Master manipulator device and teleoperated robotic system for assisting with puncture

Abstract

The application discloses a master manipulator device and a master-slave robot assisted puncture system. The master manipulator device comprises an X-axis overturning structure, a bearing platform and a puncture needle rod. The puncture needle rod is used for controlling the action of a puncture robot. The X-axis overturning structure is installed on the bearing platform. The X-axis overturning structure comprises an X-axis overturning shaft and an X-axis overturning motor. The puncture needle rod is movably installed on the bearing platform through the X-axis overturning shaft. The X-axis overturning shaft is arranged on the bearing platform and rotates around the X-axis under the drive of the X-axis overturning motor. The master manipulator device has a torque mode for preventing the rotation angle of the puncture needle rod and a driving mode for assisting the rotation angle of the puncture needle rod. The overturning motor applies a rotation resistance or a rotation driving force to the puncture needle rod through the X-axis overturning structure, so as to simulate the resistance of the puncture needle moving in human tissue or reduce the influence of the weight of the master hand control device, thereby improving the operation experience of a doctor and guaranteeing the operation quality.

Description

Technical Field

[0001] This application relates to the field of medical robot technology, and more specifically, to a master manipulator device for a puncture robot and a master-slave robot-assisted puncture system. Background Technology

[0002] CT-guided percutaneous biopsy is a widely used clinical technique. Under the precise guidance of a CT scan, a needle is accurately inserted into the lesion to obtain diseased tissue. CT-guided biopsy, with CT imaging (of the tissue and needle), allows for real-time determination of the puncture direction and timely adjustments, thus improving the success rate, reducing surgical risks, and accelerating patient recovery. However, CT equipment uses X-rays or gamma rays, and performing surgery on the CT side exposes doctors to radiation for extended periods, posing a significant threat to their health. Therefore, a master-slave robotic-assisted biopsy system has been proposed, where a master operator remotely controls a slave robotic arm to complete the puncture procedure. This allows doctors to perform surgery outside the CT room, avoiding prolonged radiation exposure.

[0003] In existing master-slave robot-assisted puncture systems, the master operator typically uses a simulated sleeve mounted on a lever for axial movement. The surgeon holds the simulated sleeve and adjusts its angle to adjust the lever's angle, which in turn adjusts the angle of the puncture needle in the slave hand. After the angle is adjusted, the surgeon holds the simulated sleeve and slides it along the lever to guide the puncture needle in the slave hand for the puncture procedure.

[0004] Therefore, in existing master-slave robot-assisted puncture systems, doctors operate a simulated sleeve to guide the puncture needle in their hand for the procedure. However, when the master operator remotely controls the robotic arm via a master hand control device, the master hand control device lacks the operational conditions of the actual puncture needle insertion. This results in a significant difference between the feel of operating the master hand control device and the feel of a doctor actually holding the puncture needle and feeling it move within the body and tissues.

[0005] Therefore, a new master-slave robot-assisted puncture system is needed to ensure high precision of the master control device while simulating the realistic feel of the puncture needle moving in human tissue, thereby improving the surgeon's experience and ensuring surgical quality. Summary of the Invention

[0006] The main objective of this application is to provide a master manipulator device and a master-slave robot-assisted puncture system to solve the problem in related technologies where, when a doctor remotely operates the robotic arm of the slave manipulator through the master manipulator device, there is a significant difference between the operating feel fed back to the doctor by the master manipulator device and the actual operating feel, which affects the quality of the surgery.

[0007] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0008] According to a first aspect of this application, a master manipulator is provided for controlling a puncture robot. The master manipulator includes: a flipping structure assembly and a puncture needle rod; the puncture needle rod is used to control the movement of the puncture robot; the flipping structure assembly provides the puncture needle rod with rotational freedom through a rigid transmission structure. The flipping structure assembly is equipped with a control motor that is connected to the puncture needle rod drive. The main operating device has a torque mode that prevents the puncture needle rod from rotating, and a drive mode that assists the puncture needle rod in rotating. In the torque mode, the control motor outputs a torque to the puncture needle rod to prevent it from rotating. In the drive mode, the control motor outputs a driving force to the puncture needle rod to assist it in rotating.

