Master manipulator, master manipulator for puncture robot and robot system

Abstract

The invention relates to a master manipulator, a master manipulator for a puncture robot and a robot system. The master manipulator comprises a rotating platform, the rotating platform comprises a base and a rotating disc, the rotating disc is rotatably connected with the base, and rotation of the rotating disc relative to the base is associated with movement of at least one joint of the robot; the posture adjusting mechanism is provided with a plurality of degrees of freedom, and the posture adjusting mechanism is arranged on the rotary table; and the tail end control assembly is connected to the posture adjusting mechanism and used for controlling movement of a robot tail end executor. According to the master manipulator, due to the arrangement of a multi-degree-of-freedom structure, more comprehensive degree-of-freedom adjustment of the master manipulator is achieved, and therefore a better mapping relation is achieved between the master manipulator and a robot end effector.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical equipment, in particular to a master manipulator, a master manipulator for a puncture robot and a robot system. BACKGROUND

[0002] Puncture under CT image guidance is to judge the puncture direction in real time and make timely adjustments under the premise of CT imaging, which greatly improves the success rate of operation, reduces the risk of operation, and improves the recovery speed and quality of life of patients. However, CT devices all use X-rays, gamma rays and the like to complete imaging work, and completing the operation on the CT side will expose the doctors to the radiation environment for a long time, which will cause great harm to their health. Therefore, the master-slave operation type puncture robot has emerged as the times require.

[0003] The master-slave operation type puncture robot is one of the front-end operation devices for assisting in completing the puncture operation. Through the master manipulator and the remotely monitored image-guided robot, the specific action can be executed, which can effectively avoid the radiation exposure of the doctors. However, in the existing master-slave operation type puncture robot, the master manipulator and the robot cannot achieve a better mapping relationship. SUMMARY

[0004] Therefore, it is necessary to provide an improved master manipulator, a master manipulator for a puncture robot and a robot system in view of the above problems. The master manipulator is provided with a multi-degree-of-freedom structure, so that the master manipulator has more comprehensive degree-of-freedom adjustment, thereby achieving a better mapping relationship between the master manipulator and the robot end effector.

[0005] A master manipulator for a robot, the master manipulator comprising:

[0006] a rotating platform, the rotating platform comprising a base and a rotating disc, the rotating disc being rotatably connected with the base, and the rotation of the rotating disc relative to the base being associated with at least one joint motion of the robot;

[0007] a pose adjusting mechanism, the pose adjusting mechanism having a plurality of degrees of freedom, the pose adjusting mechanism being arranged on the rotating disc;

[0008] an end control assembly, the end control assembly being connected with the pose adjusting mechanism and being used for controlling the motion of a robot end effector.

[0009] Further, the master manipulator further comprises a third rotating assembly, the rotating disc being rotatably mounted on the rotating platform through the third rotating assembly, and the rotation plane of the rotating disc relative to the base being parallel to the plane on which the base is located.

[0010] Further, the third rotating assembly comprises:

[0011] a third driving member having an output end, and the third driving member is mounted on the base; and

[0012] a third transmission assembly connected to the output end of the third driving member and transmitting power of the third driving member to the turntable;

[0013] The third driving member drives the turntable to rotate through the third transmission assembly, and drives the posture adjusting mechanism to rotate along the plane of the base.

[0014] Further, the third transmission assembly comprises a worm and a worm wheel engaged with each other, the worm is connected to the output end of the third driving member; the worm wheel is fixed with the turntable; and / or,

[0015] A third encoder is arranged on the turntable, and the third encoder is used to feedback the rotation angle of the turntable.

[0016] Further, the posture adjusting mechanism has two degrees of freedom, and the posture adjusting mechanism comprises a first rotating assembly and a second rotating assembly arranged in series;

[0017] The end control assembly is mounted on the first rotating assembly;

[0018] The second rotating assembly is arranged on the first rotating assembly and is fixedly connected with the turntable;

[0019] The rotation axis of the first rotating assembly and the rotation axis of the second rotating assembly are arranged at an angle.

[0020] Further, the rotation axis of the first rotating assembly, the rotation axis of the second rotating assembly and the rotation axis of the turntable are perpendicular to each other in pairs.

[0021] Further, the end control assembly comprises a puncture control assembly, the puncture control assembly is used to control the needle insertion of the end puncture device of the puncture robot, and the puncture control assembly is rotatably connected to the posture adjusting mechanism.

[0022] Further, the master manipulator further comprises a handle rotating assembly, the handle rotating assembly comprises a rotating support and a rotating bearing mounted between the rotating support and the puncture control assembly, and the rotating support is mounted on the posture adjusting mechanism; the rotating bearing is sleeved on one end of the puncture control assembly relatively close to the posture adjusting mechanism.

[0023] Further, the puncture control assembly comprises:

[0024] A shell is rotatably arranged on the rotating support through the rotating bearing.

[0025] A sliding ring is slidingly arranged in the shell.

[0026] An enabling component is pressingly arranged in the sliding ring and the shell, and is capable of triggering the end puncture device of the puncture robot to puncture;

[0027] The enabling component is driven by the sliding ring to move along the axial direction of the shell.

[0028] An embodiment of the present application further provides a master manipulator for a puncture robot, the master manipulator comprising:

[0029] A mounting platform;

[0030] A posture adjusting mechanism is arranged in the mounting platform, and the posture adjusting mechanism has multiple degrees of freedom;

[0031] A puncture control component is arranged in the mounting platform, and the puncture control component is used for controlling the end puncture device of the puncture robot to puncture, and the puncture control component is rotatably connected to the posture adjusting mechanism.

[0032] The master manipulator for the puncture robot is rotatably connected to the posture adjusting mechanism through the puncture control component, so that the operator can conveniently control the puncture control component in any posture.

[0033] A robot system, the robot system comprising the master manipulator according to any one of the above.

[0034] An embodiment of the present application further provides a robot system, the robot system comprising the master manipulator according to any one of the above. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 FIG. 1 is a structural schematic diagram of the master manipulator in an embodiment of the present application;

[0036] Figure 2 FIG. 2 is a structural schematic diagram of an end control component in the master manipulator shown in FIG. 1; Figure 1

[0037] FIG. 3 is a structural schematic diagram of a control component in the master manipulator shown in FIG. 1; Figure 3 Figure 1 FIG. 4 is a schematic diagram of a rotating axis of the master manipulator shown in FIG. 1;

[0038] Figure 4 Figure 1 FIG. 5 is a structural schematic diagram of another posture of the master manipulator shown in FIG. 1;

[0039] Figure 5 FIG. 6 is a structural schematic diagram of another posture of the master manipulator shown in FIG. 1; and Figure 1

[0040] Figure 6 FIG. 7 is a structural schematic diagram of another posture of the master manipulator shown in FIG. 1.​​​Figure 1 Structure diagram of a rotating platform and a third rotating component in a master manipulator shown in the figure;

[0041] Figure 7 For Figure 1 Principle diagram of a robot multi-freedom posture adjustment associated with movement of a master manipulator shown in the figure;

[0042] Figure 8 For Figure 1 Schematic diagram of a master manipulator before and after posture adjustment with a robot;

[0043] Figure 9 Structure diagram of a master manipulator for a puncture robot according to another embodiment of the application.

[0044] Element number explanation

[0045] 100, master manipulator; 10, end control component; 10a, puncture control component; 11, shell; 12, slip ring; 13, enabling component; 14, force feedback mechanism; 141, execution motor; 142, displacement detection piece; 20, posture adjustment mechanism; 21, first rotating component; 211, adapter seat; 212, first rotating shaft; 213, first feedback component; 22, second rotating component; 221, support seat; 222, second rotating shaft; 223, second feedback component; 30, rotating platform; 31, base; 32, rotating disc; 40, third rotating component; 41, third driving piece; 42, third transmission component; 60, handle rotating component; 201, posture adjustment joint; 202, posture adjustment joint; 203, first adjustment joint; 204, second adjustment joint.

[0046] The above main element symbol explanation is further described in detail in combination with the drawings and specific embodiments. Specific embodiments

[0047] In order to make the purpose, technical solutions and advantages of the application more clear and obvious, the application is further described in detail in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and do not limit the protection scope of the application.

[0048] It should be understood that when an element, or components, is referred to as being "on" another element, or components, it can be directly on another element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0050] An embodiment of the present application provides a master manipulator for a robot, which is used to cooperate with a remote robot to control a series of remote actions.

[0051] It should be understood that the remote robot herein refers to a robot which has a communication connection with the master manipulator; the two devices can be in different operating rooms in the same place, or can be in different places far apart, as long as the corresponding control operations can be realized. When the master manipulator is related to the robot, it can be applied to the remote control of the operation of a national or provincial expert on some local hospital.

[0052] The existing master manipulator cannot achieve a complete one-to-one mapping relationship between the master manipulator and the robot when mapping the robot posture. In order to overcome the above problems, the master manipulator of the present application is provided with a rotating platform, so that the rotating platform is associated with at least one joint movement of the robot, so that the master manipulator can more completely map the posture of the robot.

