressed, the trigger component (60) forms a circuit and activates the signal transmission component.

17. The master hand control device according to claim 16, characterized in that, The triggering component (60) includes: Circuit board (61), the circuit board (61) having a first conductive part (611) and a second conductive part (612) that are insulated from each other; The first conductive track (62) and the second conductive track (63) are arranged at intervals. A first brush (64) and a second brush (65), wherein the first brush (64) is electrically connected to the first conductive part (611) and the first conductive track (62), and the second brush (65) is electrically connected to the second conductive part (612) and the second conductive track (63); and The conductive strain gauge (66) is configured to deform under the action of the first trigger key (15) and electrically connect the first conductive part (611) and the second conductive part (612).

18. A master hand control device, characterized in that, include: Puncture execution agency; as well as Quick-switch trigger key (81), the puncture actuator is communicatively connected to the quick-switch trigger key (81); the puncture actuator responds to the trigger signal of the quick-switch trigger key (81) and switches the puncture actuator from arbitrary posture adjustment mode to puncture mode.

19. The master hand control device according to claim 18, characterized in that, The puncture actuator includes a puncture execution unit (10) and a force feedback unit (20). The force feedback unit (20) includes a drive component (21) and a transmission component (22) disposed on one side of the drive component (21). The input end of the transmission component (22) is connected to the drive component (21), and the output end of the transmission component (22) is connected to the puncture execution unit (10). The puncture execution unit (10) is configured to move relative to the force feedback unit (20) along a first axis; the first axis passes through the center of the drive assembly (21) and the center of the puncture execution unit (10).

20. The master hand control device according to claim 18, characterized in that, The main hand control device (100) also includes a posture adjustment unit (50), which is communicatively connected to the quick-switch trigger key (81); The posture adjustment unit (50) includes a first passive ring (51), a second passive ring (52), a first connecting rod (53), a second connecting rod (56), and a base (59); the first passive ring (51) and the second passive ring (52) are coaxial and arranged around the puncture actuator; one end of the first connecting rod (53) is rotatably connected to the first passive ring (51), and the other end is rotatably connected to the base (59); one end of the second connecting rod (56) is rotatably connected to the second passive ring (52), and the other end is rotatably connected to the base (59); The puncture actuator has at least one of a first posture adjustment mode, a second posture adjustment mode, and a third posture adjustment mode. In the first posture adjustment mode, the second passive ring (52) and the second connecting rod (56) remain relatively fixed, and the first passive ring (51), the second passive ring (52) and the puncture actuator can rotate relative to the first connecting rod (53); In the second posture adjustment mode, the first passive ring (51) and the first connecting rod (53) remain relatively fixed, and the first passive ring (51), the second passive ring (52) and the puncture actuator can rotate relative to the second connecting rod (56); In the third posture adjustment mode, the first passive ring (51), the second passive ring (52) and the puncture actuator can rotate relative to the first connecting rod (53), and the first passive ring (51), the second passive ring (52) and the puncture actuator can rotate relative to the second connecting rod (56); The puncture actuator and the posture adjustment unit (50) respond to the trigger signal of the quick-switch trigger key (81) to switch the puncture actuator from any of the first posture adjustment mode, the second posture adjustment mode and the third posture adjustment mode to the puncture mode.

21. The master hand control device according to claim 20, characterized in that, The main hand control device (100) also includes a puncture release trigger key (82), and the puncture actuator and the posture adjustment unit (50) are both communicatively connected to the puncture release trigger key (82); The puncture actuator and the posture adjustment unit (50) respond to the trigger of the puncture release trigger key (82) to switch the puncture actuator and the posture adjustment unit (50) from any mode to zero mode.

22. A master hand control device, characterized in that, include: Puncture execution unit (10); as well as The force feedback unit (20) includes a drive assembly (21) and a transmission assembly (22) disposed on one side of the drive assembly (21). The transmission assembly (22) includes a drive wheel (221) and a transmission mechanism. The drive wheel (221) is connected to the drive assembly (21), and the transmission mechanism is connected to the drive wheel (221) and the puncture execution unit (10). The puncture execution unit (10) is configured to move relative to the force feedback unit (20) along a first axis; the first axis passes through the drive wheel (221).

23. The master hand control device according to claim 22, characterized in that, The transmission mechanism is configured as a rope transmission mechanism (222); The drive assembly (21) responds to the force feedback signal of the puncture device by outputting a force to the drive wheel (221), the drive wheel (221) applies the force to the rope transmission mechanism (222), and the rope transmission mechanism (222) applies the force to the puncture execution unit (10) so that the operator can perceive the force feedback of the puncture device during the puncture process.

24. The master hand control device according to claim 23, characterized in that, The drive assembly (21) includes a rotary drive (211) and a first brake (212). The output end of the rotary drive (211) is connected to the drive wheel (221), and the first brake (212) is used to brake the drive wheel (221). The axis of the rotary drive (211), the axis of the first brake (212), and the axis of the drive wheel (221) coincide.

25. The master hand control device according to claim 24, characterized in that, The force feedback unit (20) further includes a position detection element (24), which is disposed between the rotation drive element (211) and the first brake (212). The position detection element (24) is configured to detect the rotation angle of the first brake (212) to obtain linear motion information of the puncture execution unit (10). The first axis passes through the position detection element (24).

26. The master hand control device according to claim 24, characterized in that, The puncture execution unit (10) is configured to rotate about the first axis; the main hand control device (100) further includes a first angle detection element (40), which is used to detect the rotation angle of the puncture execution unit (10); The first angle detection element (40) includes a first magnetic ring (41) and a first reading head (42). The first reading head (42) is connected to the puncture execution unit (10) and can rotate with the puncture execution unit (10). The first magnetic ring (41) is fixed relative to the puncture execution unit (10) so that the first reading head (42) can rotate relative to the first magnetic ring (41). The axis of the first magnetic ring (41), the axis of the rotary drive (211), the axis of the first brake (212), and the axis of the drive wheel (221) coincide.

27. The master hand control device according to claim 22, characterized in that, The master hand control device (100) further includes a posture adjustment unit (50). The puncture execution unit (10) can move relative to the posture adjustment unit (50) along the first axis. The posture adjustment unit (50) is used to adjust the posture of the puncture execution unit (10). The puncture execution unit includes a first passive ring (51) and a second passive ring (52). The first passive ring (51) and the second passive ring (52) are coaxial, and the first axis passes through the first passive ring (51) and the second passive ring (52).

28. The master hand control device according to claim 27, characterized in that, The axis of the first passive ring (51) and the axis of the second passive ring (52) are both parallel to the first axis.

29. A puncture robot, characterized in that, Includes a puncture device and a master hand control device (100) as described in any one of claims 1-28; The puncture drive of the puncture device responds to the puncture execution signal of the puncture execution unit (10) of the master control device (100) and drives the puncture needle to move.

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