[0009] In one exemplary embodiment of this application, the main operating device further includes: a support platform; the flipping structure assembly and the puncture needle rod are both mounted on the support platform; The flipping structure assembly includes: an X-axis flipping structure, which provides the puncture needle bar with a degree of freedom to rotate about the X-axis; The X-axis flipping structure is mounted on the support platform and includes: an X-axis flipping shaft and an X-axis flipping motor; the puncture needle rod is movably mounted on the support platform via the X-axis flipping shaft. The X-axis tilting shaft is rotatably mounted on the support platform around the X-axis; and the X-axis tilting motor is connected to the X-axis tilting shaft via a drive. In the torque mode, the X-axis flip motor outputs a torque to the X-axis flip axis to prevent rotation, thereby preventing the puncture needle rod from rotating around the X-axis; in the drive mode, the X-axis flip motor outputs a driving force to the X-axis flip axis to assist the puncture needle rod in rotating around the X-axis.

[0010] In one exemplary embodiment of this application, the support platform is a hollow frame structure, the X-axis tilting shaft is rotatably disposed within the hollow frame around the X-axis, and the X-axis tilting motor is disposed on the outer periphery of the support platform; the X-axis tilting motor is directly connected to the X-axis tilting shaft passing through the hollow frame.

[0011] In one exemplary embodiment of this application, an X-axis limiting member is further provided within the hollow frame of the supporting platform; the X-axis limiting member is disposed on the rotation path of the X-axis rotating axis, limiting the rotation angle of the X-axis rotating axis; and / or, The two ends of the X-axis rotating shaft are rotatably mounted on the bearing platform via bearings or sliding sleeves.

[0012] In one exemplary embodiment of this application, the flipping structure assembly further includes: a Y-axis flipping structure; the Y-axis flipping structure is used to provide the puncture needle bar with a degree of freedom of rotation about the Y-axis; The Y-axis flipping structure includes: a Y-axis flipping motor, a Y-axis flipping shaft, a swing guide sleeve fitted on the puncture needle rod, and a linkage component that is drivenly connected to the swing guide sleeve; The X-axis flipping shaft has a hollow cavity for mounting the puncture needle rod, and the puncture needle rod is rotatably disposed within the hollow cavity of the X-axis flipping shaft via the Y-axis flipping shaft; the puncture needle rod swings synchronously around the Y-axis with the linkage assembly via the swing guide sleeve; the Y-axis flipping motor is drive-connected to the linkage assembly.

[0013] In one exemplary embodiment of this application, the Y-axis flipping structure further includes: a transmission half-shaft arranged in the Y-axis direction; the transmission half-shaft is located within the hollow frame of the support platform; the Y-axis flipping motor is disposed on the outer periphery of the support platform; the Y-axis flipping motor is directly connected to the transmission half-shaft passing through the hollow frame; The linkage component is installed on the transmission half shaft, so that the puncture needle rod is connected to the Y-axis flip motor. In the torque mode, the Y-axis flip motor outputs a torque to the transmission half-shaft to prevent rotation, thereby preventing the puncture needle rod from rotating around the Y-axis; in the drive mode, the Y-axis flip motor outputs a driving force to the Y-axis flip axis to assist the puncture needle rod in rotating around the Y-axis.

[0014] In one exemplary embodiment of this application, the linkage component includes: sleeve drive members respectively disposed on both sides of the swing guide sleeve in the radial direction; the sleeve drive members are respectively installed on both sides of the transmission half shaft in the radial direction and swing synchronously with the swing guide sleeve.