[0053] Embodiment one

[0054] Please refer to Figures 1 to 6 , Figure 1 The structure diagram of the master manipulator 100 in an embodiment of the present application is shown in FIG. 1. Figure 2 The structure diagram of the end control assembly 10 in the master manipulator 100 shown in FIG. 2 is shown in FIG. 3. Figure 1 The structure diagram of the end control assembly 10 in the master manipulator 100 shown in FIG. 2 is shown in FIG. 3. Figure 3 The structure diagram of the end control assembly 10 in the master manipulator 100 shown in FIG. 2 is shown in FIG. 3. Figure 1 The structure diagram of the end control assembly 10 in the master manipulator 100 shown in FIG. 2 is shown in FIG. 3. Figure 4 The structure diagram of the end control assembly 10 in the master manipulator 100 shown in FIG. 2 is shown in FIG. 3. Figure 1A schematic view of the rotation axis of the master manipulator 100 shown in FIG. 1; Figure 5 For Figure 1 A schematic view of another posture of the master manipulator 100 shown in FIG. 1; Figure 6 For Figure 1 A schematic view of the rotation platform 30 and the third rotation assembly 40 in the master manipulator 100 shown in FIG. 1.

[0055] As Figure 1 The master manipulator 100 for the robot shown in FIG. 1 includes an end control assembly 10, a posture adjusting mechanism 20, and a rotation platform 30. The end control assembly 10 is installed on the posture adjusting mechanism 20 and can have different execution postures according to the posture change of the posture adjusting mechanism 20. The posture adjusting mechanism 20 has multiple degrees of freedom, and the degrees of freedom of the posture adjusting mechanism 20 are the same as the degrees of freedom of the posture adjusting joints of the robot; the posture adjusting mechanism 20 can map the posture of the posture adjusting joints of the robot. The rotation platform 30 includes a base 31 and a rotating disc 32 rotatably installed on the base 31. The posture adjusting mechanism 20 is installed on the rotating disc 32 and can rotate as a whole relative to the base 31; the posture adjusting mechanism 20 can be associated with at least one joint motion of the robot through the rotation of the rotation platform 30.

[0056] The posture adjusting mechanism 20 can be consistent with the posture of the posture adjusting joints of the robot, that is, after the posture adjusting joints of the robot complete the positioning, the posture adjusting mechanism 20 can map the posture of the posture adjusting joints of the robot at this time according to the motion amount of the actual posture adjusting joints.

[0057] The end control assembly 10 applied to the master manipulator 100 can realize remote control of the end effector. The specific structure of the end control assembly 10 is described in detail below.

[0058] As Figure 2 The end control assembly 10 is the main structure of the master manipulator 100 for controlling the robot end effector to perform corresponding operations. The end control assembly 10 outputs linear motion. The master manipulator 100 can be connected to the host of the robot in transmission. The transmission connection here refers to electrical connection or communication connection. The end control assembly 10 can feed back the execution signal to the host of the robot, so that the host of the robot controls the end effector to perform actions. Then, when the end control assembly 10 moves, the motion of the end control assembly 10 can be fed back to the host of the robot in real time, and then the host of the robot can control the end effector to drive the end effector to perform actions according to the motion of the end control assembly 10.

[0059] It can be understood that in other embodiments, the end control assembly 10 can also output motion in other directions, as long as it can realize control of the robot end effector to perform corresponding operations.

[0060] In an embodiment, as Figure 3As shown, the end control assembly 10 comprises a housing 11, a sliding ring 12 and an enabling assembly 13. The housing 11 is mounted on the posture adjusting mechanism 20. The sliding ring 12 is slidably arranged on the housing 11 and can slide along the axial direction of the housing 11. The enabling assembly 13 is pressingly arranged in the sliding ring 12 and the housing 11, and at least part of the enabling assembly 13 can slide synchronously with the sliding ring 12. The housing 11 is used for mounting the sliding ring 12 and the enabling assembly 13; the required movement stroke of the sliding ring 12 on the housing 11 determines the axial length of the housing 11. The sliding ring 12 is used for slidably arranging the enabling assembly 13 on the housing 11. The enabling assembly 13 is used for locking the sliding of the sliding ring 12 on the housing 11 or corresponding unlocking action of the sliding ring 12; the enabling assembly 13 cooperates with the sliding ring 12 to control the end effector of the robot to perform corresponding action. When the enabling assembly 13 is pressed, the enabling assembly 13 can slide along the axial direction of the housing 11 with the sliding ring 12, and sends corresponding execution signal to the robot.

[0061] The housing 11 is an operating part of the end control assembly 10, and the medical staff operates the enabling assembly 13 by holding the housing 11. The enabling assembly 13 is partially located in the housing 11 and partially exposed from the housing 11, and the enabling assembly 13 can move relative to the housing 11, thereby realizing the control of the end effector of the robot. It can be understood that the enabling assembly 13 can output linear motion, and after the linear motion is fed back to the robot host, the robot host can control the end effector to perform operation according to the distance of the linear motion output by the enabling assembly 13.

[0062] It can be understood that in other embodiments, the sliding ring 12 and the enabling assembly 13 can be correspondingly simplified according to actual needs, as long as the associated motion between the end effector of the robot can be realized.

[0063] In this embodiment, the end effector of the robot can be a needle insertion assembly for puncture, or other surgical tools such as surgical scissors or suture needle assembly, as long as it is a surgical tool that can be remotely controlled.

[0064] In this embodiment, the housing 11 has a hollow columnar structure. The sliding ring 12 is sleeved on the outer side of the housing 11 and is adapted to the shape of the outer side of the housing 11; the sliding ring 12 is provided with a mounting hole, and the enabling assembly 13 partially extends away from the housing 11 and protrudes out of the mounting hole, so that part of the enabling assembly 13 is exposed outside the sliding ring 12 and is convenient to press.

[0065] It can be understood that in other embodiments, the shapes of the housing 11 and the sliding ring 12 can be correspondingly set according to actual needs, which are not limited here.

[0066] Optionally, the master manipulator 100 further comprises a main control board. The main control board is electrically connected with the end control assembly 10. The main control board can receive various signals fed back by the end control assembly 10, and output corresponding signals capable of controlling the robot end effector according to the received signals, so as to meet the use requirements of different scenes.

[0067] In one of the embodiments, the end control assembly 10 further comprises a signal transmission mechanism and a force feedback mechanism 14. The signal transmission mechanism realizes signal transmission in an optoelectronic communication mode. The enabling assembly 13 can block or guide the transmission signal of the signal transmission mechanism, and control the end operation of the robot through the signal change generated by blocking or guiding the transmission signal of the signal transmission mechanism. The force feedback mechanism 14 is used to feed back the force condition of the robot end effector to the end control assembly 10.

[0068] When the enabling assembly 13 slides through the slip ring 12, the force feedback mechanism 14 can detect the movement of the slip ring 12, and then feed back to the robot host through the main control board. The host of the robot controls the end effector to drive the corresponding action. When the enabling assembly 13 is pressed, the slip ring 12 can move along the axial direction of the shell 11. After the enabling assembly 13 is released, the position of the slip ring 12 in the shell 11 is fixed. Moreover, the movement stroke range of the slip ring 12 is determined by the stroke of the end effector. Of course, a certain amplification or reduction ratio can be set to reduce the overall stroke of the master manipulator or control the movement amount of the end effector with high precision.

[0069] The end of the enabling assembly 13 is exposed relative to the slip ring 12, and the enabling assembly 13 can be pressed relative to the slip ring 12. When the enabling assembly 13 is pressed, the enabling assembly 13 moves in the shell 11, can block the transmission light path of the signal transmission mechanism, and the signal transmission mechanism sends an execution signal to the robot host. At the same time, the operation of the slip ring 12 along the shell 11 can control the end effector to perform the operation. When the enabling assembly 13 is released, the end of the enabling assembly 13 is exposed from the slip ring 12, and the enabling assembly 13 no longer blocks the transmission light path of the signal transmission mechanism, and the transmission light path is in a conduction state.

[0070] Thus, when the slip ring 12 slides downward along the direction shown in Figure 2 , and drives the enabling assembly 13 to slide, the enabling assembly 13 can control the end effector to perform the operation through the force feedback mechanism 14, so that the end effector performs corresponding actions on the target point, such as puncture, line cutting or line sewing, etc. When the slip ring 12 slides upward along the direction shown in Figure 2 , and drives the enabling assembly 13 to slide, the enabling assembly 13 can control the end effector to exit the target point through the force feedback mechanism 14.

[0071] Of course, in some embodiments, the shell 11 can also be provided with a sliding rail corresponding to the sliding ring 12. The sliding rail is arranged on the inner wall of the shell 11. The sliding rail can guide the movement of the sliding ring 12, avoid the position of the sliding ring 12 from shifting when the sliding ring 12 slides along the shell 11, and ensure that the sliding ring 12 can accurately control the robot to perform actions. The enabling component 13 connects the sliding ring 12 and the sliding rail. The sliding ring 12 is slidably connected with the sliding rail through the enabling component 13.

[0072] The signal transmission mechanism is arranged in the shell 11 and used in cooperation with the enabling component. The signal transmission mechanism is electrically connected with the main control board, and signal transmission is realized by an optical-electric communication mode. The conduction and blockage of the transmission signal of the signal transmission mechanism can control whether the main control board sends an execution signal to the main control robot.

[0073] Optionally, the conduction or blockage of the transmission signal of the signal transmission mechanism realizes transmission control of the execution signal. Specifically, if the transmission signal of the signal transmission mechanism is in a conduction state, the main control board does not send an execution signal to the main control robot. When the transmission signal of the signal transmission mechanism is blocked, the signal transmission mechanism sends an execution signal to the main control robot through the main control board, and the main control robot controls the end effector to perform corresponding operations according to the execution signal. Of course, in other embodiments of the present application, the signal transmission mechanism can also realize signal transmission by other wireless or infrared modes.

[0074] In the present embodiment, the signal transmission mechanism emits a transmission light path, and the transmission of the execution signal is realized through the transmission light path. The conduction and blockage of the transmission light path of the signal transmission mechanism are realized by the enabling component 13. Of course, in other embodiments of the present application, the transmission signal can also be a signal other than the transmission light path. It should be noted that, for the convenience of description, only the enabling component is used to block or conduct the transmission light path of the signal transmission mechanism, and other forms of principles are substantially the same as the principle of the transmission light path, which will not be described here.

[0075] The enabling component 13 can be pressed relative to the shell 11, which will be embodied later. When the enabling component 13 is pressed, the enabling component 13 can move into the signal transmission mechanism to block the light path of the signal transmission mechanism. At the same time when the enabling component 13 is pressed, the enabling component 13 can also slide relative to the shell 11 to control the end effector to perform corresponding operations. When the enabling component 13 is released or the enabling component 13 is in an initial position, the enabling component 13 is separated from the transmission light path of the signal transmission mechanism, and the transmission light path is in a conduction state.

[0076] Moreover, the bottom of the shell 11 is provided with a force feedback mechanism 14 connected with the slip ring 12. The slip ring 12 is connected with the main control board and the main machine of the robot. The force feedback mechanism 14 can obtain the displacement of the linear motion output by the slip ring 12, and feed the displacement signal to the main machine of the robot through the main control board. The main machine of the robot converts the displacement signal into linear displacement, and controls the motion of the end effector according to the linear displacement, so that the end effector performs the operation. After the operation is completed, the master manipulator 100 performs reverse motion according to the end effector, and the principle is substantially the same as the needle insertion process, which will not be described here.

[0077] It can be understood that the linear displacement of the end effector and the linear motion displacement output by the enabling assembly 13 through the slip ring 12 have a certain proportional mapping relationship, such as 1:1, etc., and other proportional scaling can also be performed.

[0078] In addition, when the end effector performs the operation, the human tissue will generate a reaction force on the end effector, that is, the resistance of the operation. The resistance is detected by the sensor of the end effector and fed back to the main control board. The main control board controls the force feedback mechanism 14 to apply force to the slip ring 12 according to the resistance feedback by the end effector, so that the enabling assembly 13 can feel the resistance of the human tissue when outputting the linear motion, and realize the feedback function of the end control assembly 10. In this way, when the medical staff remotely controls the end control assembly 10 in the master manipulator 100, the force feedback mechanism 14 provides real-time force feedback for the medical staff, so that the medical staff can feel the resistance of the human tissue, and the operation process is more safe and efficient.

[0079] Optionally, a communication unit is arranged on the main control board, which is used to establish transmission connection between the main control board and the main machine of the robot, and realize information interaction between the main control board and the main machine of the robot. That is, the information interaction between the main control board and the main machine of the robot is realized through the communication unit. In order to simplify the description, the transmission between the main control board and the main machine of the robot through the communication unit is omitted, and the information interaction between the main control board and the main machine of the robot is directly described. Optionally, the communication unit includes but is not limited to Ethernet, serial port, wireless, CAN bus, Ether CAT bus, etc. In the embodiment, the communication unit realizes information interaction through Ethernet.

[0080] The end control assembly 10 of the above embodiment can truly simulate the clinical working condition through the cooperation of the signal transmission mechanism and the force feedback mechanism 14, so that the medical staff can feel the real-time resistance of the human tissue, and the whole operation process is more safe, efficient and accurate.

[0081] In an embodiment, the signal transmission mechanism comprises a transmitting element and a receiving element arranged at two ends of the housing 11. The transmitting element is used to emit a transmission light path, which is received by the receiving element. The enabling assembly 13 is capable of moving between the transmitting element and the receiving element, or away from the transmission light path of the transmitting element and the receiving element. After pressing the enabling assembly 13, the enabling assembly 13 is capable of blocking the transmission light path.

[0082] The transmitting element and the receiving element are arranged at two ends of the housing 11 in opposition, and the distance between the transmitting element and the receiving element is greater than the movement stroke of the slip ring 12. The transmitting element is capable of emitting a transmission light path all the time, which is received by the receiving element. Optionally, the signal transmission mechanism further comprises a conducting element for conducting the transmitting element and the receiving element. The transmitting element and the receiving element are conducted by the conducting element, and the transmitting element and the receiving element are respectively connected to the amplifiers at the ends, so as to facilitate signal transmission. Optionally, the conducting element is an optical fiber.

[0083] It is worth noting that the end control assembly 10 in the master manipulator 100 realizes non-contact needle insertion control through the signal transmission mechanism. When the enabling assembly 13 is pressed, the light blocking block in the enabling assembly 13 can block the transmission light path emitted by the transmitting element, so that the level state in the signal transmission mechanism changes to trigger an execution signal. When the enabling assembly 13 is released, the transmission light path is re-conducted, and the running state ends.

[0084] Specifically, when the enabling assembly 13 is pressed, the enabling assembly 13 can move between the transmitting element and the receiving element, so that the enabling assembly 13 blocks the transmission light path emitted by the transmitting element, and the receiving element cannot receive the transmission light path, indicating that the corresponding operation can be performed. At this time, the receiving end sends an execution signal to the robot host through the main control board, indicating that the movement of the end effector starts. When the enabling assembly 13 is released, the enabling assembly 13 moves away from the transmission light path emitted by the transmitting element, so that the enabling assembly 13 no longer blocks the transmission light path. After the receiving end receives the transmission light path, it can send a stop signal to the robot host through the main control board, indicating that the movement of the end effector stops.

[0085] Optionally, the signal transmission mechanism is an optical line sensor, the transmitting element is a transmitting end, and the receiving element is a receiving end. The transmitting element and the receiving element are connected through an optical fiber.

[0086] In an embodiment, the housing 11 comprises a first housing 11 and a second housing 11. The first housing 11 and the second housing 11 are oppositely arranged to enclose a cavity, and the signal transmission mechanism and the enabling assembly 13 are arranged in the cavity. Moreover, a slide rail is arranged in the first housing 11, and the signal transmission mechanism is arranged in the second housing 11, so as to avoid interference between the enabling assembly 13 and the connecting element of the signal transmission mechanism, and ensure that the signal transmission mechanism can work reliably.

[0087] Specifically, the slide rail is arranged on the inner wall of the first shell 11 along the axial direction of the shell 11. Moreover, part of the structure of the force feedback mechanism 14 is also arranged in the first shell 11, which will be mentioned later. The emitting member is fixed at one end of the second shell 11 by the first press-in plate, and the receiving member is fixed at the other end of the second shell 11 by the second press-in plate. Moreover, the inner wall of the second shell 11 is provided with a wire slot for fixing the conducting member, and the first press-in plate and the second press-in plate are used to avoid the disengagement of the connecting plate from the wire slot, thereby ensuring the reliability of the signal transmission mechanism.

[0088] In an embodiment, the enabling assembly 13 comprises an enabling button, a light-blocking block, a pressing reset member, and a sliding block connected with the slip ring 12. The sliding block is slidably arranged on the slide rail; the enabling button is pressingly arranged on the slip ring 12; the light-blocking block is movably arranged in the shell 11 and connected with the enabling button; the pressing reset member elastically connects the light-blocking block and the sliding block; when the enabling button is pressed, the light-blocking block can block the transmission signal. Optionally, the pressing reset member is a spring.

[0089] The sliding block is slidably arranged on the slide rail. The sliding block is fixedly connected with the slip ring 12, and when the slip ring 12 slides along the shell 11, the slip ring 12 can drive the sliding block to slide along the slide rail, thereby ensuring the accuracy of the movement track of the slip ring 12 and avoiding the position shift of the slip ring 12. Meanwhile, the friction of the slip ring 12 during sliding can be reduced. Optionally, the slip ring 12 is fixed on the sliding block by a threaded member or the like.

[0090] The slip ring 12 has a through hole in communication with the shell 11, and the enabling button is arranged in the through hole and protrudes from the slip ring 12, so that the enabling button can be pressingly arranged in the through hole. Optionally, the enabling button is arranged on the slip ring 12 by means of adhesion or the like. The slip ring 12 is moved up and down along the shell 11 by holding the slip ring 12 by hand and controlling whether to press the enabling button. When the enabling button is pressed, the slip ring 12 can slide along the shell 11, otherwise the slip ring 12 is fixed.

[0091] The enabling button is connected with the light-blocking block in the through hole. The enabling button can drive the light-blocking block to reciprocate in the shell 11, so that the light-blocking block is located in the transmission light path or away from the transmission light path. In the initial state, i.e., when the enabling button is not pressed, there is a certain space between the light-blocking block and the sliding block, which can be used for the transmission light path. When the enabling button is pressed, the light-blocking block blocks the above-mentioned space, thereby blocking the transmission light path.

[0092] It is worth mentioning that the structure of the light blocking block is not limited in principle as long as the light path can be blocked. When the enable button is pressed, the enable button retracts the sliding ring 12 and drives the light blocking block to move to the transmission light path to block the transmission light path, so that the signal transmission mechanism sends an execution signal. When the enable button is released, the enable button and the light blocking block are reset, the enable button extends out of the sliding ring 12, the light blocking block moves in the housing 11 to disengage from the transmission light path, and the transmission light path is turned on. At this time, the signal transmission mechanism does not send an execution signal.

[0093] A press reset member is arranged between the light blocking block and the sliding block, and the automatic reset of the enable button and the light blocking block is realized through the press reset member to ensure the accuracy of the operation process. Specifically, one end of the press reset member is connected with the light blocking block, and the other end of the press reset member is connected with the sliding block. When the enable button is pressed, the enable button can drive the light blocking block to move to block the transmission light path against the elastic force of the press reset member; when the enable button is released, the elastic force of the press reset member can drive the light blocking block and the enable button to reset, so that the light blocking block does not block the transmission light path.