[0015] In one exemplary embodiment of this application, there are two transmission half-shafts, which are respectively rotatably disposed on opposite sides within the frame of the bearing platform; The sleeve drive component is an arc-shaped baffle extending toward the direction of the swing guide sleeve; The number of arc-shaped baffles is two, which are respectively installed on both sides of the two transmission half shafts in the radial direction; and the radial diameter 'a' of the transmission half shaft is adapted to the radial dimension of the swing guide sleeve, so that the linkage component drives the swing guide sleeve to swing synchronously.

[0016] In one exemplary embodiment of this application, the puncture needle bar is mounted on a needle bar base, and the swing guide sleeve is mounted on the Y-axis flipping shaft via the needle bar base.

[0017] In one exemplary embodiment of this application, a Y-axis limiting member is further provided within the hollow frame of the bearing platform; the Y-axis limiting member is disposed on the rotation path of the linkage component, thereby limiting the rotation angle of the Y-axis towards the flip axis.

[0018] In one exemplary embodiment of this application, the two ends of the Y-axis flip shaft are respectively rotatably disposed in the hollow cavity of the X-axis flip shaft via bearings or sliding sleeves.

[0019] In one exemplary embodiment of this application, the transmission half-shaft is rotatably mounted on the bearing platform via a bearing or a sliding sleeve.

[0020] In one exemplary embodiment of this application, in the driving mode, the Y-axis flip motor outputs driving force to the Y-axis flip axis in sequence through the transmission half-shaft, the sleeve drive member and the swing guide sleeve, so as to drive the puncture needle rod to rotate around the Y-axis.

[0021] In one exemplary embodiment of this application, the main operating hand device further includes: a Z-axis needle advance / retract structure; the Z-axis needle advance / retract structure is used to provide the puncture needle bar with a degree of freedom to extend and retract along the Z-axis; The Z-axis advance and retraction needle structure includes: a linear guide sleeve, a needle bar slide rail connected to the puncture needle bar, and a Z-axis motor that is drively connected to the needle bar slide rail; the linear guide sleeve is installed on the swing guide sleeve and is slidably connected to the puncture needle bar, and is used to guide the puncture needle bar to extend and retract along the length direction of the swing guide sleeve; The main operating device also has a torque mode to prevent the insertion and retraction of the puncture needle rod, and a drive mode to assist the insertion and retraction of the puncture needle rod; in the torque mode, the Z-axis motor outputs torque to the puncture needle rod through the needle rod slide rail to prevent the insertion and retraction of the puncture needle rod; in the drive mode, the Z-axis motor outputs drive force to the puncture needle rod through the needle rod slide rail to assist the insertion and retraction of the puncture needle rod.

[0022] In one exemplary embodiment of this application, a rack is provided along the length of the needle bar slide rail; a gear adapted to the rack is provided on the rotating shaft of the Z-axis motor; The Z-axis forward and backward needle structure also includes a limiting slider for adjusting the meshing tooth clearance between the rack and the gear.

[0023] In a preferred embodiment, the rack is fixed to the side of the needle bar slide rail facing the Z-axis motor by screws.

[0024] In another preferred embodiment, the limiting slider is further provided with an adjustment knob; the adjustment knob acts on the limiting slider, driving the limiting slider to move the needle bar slide rail and the rack as a whole to adjust the meshing tooth backlash.

[0025] In one exemplary embodiment of this application, the Z-axis forward and backward needle structure further includes: an encoder for recording the position information of the puncture needle rod; the encoder is coaxially connected to the gear and converts the rotational motion of the gear into an electrical signal to detect the position information of the puncture needle rod; in a preferred embodiment, the encoder is coaxially connected to the gear through the rotating shaft of the Z-axis motor.

[0026] In one exemplary embodiment of this application, a needle cap is further provided on the puncture needle rod, the needle cap being used to release the locking state of the main operating hand device, so that the puncture needle rod can be driven to rotate by an angle or to advance or retract the needle.

[0027] In one exemplary embodiment of this application, the puncture needle rod and the needle rod slide rail are fixedly connected by a connecting plate.