[0094] In an embodiment, the force feedback mechanism 14 includes a mounting assembly, a linear motion assembly, and a force feedback assembly connected with the linear motion assembly. The mounting assembly is mounted on the bottom of the housing 11 and is used to mount the force feedback assembly. The linear motion assembly is arranged in the housing 11 and is connected with the sliding block. The force feedback assembly can apply resistance to the linear motion assembly.

[0095] The mounting assembly plays a supporting role and is arranged at the bottom of the housing 11 and is used to mount various components of the force feedback structure. Specifically, part of the linear motion assembly is arranged in the first housing 11 of the housing 11, and the bottom of the linear motion component is movably arranged in the mounting assembly. The force feedback assembly is movably mounted in the mounting assembly.

[0096] The linear motion assembly can be connected with the sliding block. When the sliding ring 12 drives the sliding block to move, the sliding ring 12 can drive the linear motion assembly to move linearly. Moreover, the force feedback assembly is connected with the linear motion assembly. The movement displacement of the sliding ring 12 is detected through the force feedback assembly. At the same time, the force feedback assembly can also apply resistance to the sliding ring 12 through the linear motion assembly and the sliding block to simulate the resistance of the human body tissue in real time.

[0097] When the sliding ring 12 moves linearly, the force feedback assembly can detect the distance of the linear motion of the sliding ring 12 and feed back to the robot host through the main control board. The robot host converts the linear motion distance of the sliding ring 12 into a linear displacement, and the robot host controls the end effector to perform an operation through the linear displacement.

[0098] Moreover, when the end effector enters the patient's body, the human tissue will generate a reaction force on the end effector, that is, an execution resistance. The resistance is detected by the sensor of the end effector and fed back to the force feedback assembly through the main control board, and the force feedback assembly applies a reaction force on the linear motion assembly, so that the movement of the sliding ring 12 and the linear motion assembly has resistance. In this way, when the medical staff operates the sliding ring 12, they can feel the real-time execution resistance.

[0099] In an embodiment, the linear motion assembly includes a first roller, a second roller spaced apart from the first roller, and a connecting rope connecting the first roller and the second roller. The first roller is rotatably arranged at one end of the housing 11 away from the mounting assembly, and the second roller is rotatably arranged at the mounting assembly.

[0100] The first roller is arranged at one end of the first housing 11 of the housing 11, the second roller is arranged at the mounting assembly, and the connecting rope is arranged around the first roller and the second roller. The connecting rope can drive the first roller and the second roller to rotate when the connecting rope moves. The connecting rope is also connected to the sliding ring 12 through the enabling assembly 13, and the sliding ring 12 can drive the connecting rope to move when the sliding ring 12 moves. Alternatively, the connecting rope is a steel wire rope. In this way, the slack of the connecting rope can be avoided. Of course, in other embodiments of the present application, the linear motion assembly can also be a chain wheel, a belt drive, etc.

[0101] The second roller is connected to the force feedback assembly, and when the second roller rotates, the force feedback assembly can detect the distance of the linear motion of the sliding ring 12 along the housing 11 and feed back to the robot host through the main control board to control the end effector to perform the operation. At the same time, the resistance in the process of operation of the end effector is also fed back to the main control board, and the main control board controls the movement of the force feedback assembly according to the resistance, so that the force feedback assembly outputs a torque acting on the second roller. When the sliding ring 12 moves the connecting rope through the sliding block, the torque acting on the second roller will exert a reaction force on the movement of the connecting rope. In this way, when the medical staff operates the sliding ring 12 to slide, they can feel the resistance generated by the torque of the force feedback assembly, that is, the resistance of the human tissue, to truly simulate the real-time working condition of the operation.

[0102] In an embodiment, the linear motion assembly further includes a tension spring arranged on the connecting rope for keeping the connecting rope in a tensioned state, so as to facilitate the sliding block to drive the first roller and the second roller to rotate through the connecting rope, and ensure that the distance of the linear motion of the sliding ring 12 can be accurately converted into the linear displacement of the end effector, so that the end effector can accurately perform the operation on the target point.

[0103] In an embodiment, the linear motion assembly further comprises a first limit member and a second limit member. The first limit member and the second limit member are respectively arranged at the first roller and the second roller, and are used to limit the movement stroke of the sliding ring 12. The first limit member and the second limit member are located between the first roller and the second roller, and the first limit member is arranged close to the first roller, and the second limit member is arranged close to the second roller. Optionally, the first limit member and the second limit member are limit switches. The first limit member and the second limit member are limit points of mechanical movement limitation, which ensure that the electrical limitation works before the mechanical limitation.

[0104] The first limit member and the second limit member can avoid overstroke operation of the sliding ring 12, ensure that the end effector operates within the overstroke range, and avoid accidents. When the sliding ring 12 drives the sliding block to the second limit position, the second limit member detects the sliding ring 12, indicating that the sliding block moves to the limit position (target position), and the end effector stops moving. When the sliding ring 12 drives the sliding block to the first limit member, the first limit member detects the sliding block, indicating that the sliding ring 12 moves to the limit position, at which time the end effector completes the reset operation.

[0105] Optionally, the first limit member and the second limit member are electrically connected with the main control board. The first limit member and the second limit member automatically identify the limit position of the sliding block and feed back to the main control board. When the sliding block moves to any limit position, the main control board can control the movement of the execution motor 141 to limit the continuous movement of the sliding ring 12.

[0106] In an embodiment, the enabling assembly 13 further comprises a mounting seat and a fixing component, the mounting seat connects the sliding block and the sliding ring 12, and the fixing component is used to fix the connecting rope on the mounting seat. The mounting seat is fixed on the sliding block, and is used to increase the contact area of the sliding block, facilitating the connection of the sliding block with the sliding ring 12 and other components of the enabling assembly 13. Optionally, the mounting seat and the sliding block can be an integral structure; of course, the mounting seat and the sliding block can also be connected in a detachable manner.

[0107] The mounting seat is fixed on the sliding block, and the mounting seat is connected with the sliding ring 12, and there is a space between the mounting seat and the light shielding block, and the pressing reset member can be installed in the space. Moreover, the mounting seat has a through hole through which the connecting rope passes, and the fixing component fixes the connecting rope on the mounting seat. In this way, when the sliding ring 12 drives the sliding block to move, the sliding ring 12 can drive the connecting rope to move synchronously through the mounting seat. Optionally, the fixing component comprises a threaded member and a pressing plate.

[0108] In an embodiment, the force feedback assembly comprises an execution motor 141 and a displacement detection member 142 arranged at the axial end of the second roller. The displacement detection member 142 is used to feed back the movement amount of the sliding ring 12 to the end effector, and the execution motor 141 is used to convert the resistance feedback by the end effector into torque and apply the torque to the connecting rope.

[0109] One end of the second roller is connected with the execution motor 141, and the other end of the second roller is connected with the displacement detection member 142. The current position state of the sliding block is detected through the displacement detection member 142, the movement stroke of the sliding block is recognized, and the robot host is fed back through the main control board. When the medical staff moves the sliding ring 12, the sliding ring 12 drives the second roller to rotate through the sliding block and the connecting rope, and then the displacement detection member 142 detects the displacement signal output, and controls the end effector to execute the same movement.

[0110] Optionally, the displacement detection member 142 is an absolute encoder, and the distance of the linear movement of the sliding ring 12 is detected through the absolute encoder. Further, the force feedback assembly further comprises an encoder connecting seat, and the absolute encoder is arranged at the shaft end of the second roller through the encoder connecting seat. Of course, in other embodiments of the application, the displacement detection member 142 is a potentiometer, and the movement stroke of the sliding block is recognized through the potentiometer. In other embodiments of the application, the displacement detection member 142 can also be a sensor or the like component, and the working principle thereof is substantially the same as that of the encoder, which will not be described here.

[0111] When the displacement detection member 142 is an absolute encoder, the absolute encoder can detect the displacement of the linear movement of the sliding ring 12, and feed back the displacement of the sliding ring 12 to the robot host through the main control board. The robot host converts the displacement of the sliding ring 12 into the linear displacement of the end effector, and then the robot host controls the end effector to perform the corresponding surgical operation on the target point.

[0112] The main control board is electrically connected with the execution motor 141. The force feedback is realized through the execution motor 141. When the sliding ring 12 is moved, the sliding ring 12 can control the end effector to perform the operation; at the same time, the sliding ring 12 drives the second roller to rotate through the connecting rope, and the second roller drives the execution motor 141 to rotate. If there is resistance from the human tissue to the end effector at this time, the execution motor 141 will generate an equivalent rotary torque acting on the second roller. In this way, when the sliding ring 12 is moved, the needle insertion resistance in the opposite direction of the movement direction of the sliding ring 12 can be felt.

[0113] Specifically, the resistance when the end effector contacts the human tissue can be detected through the sensor of the end effector. The sensor feeds back the resistance during needle insertion to the robot host, and then the robot host feeds back the resistance to the main control board. The main control board controls the execution motor 141 to generate a torque acting on the second roller through a certain current, and then the second roller acts the resistance on the connecting rope. The resistance generated by the torque is consistent with the resistance of the human tissue to the end effector. The resistance on the connecting rope acts on the medical staff through the sliding ring 12, and the doctor will feel the resistance when moving the sliding ring 12, so as to realize the real-time resistance feedback function.