[0028] In one exemplary embodiment of this application, the main operator device further includes: a wire harness mechanism, the wire harness mechanism being used to guide the wire harness on the encoder out of the bearing platform along the swing origin of the X-axis flip axis; the wire harness mechanism includes: The first guide wire component has a mounting bracket at the lower end of the swing guide sleeve, on which the encoder is mounted; the Z-axis motor is also mounted on the mounting bracket; the first guide wire component is mounted on the mounting bracket and has a through hole extending along the length direction of the swing guide sleeve; The wire clamping component has a needle bar base at the upper end of the swing guide sleeve, and the puncture needle bar is mounted on the Y-axis flip axis through the needle bar base; the wire clamping component is mounted on the needle bar base; the wire clamping component has a through hole extending along the rotation direction of the X-axis flip axis; the wire clamping component clamps the wire bundle and guides the wire bundle to the swing origin of the X-axis flip axis; The second guide wire is positioned at the swing origin of the X-axis flip axis; the second guide wire has a through hole for guiding the wire harness out of the support platform. The wire harness on the encoder passes sequentially through the first guide wire, the wire clamp, and the second guide wire, and is guided out of the support platform from the swing origin of the X-axis flip axis.

[0029] According to a second aspect of this application, a master-slave robot-assisted puncture system is provided, including a master manipulator and a slave manipulator arm of a master-slave puncture robot.

[0030] The exemplary embodiments of this application may have some or all of the following beneficial effects: 1. The master manipulator provided in the exemplary embodiment of this application includes a flipping structure assembly. The flipping structure assembly provides the puncture needle rod with a degree of freedom to rotate freely through a rigid transmission structure. This rigid transmission structure effectively reduces the impact of transmission mechanism deformation on the master manipulator, thereby ensuring the transmission accuracy between the puncture needle rod and the flipping structure assembly, thus ensuring the positional accuracy of the puncture needle rod itself on the master manipulator, and further improving the accuracy of the entire puncture system. While ensuring the positional accuracy of the master manipulator itself, this embodiment also connects the puncture needle rod to a control motor on the flipping structure assembly. The master manipulator has a torque mode that prevents the puncture needle rod from rotating, and a drive mode that assists in the rotation of the puncture needle rod. In the torque mode, the control motor outputs a torque to the puncture needle rod to prevent rotation, thereby simulating the resistance encountered by the puncture needle when rotating within human tissue. In addition, in the aforementioned drive mode, the control motor outputs driving force to the puncture needle rod to assist its rotation, thereby compensating for the gravity of the main operating device and reducing the weight impact of the various transmission structures and drive motors on the puncture needle rod. It is worth noting that in the torque and drive modes described above, the weight of the main operating device itself and the magnitude of the resistance experienced by the simulated puncture needle must be considered. Therefore, multiple control motors at different positions and in different driving directions often apply driving force or resistance to the puncture needle rod together, thereby eliminating the weight impact of the main operating device itself and realistically simulating the resistance experienced by the puncture needle during insertion into or rotation within human tissue.

[0031] 2. In the main operating device provided in the example embodiment of this application, the flipping structure component and the puncture needle rod are mounted on the same bearing platform, which can effectively reduce the distance between the flipping structure component and the puncture needle rod, thereby reducing the positional error generated when the puncture needle rod is provided with rotational freedom through the above-mentioned rigid transmission structure, and ensuring the rotational accuracy of the puncture needle rod.

[0032] Furthermore, the flipping structure assembly includes an X-axis flipping structure, thereby providing the puncture needle rod with a degree of freedom to rotate around the X-axis. The aforementioned X-axis flipping structure includes an X-axis flipping shaft and an X-axis flipping motor. In the torque mode, the X-axis flipping motor outputs a torque to the X-axis flipping shaft to prevent rotation, thus simulating the resistance encountered by the puncture needle when rotating within human tissue. Additionally, the X-axis flipping motor outputs a driving force to the X-axis flipping shaft to assist the puncture needle rod in rotating around the X-axis, thereby providing gravity compensation for the main operating device and reducing the weight impact of the various transmission structures and drive motors on the puncture needle rod. Similarly, it should be noted that in the drive mode, the weight of the main operating device itself and the magnitude of the resistance encountered by the simulated puncture needle need to be considered. Therefore, the aforementioned X-axis flipping motor alone can function. In more cases, however, multiple control motors in different positions and with different driving directions apply driving force or resistance to the puncture needle rod together, thereby eliminating the influence of the weight of the main operating device itself and simulating the resistance encountered by the puncture needle during insertion into human tissue or rotation within human tissue in the most realistic way.

[0033] 3. In the main operating device provided in the example embodiment of this application, the support platform is configured as a hollow frame structure, so that the X-axis tilting axis can be placed inside the hollow frame, and the X-axis tilting motor is placed on the outer periphery of the hollow frame. This allows the X-axis tilting axis located inside the hollow frame to be directly driven by the X-axis tilting motor located outside the hollow frame, thereby making the drive shaft of the X-axis tilting motor coaxial with the X-axis tilting axis and reducing the power transmission distance. This structural arrangement not only effectively improves the transmission accuracy between the puncture needle rod on the X-axis tilting axis and the X-axis tilting motor, but also allows for miniaturization of the main operating device.

[0034] 4. In the main operator device provided in the example embodiment of this application, an X-axis limiting component is further provided within the hollow frame of the support platform. This X-axis limiting component can mechanically limit the X-axis rotation axis, restricting the maximum rotation angle of the X-axis rotation axis. Of course, the position of the X-axis limiting component can be adjusted according to the swing angle requirements.

[0035] 5. In the main operating device provided in the exemplary embodiment of this application, the two ends of the X-axis tilting shaft can be rotatably mounted on the support platform via bearings or sliding sleeves. When the two ends of the X-axis tilting shaft are mounted on the support platform via bearings, the bearings have the advantage of high positioning accuracy, but the cost is high. Alternatively, when the two ends of the X-axis tilting shaft are mounted on the support platform via sliding sleeves, the sliding sleeves have lower cost, but lower positioning accuracy and shorter lifespan.

[0036] 6. The main operating device provided in the exemplary embodiment of this application further includes a Y-axis flipping structure. The Y-axis flipping structure provides the puncture needle rod with a degree of freedom to rotate around the Y-axis, thereby enabling the puncture needle rod to rotate as needed along both the X and Y axes. The linkage between the Y-axis flipping structure and the puncture needle rod is as follows: a swing guide sleeve is fitted onto the puncture needle rod, and the Y-axis flipping motor is then connected to the swing guide sleeve via a linkage assembly. In the torque mode, the Y-axis flipping motor outputs a torque to prevent the puncture needle rod from rotating around the Y-axis, thus simulating the resistance encountered by the puncture needle when rotating within human tissue. Furthermore, in the drive mode, the Y-axis flipping motor outputs a driving force to assist the puncture needle rod in rotating around the Y-axis, thereby compensating for gravity on the main operating device and weakening the weight influence of various transmission structures and drive motors on the puncture needle rod.

[0037] Furthermore, in this specific embodiment, the Y-axis flipping shaft is rotatably installed within the hollow cavity of the X-axis flipping shaft, and then the swing guide sleeve is driven to swing via a linkage assembly, thereby allowing the puncture needle rod to rotate around the X-axis. This structure not only allows the Y-axis flipping shaft to be positioned within the X-axis flipping shaft, ensuring they are on the same plane, effectively reducing the volume of the flipping structure assembly and optimizing its spatial layout, but more importantly, it cleverly uses a linkage assembly to drive the swing guide sleeve mounted on the puncture needle rod to rotate, thus achieving rotation of the puncture needle rod around the Y-axis. This structure allows the puncture needle rod with the swing guide sleeve to rotate independently, without the X-axis flipping shaft needing to rotate synchronously around the Y-axis. This allows the Y-axis flipping motor to directly drive the puncture needle rod to rotate independently, reducing the transmission steps involving driving force and resistance, and effectively improving the transmission accuracy between the puncture needle rod and the flipping structure assembly.