[0114] It is worth mentioning that when the enable button is pressed, it indicates that the end effector is about to perform an action. When the medical staff pushes the sliding ring 12 downward, the sliding ring 12 will be subjected to resistance due to the action of the execution motor 141, and the resistance is formed by the superposition of the output resistance of the execution motor 141 and the system resistance of the device. Generally, the system resistance of the device is small and can be ignored, so the force experienced by the medical staff depends on the resistance of the execution motor 141. The data of the resistance in the execution process of the robot is fed back to the main control board through the robot host, the main control board adjusts the current of the execution motor 141, and then the resistance is transmitted to the sliding ring 12, and finally the hand holding the sliding ring 12 experiences a real-time force feedback.

[0115] In an embodiment, the end control assembly 10 further comprises a reset button. The reset button is arranged on the shell of the whole machine, and the reset button is electrically connected to the main control board and connected to the execution motor 141 through the main control board. When the end effector completes the action, the reset button is operated, the reset button controls the movement of the execution motor 141 through the main control board, so that the execution motor 141 drives the sliding block and resets the sliding ring 12 through the second roller and the connecting rope. Of course, in other embodiments of the present application, the reset operation can also be achieved by the reverse movement of the sliding ring 12 along the shell 11.

[0116] In an embodiment, the force feedback mechanism 14 further comprises a coupling, which connects the execution motor 141 and the second roller. By connecting the second roller and the execution motor 141 through the coupling, there is no transmission link between the second roller and the execution motor 141, which ensures the transmission efficiency, reduces the friction resistance, and improves the fidelity of the force feedback.

[0117] In an embodiment, the force feedback mechanism 14 further comprises a motor control unit, which is electrically connected to the main control board and the execution motor 141. The motor control unit can control the movement of the execution motor 141 to realize stable and accurate feedback of the resistance information of needle insertion. Alternatively, the motor control unit is a motor driver.

[0118] When the master manipulator 100 controls the execution action, the medical staff presses the enable button, the enable button drives the light shielding block to block the transmission light path of the signal transmission mechanism, the signal transmission mechanism sends an execution signal to the robot host through the main control board, and then the robot host controls the end effector to drive the end effector to run. At this time, the medical staff moves the sliding ring 12 along the shell 11, so that the sliding ring 12 moves from the direction of the first roller to the direction of the second roller. During the movement of the sliding ring 12, the sliding ring 12 drives the connecting rope to move through the sliding block, and then the connecting rope drives the first roller and the second roller to rotate.

[0119] When the second roller rotates, the displacement detection member 142 on the second roller can detect the displacement of the linear motion of the slip ring 12 and transmit it to the robot host through the main control board. The robot host converts the displacement into the linear displacement of the end effector.

[0120] When the end effector enters the human body, the sensor of the end effector can detect the force generated by the interaction with the human tissue. The sensor feeds back the resistance to the motor control unit through the machine host and the main control board. The motor control unit controls the execution motor 141 to generate a torque on the second roller by applying a certain current, and the torque of the second roller can act on the connecting rope, and then the resistance is transmitted to the slip ring 12 and then to the hands of the medical staff through the connecting rope. The medical staff can feel the moving resistance and realize the function of real-time force feedback.

[0121] The end control assembly 10 controls the end effector to perform the surgical operation in the above-mentioned manner, and after the end of the end effector moves to the target point, the end control assembly 10 controls the end effector to perform the corresponding surgical operation. When the operation is completed, the reset can be realized according to the reverse motion of the slip ring 12, or the automatic reset of the slip ring 12 can be realized through the reset button.

[0122] Specifically, as shown in Figure 2 The pose adjusting mechanism 20 includes a first rotating assembly 21 and a second rotating assembly 22 arranged in series. The end control assembly 10 is installed on the first rotating assembly 21; the first rotating assembly 21 is installed on the second rotating assembly 22. The first rotating assembly 21 can rotate around the first axis A; the second rotating assembly 22 can rotate around the second axis B. The first axis A and the second axis B are arranged at an angle; and the first axis A and the second axis B can be coplanar or not coplanar. The first rotating assembly 21 can rotate around the first axis A and correspond to the pose adjusting joint of the robot close to the end effector. The second rotating assembly 22 can be rotatably arranged around the second axis B and correspond to another pose adjusting joint adjacent to the above-mentioned pose adjusting joint in the robot. The end control assembly 10 can rotate around the first axis A through the first rotating assembly 21; and the first rotating assembly 21 installed with the end control assembly 10 can rotate around the second axis B through the second rotating assembly 22. The actual movement amount of the end control assembly 10 is the vector sum of the two rotations.

[0123] The first axis A is the rotation axis of the first rotating assembly 21; and the second axis B is the rotation axis of the second rotating assembly 22. The first axis A and the second axis B are arranged at an angle, which means that the angle between them is greater than 0° and less than 180°. Preferably, the first axis A and the second axis B are perpendicular to each other.

[0124] It needs to be explained that the first rotating assembly 21 and the second rotating assembly 22 arranged in series refer to that the rotation of the first rotating assembly 21 and the second rotating assembly 22 respectively corresponds to two adjacent pose adjusting joints 201, 202 of the robot, and the rotation of the first rotating assembly 21 and the second rotating assembly 22 is independent, the rotation of the first rotating assembly 21 does not affect the second rotating assembly 22, and the rotation of the second rotating assembly 22 drives the first rotating assembly 21 to rotate as a whole around the second axis B. The second rotating assembly 22 is arranged on the turntable 32, the first rotating assembly 21 is arranged on the second rotating assembly 22, and the end control assembly 10 is installed on the first rotating assembly 21. The first rotating assembly 21 can output the rotary motion around the first axis A, and the second rotating assembly 22 can output the rotary motion around the second axis B. That is, the rotary motion of the first rotating assembly 21 does not affect the second rotating assembly 22, but when the second rotating assembly 22 rotates, the first axis A of the first rotating assembly 21 changes in the plane perpendicular to the second axis B.

[0125] In an embodiment, as shown in Figure 5 The first rotating assembly 21 includes a connector 211, a first rotating shaft 212 rotatably arranged in the connector 211, and a first feedback assembly 213. The connector 211 is used to install the end control assembly 10, the end of the first rotating shaft 212 is connected to the first feedback assembly 213, and the first feedback assembly 213 is used to provide force feedback when the first rotating shaft 212 rotates.

[0126] The connector 211 realizes the installation of the first rotating shaft 212 and can install the end control assembly 10. Moreover, the two ends of the first rotating shaft 212 protrude out of the connector 211 and are rotatably installed on the second rotating assembly 22. Alternatively, the structure of the connector 211 is not limited as long as it can connect the end control assembly 10 and install the first rotating shaft 212. Exemplarily, the connector 211 includes two parts, and a cavity is formed by the two parts to facilitate the installation of the first rotating shaft 212. The end of the first rotating shaft 212 protruding out can be connected to the first feedback assembly 213. The resistance when rotating and adjusting the pose is fed back through the first feedback assembly 213 to simulate the actual pose adjusting process of the end control assembly 10, which is convenient for medical staff to operate.

[0127] The rotation axis of the first rotating shaft 212 is the first axis A. The shell 11 is held, the shell 11 drives the first rotating shaft 212 to rotate through the connector 211, so that the first rotating shaft 212 rotates around the first axis A, and then the first rotating shaft 212 can drive the first feedback assembly 213 to rotate. The first feedback assembly 213 is in communication connection with the robot host through the main control board to realize information interaction.

[0128] When the end effector rotates to adjust the spatial pose and encounters pose adjustment resistance, the sensor of the end effector detects the resistance and feeds back to the robot host; the robot host feeds back the pose adjustment resistance to the main control board, and the main control board controls the first feedback assembly 213 to apply the same force as the resistance to the first rotating shaft 212. In this way, when the medical staff rotates the first rotating shaft 212 through the shell 11, the medical staff can feel the resistance in the opposite direction of the rotation, thereby realizing the force feedback during pose adjustment.

[0129] In an exemplary embodiment, the first feedback assembly 213 includes a first deceleration component, a first encoding component, and a first feedback component. The first encoding component is arranged at one end of the first rotating shaft 212, and the other end of the first rotating shaft 212 is connected to the first feedback component through the first deceleration component. The first feedback component includes a force feedback motor and a brake component arranged at the output end of the force feedback motor.

[0130] The first encoding component and the first deceleration component are arranged at both ends of the first rotating shaft 212, the first feedback component is arranged on the bearing base 31, and the first deceleration component is further connected to the first feedback component. When the first rotating shaft 212 rotates, the first rotating shaft 212 can drive the first encoding component and the first deceleration component to rotate. The rotation angle of the first rotating shaft 212 can be detected by the first encoding component, which is the rotation angle of the shell 11 around the first axis A. The first encoding component is electrically connected to the main control board, and the information of the rotation angle detected by the first encoding component is fed back to the robot host through the main control board, so as to control the end effector to rotate by the same angle, thereby realizing the synchronous change of the two.

[0131] The first deceleration component rotates at the same time, and the first deceleration component can drive the rotation of the first feedback component. If the first feedback component receives the pose adjustment resistance when the pose adjustment encounters resistance, the first feedback component can apply resistance to the first rotating shaft 212 in the opposite direction of rotation through the first deceleration component, so as to realize the force feedback of real-time rotation. When the rotation angle adjustment of the pose adjustment mechanism 20 along the first axis A is completed, the main control board can also control the first feedback component to lock the first rotating shaft 212, so that the first rotating shaft 212 cannot rotate, avoiding the influence of the rotation of the first rotating shaft 212 on the overall spatial pose in the later period.