[0038] 7. In the main operating device provided in the example embodiment of this application, the Y-axis flipping structure further includes: a transmission half-shaft arranged in the Y-axis direction, which drives the puncture needle rod to rotate around the Y-axis via a linkage assembly. The transmission half-shaft is located within the hollow frame of the support platform, and the Y-axis flipping motor is located on the outer periphery of the hollow frame. This allows the transmission half-shaft located within the hollow frame to be directly driven by the Y-axis flipping motor located outside the hollow frame, thereby enabling the drive shaft of the X-axis flipping motor to be coaxially arranged with the transmission half-shaft and reducing the power transmission distance. This structural arrangement not only effectively improves the transmission accuracy of the transmission half-shaft but also allows for miniaturization of the main operating device.

[0039] 8. In the main operating device provided in the example embodiment of this application, the specific structure of the linkage component is as follows: sleeve drive members are respectively installed on both sides of the transmission half-shaft in the radial direction. By using sleeve drive members located on both sides of the swing guide sleeve, the sleeve drive members can be synchronously linked with the swing guide sleeve mounted on the puncture needle rod, rotating around the Y-axis. This transmission structure allows the sleeve drive members to fit against the swing guide sleeve on both sides, ensuring the swing guide sleeve is subjected to force on both sides, resulting in extremely high transmission rigidity. Simultaneously, it ensures no deformation or gap between the sleeve drive members and the transmission half-shaft, and good linear force feedback, guaranteeing the smooth swing of the swing guide sleeve. The above preferred embodiment is superior to the alternative embodiment: directly connecting the transmission half-shaft and the sleeve drive members via an L-shaped rotating connecting rod. This is because the L-shaped rotating connecting rod in the alternative embodiment is a cantilever structure, and during the rotation of the sleeve drive members via the L-shaped rotating connecting rod, the swing angle range is small, easily leading to restricted swing or even jamming at the swing angle. Moreover, the rigidity of the aforementioned rotating connecting rod alone is not as good as that of the sleeve drive components respectively set on both sides of the swing guide sleeve. The rotating connecting rod is prone to deformation, which affects the transmission accuracy.

[0040] 9. In the main operating device provided in the example embodiment of this application, two transmission half-shafts are symmetrically arranged inside the bearing platform frame on both sides of the X-axis flip axis width direction. This structural arrangement allows each end of the sleeve drive member to be connected to a transmission half-shaft. Compared to driving the sleeve drive member through a single transmission half-shaft, this effectively reduces the deformation of the sleeve drive member under stress and improves transmission accuracy. It also improves the overall reliability of the device. Furthermore, in this embodiment, the sleeve drive member is designed as an arc-shaped baffle extending towards the swing guide sleeve. This extension of the sleeve drive member towards the swing guide sleeve avoids the mounting positions of the X-axis flip axis, Y-axis flip axis, and needle bar base, preventing positional interference with these shafts and bases. This allows the X-axis flip axis, Y-axis flip axis, and needle bar base to be arranged on the same plane, optimizing the spatial layout of the main operating device and reducing its size.

[0041] Furthermore, in this embodiment, the radial diameter 'a' of the transmission half-shaft is designed to match the radial dimension of the swing guide sleeve. The arc-shaped baffle is installed on the radial side of the transmission half-shaft, thereby fitting snugly against the swing guide sleeve. The radial diameter 'a' of the aforementioned transmission half-shaft is slightly larger than the radial dimension of the swing guide sleeve, thereby maximizing the transmission accuracy of the arc-shaped baffle and the swing guide sleeve while ensuring that they can be assembled.