[0132] Optionally, the first feedback component includes a force feedback motor and a brake component arranged on the output shaft of the force feedback motor. The force feedback motor applies resistance to the first rotating shaft 212. Moreover, the brake component can realize the braking of the force feedback motor. When the rotation of the pose adjustment mechanism 20 along the first axis A is completed, it is not necessary to continue to rotate along the first axis A, and the brake component can tightly hold the output shaft of the force feedback motor, limit the rotation of the output shaft of the force feedback motor, and then the first deceleration component cannot rotate, so as to limit the rotation of the first rotating shaft 212.

[0133] Optionally, the first speed reducer is a synchronous belt structure, one of which is a large wheel and the other is a small wheel. The small wheel is arranged at the output end of the force feedback motor, and the large wheel is arranged at the end of the first rotating shaft 212. The synchronous belt connects the large wheel and the small wheel to achieve transmission speed reduction. Of course, in other embodiments of the application, the first speed reducer can also be a wheel transmission structure, a gear transmission structure, etc., which has substantially the same principle as the synchronous belt structure, and will not be described here.

[0134] Optionally, the first encoder is an encoder, which includes a magnetic disk and a reading head. The first encoder detects the rotation angle of the first rotating shaft 212 through the cooperation of the magnetic disk and the reading head. The first encoder is electrically connected to the main control board, and the rotation angle of the first rotating shaft 212 is fed back to the robot host through the main control board, and the robot host controls the end effector to rotate the same angle.

[0135] In an embodiment, the second rotating assembly 22 includes a support seat 221 rotatably mounting the first rotating shaft 212, a second rotating shaft 222, and a second feedback assembly 223. The second rotating shaft 222 extends along both ends of the support seat 221 and is rotatably mounted to the turntable 32. The end of the second rotating shaft 222 is connected to the second feedback assembly 223, and the second feedback assembly 223 is used to provide force feedback to the second rotating shaft 222 when rotating.

[0136] The support seat 221 is used to rotatably mount the first rotating assembly 21 on the second rotating assembly 22, and the support seat 221 rotatably supports the first rotating shaft 212 at both ends of the adapter seat 211 and is fixedly connected with the second rotating shaft 222. Optionally, the support seat 221 is fixed on the turntable 32 by a threaded member or the like. The resistance during the rotation and pose adjustment is fed back by the second feedback assembly 223.

[0137] It can be understood that the second rotating shaft 222 includes two shaft segments arranged on both sides of the circumference of the first rotating shaft 212, so as to ensure that the second rotating shaft 222 can be arranged separately from the first rotating shaft 212, and to avoid interference while ensuring reliable pose adjustment. The rotation axis of the second rotating shaft 222 is the second axis B. Specifically, the first rotating shaft 212 can rotate relative to the adapter seat 211 to realize the adjustment of the pose of the pose adjustment mechanism 20 around the first axis A. The housing 11 can drive the second rotating shaft 222 to rotate around the second axis B through the adapter seat 211, the first rotating shaft 212, and the adapter seat 211, and correspond to each pose adjustment joint of the robot, so as to realize the pose adjustment of the robot pose adjustment joint around the second axis B.

[0138] When the first feedback assembly 213 locks the first rotating shaft 212, the shell 11 can drive the second rotating shaft 222 to rotate through the adapter 211 and the first rotating shaft 212, so that the second rotating shaft 222 rotates around the second axis B, and the second rotating shaft 222 can drive the second feedback assembly 223 to rotate. The second feedback assembly 223 is in communication connection with the robot host through the main control board, so as to realize information interaction.

[0139] If the robot host feeds back the pose adjustment resistance to the main control board when the pose adjustment resistance is encountered during the adjustment of the spatial pose, the main control board controls the second feedback assembly 223 to apply a force with the same size as the resistance to the second rotating shaft 222. In this way, the medical staff can feel the resistance in the opposite direction when the shell 11 drives the second rotating shaft 222 to rotate, so as to realize the force feedback during the pose adjustment.

[0140] In an embodiment, the second feedback assembly 223 includes a second speed reducer, a second encoding part, and a second feedback part. The second encoding part is arranged at two ends of the second rotating shaft 222, and the other two ends of the second rotating shaft 222 are connected to the second feedback part through the second speed reducer. The second feedback part includes a force feedback motor and a brake part arranged at the output end of the force feedback motor.

[0141] The second encoding part and the second speed reducer are arranged at two ends of the second rotating shaft 222, and the second feedback part is arranged on the turntable 32. The second speed reducer is also connected to the second feedback part. When the second rotating shaft 222 rotates, the second rotating shaft 222 can drive the second encoding part and the second speed reducer to rotate. The rotation angle of the second rotating shaft 222 can be detected through the second encoding part, which is the rotation angle of the shell 11 around the second axis B. The second encoding part is electrically connected to the main control board, and the main control board feeds back the information of the rotation angle detected by the second encoding part to the robot host, so as to control the end effector to rotate by the same angle.

[0142] The second speed reducer can drive the rotation of the second feedback part while rotating. If the second feedback part receives the pose adjustment resistance of the end effector when the pose adjustment resistance is encountered, the second feedback part can apply a resistance in the opposite direction to the second rotating shaft 222 through the second speed reducer, so as to realize real-time force feedback. When the rotation angle adjustment of the pose adjustment mechanism 20 along the second axis B is completed, the main control board can also control the second feedback part to lock the second rotating shaft 222, so that the second rotating shaft 222 cannot rotate, avoiding the influence on the spatial pose of the end effector in the later period.

[0143] Optionally, the second feedback member comprises a force feedback motor and a brake component arranged on the output shaft of the force feedback motor. Resistance is applied to the second rotating shaft 222 by the force feedback motor. Moreover, the brake component can realize braking of the force feedback motor. When the rotation of the pose adjustment mechanism 20 along the second axis B is completed, the brake component can tightly hold the output shaft of the force feedback motor without continuing to rotate along the second axis B, thereby limiting the rotation of the output shaft of the force feedback motor, and further limiting the rotation of the second rotating shaft 222.

[0144] Optionally, the second speed reduction member is a synchronous belt structure, wherein two are large wheels and the other two are small wheels. The small wheels are arranged on the output end of the force feedback motor, and the large wheels are arranged at the end of the second rotating shaft 222. The synchronous belt connects the large wheels and the small wheels to realize transmission speed reduction. Of course, in other embodiments of the present application, the second speed reduction member can also be a wheel transmission structure, a gear transmission structure, etc., which has substantially the same principle as the synchronous belt structure, and will not be described here.

[0145] Optionally, the second encoding member is an encoder comprising a magnetic disk and a reading head, and the rotation angle of the second rotating shaft 222 is detected by cooperation of the magnetic disk and the reading head. The second encoding member is electrically connected with the main control board, and the rotation angle of the second rotating shaft 222 is fed back to the robot host through the main control board, and the robot host controls the end effector to rotate the same or corresponding angle.

[0146] It is worth noting that the first rotating shaft 212 and the second rotating shaft 222 are rotatably installed through bearings to ensure smooth and reliable rotation of the first rotating shaft 212 and the second rotating shaft 222. Moreover, the first rotating shaft 212 and the second rotating shaft 222 are limited by bearing end covers.

[0147] Of course, in other embodiments, the pose adjustment mechanism 20 can also have more pose adjustment joints, which have substantially the same structure as the first rotating assembly 21 or the second rotating assembly 22, and will not be described here.

[0148] When the master manipulator 100 of the present application is used, the spatial pose of the robot end effector is first adjusted by rotation of the pose adjustment mechanism 20, and then the pose adjustment mechanism 20 is locked. Then the end effector is controlled to perform operation by movement of the end control assembly 10. After the operation is completed, the end effector is reset by the end control assembly 10. Of course, before the master manipulator 100 is used, the robot end effector can also be positioned, and then the end control assembly 10 is mapped to the robot pose through the pose adjustment mechanism 20, so that the pose of the master manipulator 100 and the robot is consistent.

[0149] Based on the above-mentioned posture adjusting mechanism 20 with at least two degrees of freedom (rotation of the posture adjusting mechanism 20 along the first axis A and the second axis B) and the degree of freedom of the end control assembly 10 (axial movement of the slip ring 12 along the shell 11), in the working condition of positioning the robot posture adjusting joint, the master manipulator 100 can only ensure that the posture adjusting plane of the master manipulator 100 is parallel to the posture adjusting plane of the robot end effector to realize absolute attitude mapping; but the existing master manipulator and robot cannot realize strict one-to-one correspondence in most working conditions, and can only perform incremental posture adjustment.

[0150] As shown in Figure 6 , in order to facilitate adjustment of the posture adjusting plane of the master manipulator 100, the master manipulator 100 is further provided with a rotating platform 30, so that the above-mentioned posture adjusting mechanism 20 as a whole can be rotated to map the posture adjusting plane where the robot posture adjusting joint is located. The master manipulator 100 is provided with the rotating platform 30, so that the degree of freedom of the posture adjusting mechanism 20 mapping the robot attitude is increased by one, and this degree of freedom can map the posture adjusting plane of the posture adjusting mechanism 20, so that the master manipulator 100 and the robot can realize strict one-to-one mapping relationship.

[0151] It needs to be particularly emphasized that the joint corresponding to the rotating platform 30 of the robot is not the same as the joint corresponding to the posture adjusting mechanism 20 of the robot.

[0152] Specifically, as shown in Figures 4 to 6 , the rotating disc 32 of the rotating platform 30 is fixedly connected with the support seat 221 of the second rotating assembly 22; the base 31 and the rotating disc 32 can rotate relative to each other. The base 31 can be arranged on other loading equipment. Among them, the rotating axis of the rotating disc 32 relative to the base 31 is the third axis C. The third axis is arranged perpendicular to the first axis A and the second axis B.