[0042] 10. In the main operating device provided in the example embodiment of this application, a Y-axis limiting component is further provided within the hollow frame of the supporting platform. This Y-axis limiting component, by blocking the swing angle of the linkage assembly, mechanically limits the Y-axis rotation axis, restricting its maximum rotation angle along the Y-axis. Of course, the position of the Y-axis limiting component can be adjusted according to the swing angle requirements.

[0043] 11. In the master operator device provided in the exemplary embodiment of this application, the two ends of the Y-axis tilting shaft can be rotatably mounted on the X-axis tilting shaft via bearings or sliding sleeves. When the two ends of the Y-axis tilting shaft are mounted on the X-axis tilting shaft via bearings, the bearings have the advantage of high positioning accuracy, but the cost is high. Alternatively, when the two ends of the Y-axis tilting shaft can also be mounted on the X-axis tilting shaft via sliding sleeves, the sliding sleeves have a lower cost, but the positioning accuracy is lower and the lifespan is shorter.

[0044] 12. The main operating device provided in the exemplary embodiment of this application further includes: a Z-axis needle advance / retract structure. The aforementioned Z-axis needle advance / retract structure provides the puncture needle rod with a degree of freedom for extension and retraction along the Z-axis. By providing a linear guide sleeve on the swing guide sleeve, the puncture needle rod is guided to extend and retract along the length direction of the swing guide sleeve, thereby realizing the needle advance and retraction actions of the puncture needle rod. Furthermore, the Z-axis motor is linked to the needle rod slide rail on the puncture needle rod, thus achieving linkage between the Z-axis motor and the puncture needle rod.

[0045] The aforementioned main operating device not only has a torque mode to prevent the rotation angle of the puncture needle rod, and a drive mode to assist the rotation angle of the puncture needle rod, but also a torque mode to prevent the insertion and retraction of the puncture needle rod, and a drive mode to assist the insertion and retraction of the puncture needle rod. In the torque mode, the Z-axis motor outputs torque to the puncture needle rod through the needle rod slide rail to prevent the insertion and retraction of the puncture needle rod, thereby maximally simulating the resistance felt by the doctor when inserting the puncture needle into human tissue, and the resistance felt by the doctor when withdrawing the puncture needle from human tissue. This improves the surgeon's surgical experience. In addition, in the drive mode, the Z-axis motor outputs driving force to the puncture needle rod through the needle rod slide rail to assist the insertion and retraction of the puncture needle rod, thereby providing gravity compensation for the main operating device and weakening the weight influence of various transmission structures and drive motors on the puncture needle rod.

[0046] It is worth noting that in the aforementioned torque and drive modes, the weight of the main operating device itself and the magnitude of the resistance experienced by the simulated puncture needle need to be considered. Therefore, multiple control motors at different positions and with different drive directions often apply driving force or resistance to the puncture needle rod together, thereby eliminating the influence of the weight of the main operating device itself and realistically simulating the resistance experienced by the puncture needle during insertion into or rotation within human tissue. For example, in this specific embodiment, considering factors such as the weight of the device and the resistance experienced by the puncture needle from the operating end, the combined force of the X-axis flipping motor on the X-axis flipping structure, the Y-axis flipping motor on the Y-axis flipping structure, and the Z-axis needle advance / retract structure applied to the puncture needle rod works together to realistically simulate the resistance experienced by the puncture needle during insertion into or rotation within human tissue.

[0047] 13. In the main operating device provided in the exemplary embodiment of this application, a rack is provided along the length direction of the needle bar slide rail. The Z-axis motor is driven by the rack via gear meshing. This meshing transmission method not only converts the linear motion of the puncture needle bar into the rotational motion of the Z-axis motor, but also allows the Z-axis motor to output torque to simulate puncture resistance. Alternatively, it converts the rotational motion of the Z-axis motor into the linear motion of the puncture needle bar, allowing the Z-axis motor to output driving force, thereby compensating for gravity in the main operating device and reducing the influence of various transmission structures and drive motors on the weight of the puncture needle bar. Furthermore, the meshing transmission method also has the advantage of high transmission accuracy.