[0153] It can be understood that in other embodiments, the third axis can be arranged at other angles between the first axis A or the second axis B, as long as the mapping degree of freedom of the robot joint of the master manipulator 100 can be realized.

[0154] In an embodiment, the base 31 is substantially a square frame structure, and a circular mounting space is arranged in the middle. The structure of the base 31 can also be arranged according to actual installation requirements, which is not limited here. The rotating disc 32 is substantially a circular disc structure, which is arranged in the mounting space of the base 31 and is rotatably connected with the base 31. The two sides of the rotating disc 32 extend to the direction of the second rotating assembly 22 to form two connecting ears; the connecting ears are used to rotatably mount the second rotating shaft 222. The shape of the rotating disc 32 can be arranged according to actual requirements, which is not limited here.

[0155] In an embodiment, the third rotating assembly 40 is arranged between the rotating disc 32 and the base 31. The third rotating assembly 40 is used to rotatably mount the rotating disc 32 to the base 31. Specifically, the third rotating assembly 40 comprises a third driving member 41 and a third transmission assembly 42. The third driving member 41 is mounted to the base 31 and is communicatively connected to the main control board. The third driving member 41 is used to electrically control the rotation angle of the third transmission assembly 42. The third transmission assembly 42 is connected to the output end of the third driving member 41 and is used to transmit the output power of the third driving member 41 to the rotating disc 32. Under the driving action of the third driving member 41, the third transmission assembly 42 can drive the rotating disc 32 to rotate relative to the base 31 about the third axis, and drive the posture adjusting mechanism 20 to rotate along the plane of the base 31. The plane of the base 31 is arranged perpendicular to the third axis. The third driving member 41 is a driving member such as a speed reducer that is suitable for the driving force of the rotating disc 32. In this way, the rotation angle between the rotating disc 32 and the base 31 can be electrically controlled, thereby preparing for the active adjustment of the rotating disc 32 of the master hand manipulator 100 to be parallel to the posture adjusting plane of the robot.

[0156] It can be understood that in other embodiments, if the rotating disc 32 is connected to the output end of the third driving member 41, the third transmission assembly 42 can be omitted accordingly, as long as the purpose of driving the rotating disc 32 can be achieved.

[0157] Further, the third transmission assembly 42 comprises a worm gear and a worm that are engaged with each other. The worm is connected to the output end of the third driving member 41. The worm gear is fixed to the rotating disc 32 and is coaxially arranged. The worm is used to connect a power source. The worm gear is used to engage with the worm and drive the rotating disc 32 to rotate. When the third driving member 41 drives the worm to rotate, the worm gear rotates about the third axis accordingly, while driving the rotating disc 32 to rotate about the third axis. The rotation of the rotating disc 32 simultaneously adjusts the posture of the posture adjusting mechanism 20 as a whole, i.e., simultaneously changes the directions of the second axis B and the first axis A. However, the angle between the first axis A and the second axis B remains unchanged. In this way, the rotation angle between the rotating disc 32 and the base 31 can be accurately controlled, and the overall structure of the third transmission assembly 42 is simple.

[0158] It can be understood that in other embodiments, the third transmission assembly 42 can also be a structure such as a belt drive, as long as it can be connected to the third driving member 41 and drive the rotating disc 32 to rotate.

[0159] In an embodiment, the third rotating assembly 40 further comprises a third encoder. The third encoder is mounted at the position of the rotating disc 32 and is used to detect the rotation angle of the rotating disc 32. The rotation angle detected by the third encoder can be transmitted to the main control board, and the information of the rotation angle detected by the third encoder is fed back to the robot host through the main control board, so as to control the posture adjusting joint of the robot as a whole to rotate by the same angle, thereby realizing the synchronous change of the two.

[0160] Of course, in other embodiments, the turntable 32 can also be actively synchronized with the pose adjustment plane where the robot pose adjustment joints are located. Specifically, the correspondence between the master manipulator 100 and the pose adjustment plane where the robot pose adjustment joints are located is achieved by detecting the angles of rotation of the first adjustment joint 203 and the second adjustment joint 204, and adding the vectors of the two to form the rotation angle information, which is fed back to the master control board through the robot host; then the master control board controls the third driving member 41 to rotate by a corresponding angle, thereby driving the turntable 32 to rotate by a corresponding angle (the vector sum of the first adjustment joint 203 and the second adjustment joint 204), so as to realize the mapping of the master manipulator 100 to the robot pose adjustment plane (i.e., the rotation of the turntable 32 relative to the base 31 is associated with the movement of at least one joint of the robot). This process can be performed after the robot pose adjustment joint is positioned (the operator freely adjusts the pose). In this way, the rotational freedom of the turntable 32 relative to the base 31 is set to an active mapping joint, which can realize the same mapping as the robot pose without manual dragging.

[0161] Please refer to Figure 7 and Figure 8 , Figure 7 the principle diagram of the robot multi-freedom pose adjustment associated with the movement of the master manipulator 100 is shown in Figure 1 . Figure 8 the schematic diagram of the master manipulator 100 before and after adjusting the pose of the robot is shown in Figure 1 .

[0162] The working principle of the master manipulator 100 is described in detail as follows:

[0163] As shown in Figure 7 and Figure 8 , the pose adjustment plane where the robot pose adjustment joints are located is realized by the vector sum of the rotation of the first adjustment joint 203 and the second adjustment joint 204; and the pose adjustment joints of the end effector correspond to the first rotating assembly 21 and the second rotating assembly 22, respectively. In the preoperative preparation stage, the pose of the robot needs to be first calibrated as Figure 8 shown in the left figure, at this time the attitude of the end effector is perpendicular to the horizontal plane, which is defined as zero position; then the robot is adjusted according to the needs of each pose adjustment joint (the pose adjustment joint 201 and the pose adjustment joint 202 correspond to the first rotating assembly and the second rotating assembly, respectively), the first adjustment joint 203 and the second adjustment joint 204 are adjusted and recorded one by one, and are transmitted to the master manipulator 100.

[0164] The master manipulator 100 controls the driving members corresponding to the first rotating assembly 21, the second rotating assembly 22 and the third rotating assembly 40 to rotate by a corresponding angle, respectively, to realize the synchronization of the attitude of each joint: Figure 8The master manipulator 100 is adjusted from the zero position to the pose adjustment position corresponding to the robot. The zero position of the master manipulator 100 is the position where the axis of the end control assembly 10 coincides with the third axis of the turntable 32; the pose adjustment plane of the master manipulator 100 at the zero position is parallel to the pose adjustment plane of the robot at the zero position. When the robot end effector changes the pose adjustment plane during the self-positioning process, the angle of the turntable 32 of the master manipulator 100 is equal to the vector sum of the first adjustment joint 203 and the second adjustment joint 204 of the robot (because the rotation angles of the first adjustment joint 203 and the second adjustment joint 204 are divided into positive and negative (left and right) directions). Figure 7

[0165] When the robot adjusts the pose adjustment joints corresponding to the first rotation assembly 21 and the second rotation assembly 22 during the positioning process, the rotation angle information of the corresponding pose adjustment joints relative to the zero position is transmitted to the main control board of the master manipulator 100, and the angles corresponding to the rotation of the first rotation assembly 21 and the second rotation assembly 22 relative to the zero position are controlled. After the robot completes the positioning, the master manipulator 100 realizes one-to-one mapping relationship between the pose of the end control assembly 10 and the pose of the robot end effector through the above mapping process, that is, the two are completely synchronized; then the operator adjusts the robot end effector through the master manipulator 100 according to the CT imaging.

[0166] Embodiment Two

[0167] Please refer to Figure 9 , Figure 9 The structure diagram of the master manipulator for the puncture robot according to another embodiment of the present application is shown.

[0168] The master manipulator 100 for the puncture robot according to an embodiment of the present application comprises the above-mentioned pose adjustment mechanism 20 and the rotating platform 30. The pose adjustment mechanism 20 is associated with the movement of the pose adjustment joint of the puncture robot; the rotating platform 30 is associated with the movement of at least one joint of the robot. The pose adjustment joint of the puncture robot is substantially the same as the above-mentioned robot adjustment direction and driving mode, which will not be repeated here. However, the difference is that the end effector of the puncture robot is an end puncture device.

[0169] ​Different from the above embodiment, the above end control assembly 10 is configured as a puncture control assembly 10a. The structure of the puncture control assembly 10a is substantially the same as that of the above end control assembly 10, but different from the above end control assembly 10, the puncture control assembly 10a controls the end puncture device in the puncture robot. The puncture control assembly 10a is used to control the needle insertion of the end puncture device of the puncture robot. The puncture control assembly 10a is rotatably connected to the posture adjusting mechanism 20. The puncture control assembly 10a can rotate around its own axis (i.e. the axis of the shell 11), and the rotation of the puncture control assembly 10a is not synchronized to the robot. The puncture control assembly 10a can be freely rotated around its own axis. When the puncture control assembly 10a is operated, the operator's arm can be in a more comfortable posture, and the corresponding relationship of the posture adjusting plane or the posture adjusting joint is not affected, and the absolute posture adjusting and puncture action are realized.

[0170] Specifically, the master manipulator 100 further comprises a handle rotating assembly 60. The handle rotating assembly 60 is used to rotatably mount the puncture control assembly 10a on the adapter seat 211 of the first rotating assembly 21. The handle rotating assembly 60 comprises a rotating bracket and a rotating bearing mounted between the rotating bracket and the end control assembly of the puncture control assembly 10a. The rotating bracket is mounted on the posture adjusting mechanism 20; the rotating bearing is sleeved on the end of the puncture control assembly 10a relatively close to the posture adjusting mechanism 20, and is connected with the rotating bracket. The rotating bracket is used to carry the rotating bearing and connect the rotating bearing to the adapter seat 211. The rotating bearing is used to rotatably mount the shell 11 of the puncture control assembly 10a on the adapter seat 211.

[0171] It can be understood that in other embodiments, the rotating bracket can be omitted accordingly, as long as the puncture control assembly 10a can be rotatably arranged on the adapter seat 211.

[0172] In this embodiment, the rotation freedom degree between the puncture control assembly 10a and the first rotating assembly 21 is arranged, so that the operator can control the puncture control assembly 10a in a more comfortable posture.

[0173] Embodiment three

[0174] An embodiment of the present application further provides a master manipulator 100 for a puncture robot. The master manipulator 100 comprises a posture adjusting mechanism 20 and a puncture control assembly 10a; the puncture control assembly 10a is rotatably connected to the posture adjusting mechanism 20. The posture adjusting mechanism 20 and the puncture control assembly 10a have the same structure as in the second embodiment, and will not be described here.

[0175] Different from the embodiments, the master manipulator 100 does not include the rotating platform 30, and the posture adjusting mechanism 20 is used in cooperation with a mounting platform (not shown in the figure). In the embodiment, the mounting platform is the rotating disc described above and is fixedly mounted on a rack.

[0176] It can be understood that in other embodiments, the posture adjusting mechanism 20 can also be used in cooperation with other components.

[0177] An embodiment of the present application further provides a robot system, which comprises the master manipulator in any one of the above embodiments.

[0178] Of course, the robot system can further comprise a display capable of displaying CT images and a voice transmission device.

[0179] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present application.

[0180] The above embodiments only express several embodiments of the present application, the description is relatively specific and detailed, however, it should not be considered as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A master manipulator for a needle insertion robot, characterized by, The master hand controller comprises: An attitude adjusting mechanism having multiple degrees of freedom; A puncture control assembly rotatably connected to the attitude adjusting mechanism, the puncture control assembly being used for controlling the needle insertion of a robot end puncture device; The master hand controller further comprises a handle rotating assembly, the handle rotating assembly comprising a rotating support and a rotating bearing installed between the rotating support and the puncture control assembly, the rotating support being installed on the attitude adjusting mechanism; and the rotating bearing being sleeved on one end of the puncture control assembly which is relatively close to the attitude adjusting mechanism.

2. The master hand manipulator of claim 1, wherein The puncture control assembly comprises: A shell rotatably arranged on the rotating support through the rotating bearing; A sliding ring slidingly arranged on the shell; and An enabling assembly pressingly arranged on the sliding ring and the shell and capable of triggering the movement of the robot end puncture device; The enabling assembly moves along the axial direction of the shell under the driving of the sliding ring.

3. The master hand manipulator of claim 2, wherein, The sliding ring is sleeved on the outside of the shell and is adapted to the shape of the outside of the shell, the sliding ring is provided with a mounting hole, and the enabling assembly extends in a direction away from the shell and protrudes out of the mounting hole.

4. The master hand manipulator of claim 1, wherein The attitude adjusting mechanism has two degrees of freedom, and the attitude adjusting mechanism comprises a first rotating assembly and a second rotating assembly arranged in series; The puncture control assembly is installed on the first rotating assembly; The first rotating assembly is installed on the second rotating assembly, the first rotating assembly and the second rotating assembly each have an axis of rotation and are capable of rotating around the axis of rotation, and the first rotating assembly and the second rotating assembly correspond to the two degrees of freedom of the attitude adjusting mechanism respectively; The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are arranged at an angle.

5. The master hand manipulator of claim 4, wherein The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are perpendicular to each other.

6. The master hand manipulator of claim 4, wherein, The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are coplanar.

7. The master hand manipulator of claim 5, wherein The first rotating assembly comprises an adapter, a first rotating shaft rotatably arranged on the adapter, and a first feedback assembly, the adapter being used for installing the puncture control assembly, an end of the first rotating shaft being connected to the first feedback assembly, and the first feedback assembly being used for providing force feedback when the first rotating shaft rotates.

8. The master hand manipulator of claim 5, wherein, The second rotating assembly comprises a support seat rotatably installed with the first rotating shaft, a second rotating shaft, and a second feedback assembly, the second rotating shaft extending from both ends of the support seat, an end of the second rotating shaft being connected to the second feedback assembly, and the second feedback assembly being used for providing force feedback when the second rotating shaft rotates.

9. The master hand manipulator of claim 1, wherein, The puncture control assembly further comprises a signal transmission mechanism and a force feedback mechanism, the signal transmission mechanism being used for signal transmission, and the force feedback mechanism being used for feeding back the force condition of the robot end puncture device.

10. A master manipulator for a needle insertion robot, characterized by The master hand controller comprises: An attitude adjusting mechanism having multiple degrees of freedom; The puncture control assembly is connected to the posture adjusting mechanism, and is used for controlling the needle insertion of a robot end puncture device. The puncture control assembly comprises a shell, a sliding ring and an enabling assembly. The sliding ring is slidingly arranged in the shell, and the enabling assembly is pressingly arranged in the sliding ring and the shell and can trigger the movement of the robot end puncture device. The enabling assembly moves along the axial direction of the shell under the driving of the sliding ring.

11. The master hand manipulator of claim 10, wherein, The puncture control assembly is rotationally connected to the posture adjusting mechanism.

12. The master hand manipulator of claim 11, wherein, The posture adjusting mechanism has two degrees of freedom, and comprises a first rotating assembly and a second rotating assembly arranged in series. The first rotating assembly is mounted with the puncture control assembly. The first rotating assembly is mounted on the second rotating assembly. The first rotating assembly and the second rotating assembly each have an axis of rotation and can rotate around the axis of rotation. The first rotating assembly and the second rotating assembly correspond to the two degrees of freedom of the posture adjusting mechanism respectively. The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are arranged at an angle.

13. The master hand manipulator of claim 12, wherein, The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are perpendicular to each other.

14. The master hand manipulator of claim 12, wherein, The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are coplanar.

15. The master hand controller of claim 12, wherein, The first rotating assembly comprises an adapter seat, a first rotating shaft rotatably arranged in the adapter seat and a first feedback assembly. The adapter seat is used for mounting the puncture control assembly. The end of the first rotating shaft is connected with the first feedback assembly. The first feedback assembly is used for providing force feedback when the first rotating shaft rotates.

16. The master hand manipulator of claim 12, wherein, The second rotating assembly comprises a support seat rotatably mounting the first rotating shaft, a second rotating shaft and a second feedback assembly. The second rotating shaft extends from both ends of the support seat. The end of the second rotating shaft is connected with the second feedback assembly. The second feedback assembly is used for providing force feedback when the second rotating shaft rotates.

17. The master hand controller of claim 10, wherein, The puncture control assembly further comprises a signal transmission mechanism and a force feedback mechanism. The signal transmission mechanism is used for signal transmission. The force feedback mechanism is used for feeding back the force condition of the robot end puncture device.

18. A master manipulator for a needle insertion robot, comprising: The master hand controller comprises: The posture adjusting mechanism has two degrees of freedom, and comprises a first rotating assembly and a second rotating assembly arranged in series. The first rotating assembly is mounted with a puncture control assembly. The first rotating assembly is mounted on the second rotating assembly. The first rotating assembly and the second rotating assembly each have an axis of rotation and can rotate around the axis of rotation. The first rotating assembly and the second rotating assembly correspond to the two degrees of freedom of the posture adjusting mechanism respectively. The axis of rotation of the first rotating assembly and the axis of rotation of the second rotating assembly are arranged at an angle. The first rotating assembly comprises an adapter, a first rotating shaft rotatably arranged in the adapter, and a first feedback assembly, the adapter is used for mounting the puncture control assembly, an end of the first rotating shaft is connected with the first feedback assembly, the first feedback assembly is used for providing force feedback when the first rotating shaft rotates, the second rotating assembly comprises a support seat rotatably mounting the first rotating shaft, a second rotating shaft, and a second feedback assembly, the second rotating shaft extends along two ends of the support seat, an end of the second rotating shaft is connected with the second feedback assembly, and the second feedback assembly is used for providing force feedback when the second rotating shaft rotates. A puncture control assembly is connected to the posture adjusting mechanism, and the puncture control assembly is used for controlling the puncture device at the end of the robot.

19. The master hand controller of claim 18, wherein, The puncture control assembly is rotationally connected with the posture adjusting mechanism.

20. The master hand controller of claim 18, wherein, The rotation axis of the first rotating assembly and the rotation axis of the second rotating assembly are perpendicular to each other.

21. The master hand manipulator of claim 18, wherein, The rotation axis of the first rotating assembly and the rotation axis of the second rotating assembly are coplanar.

22. The master hand controller of claim 18, wherein, The first feedback assembly comprises a first deceleration part, a first encoding part, and a first feedback part, the first encoding part is arranged at one end of the first rotating shaft, the other end of the first rotating shaft is connected with the first feedback part through the first deceleration part, the first feedback part comprises a force feedback motor and a brake part arranged at the output end of the force feedback motor.

23. The master hand controller of claim 18, wherein, The puncture control assembly further comprises a signal transmission mechanism and a force feedback mechanism, the signal transmission mechanism is used for signal transmission, and the force feedback mechanism is used for feeding back the force condition of the puncture device at the end of the robot.

24. A robotic system, comprising: The robot system comprises the master manipulator as claimed in any one of claims 1 to 23.

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