[0048] Meanwhile, the Z-axis motor drives the rack and pinion through gear meshing, and an encoder can be easily installed at the connection point between the gear and rack to record the position information of the puncture needle rod.

[0049] 14. In the main operating device provided in the exemplary embodiment of this application, the Z-axis advance / retractable needle structure further includes a limiting slider for adjusting the meshing backlash between the rack and the gear. The limiting slider can be mounted on a mounting bracket as needed. By using an adjustment knob on the limiting slider, the limiting slider is driven to move the needle bar slide rail and the rack as a whole, thereby adjusting the meshing backlash and allowing the rack and gear to engage with high precision, improving the transmission accuracy between the Z-axis advance / retractable needle structure and the puncture needle bar.

[0050] 15. In the main operating device provided in the exemplary embodiment of this application, a needle cap is further provided on the puncture needle rod. The needle cap is used to lock the main operating device or release the locked state of the main operating device, so that the puncture needle rod can be driven to rotate an angle or to advance or retract the needle. The needle cap can effectively prevent the operator from accidentally touching the puncture needle rod and avoid safety hazards caused by misoperation during the operation.

[0051] 16. The master operator device provided in the exemplary embodiment of this application further includes a cable harness mechanism. The cable harness mechanism guides the cable harness within the master operator device, directing it out of the bearing platform along the swing origin of the X-axis rotation axis. The cable harness mechanism includes a first conductor and a second conductor for guiding the cable harness's routing direction, and a clamping member for clamping the cable harness while simultaneously guiding its routing direction. Through the conductor and clamping members, the cable harness can be fixed and guided, thereby minimizing the impact of cable weight and reducing cable pulling and wear during operation. Furthermore, the cable harness mechanism can guide the cable harness to the swing origin position on the master operator device, allowing the cable harness to exit from the swing origin position, effectively reducing cable pulling motion and extending cable lifespan.

[0052] 17. The master-slave robot-assisted puncture system provided in the exemplary embodiment of this application includes a master manipulator and a slave manipulator arm of the master-slave puncture robot. Because the master-slave robot-assisted puncture system includes a master manipulator, it has all the advantages of the aforementioned master manipulator.

[0053] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0054] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 This is a schematic diagram showing the installation positions of the X-axis flip structure, the Y-axis flip structure, and the Z-axis forward / backward needle structure on the main operating hand device according to the embodiments of this application. Figure 2 This is a schematic diagram of the component connection structure of the X-axis flipping structure on the main operating hand device according to the embodiments of this application; Figure 3 This is a schematic diagram of the component connection structure of the Y-axis flipping structure on the main operating hand device according to the embodiments of this application; Figure 4 This is an enlarged schematic diagram of the connection position between the transmission half-shaft and the linkage component on the Y-axis flipping structure according to the embodiments of this application; Figure 5 This is a three-dimensional structural diagram of a Z-axis advance and retract needle structure mounted on an X-axis flipping axis via a needle bar base, according to an embodiment of this application. Figure 6This is an enlarged schematic diagram of the connection structure between the Z-axis motor and the needle bar slide rail on the Z-axis advance and retract needle structure according to the embodiments of this application; Figure 7 This is a schematic diagram of the wire harness mechanism structure according to the embodiments of this application.

[0055] Explanation of reference numerals in the attached figures: 1. Main operating device; 2. X-axis flipping structure; 3. Bearing platform; 4. X-axis flipping shaft; 5. X-axis flipping motor; 6. Puncture needle bar; 7. Bearing; 8. X-axis limiting component; 9. Y-axis flipping structure; 10. Y-axis flipping shaft; 11. Swinging guide sleeve; 12. Linkage assembly; 13. Transmission half shaft; 14. Y-axis flipping motor; 15. Sleeve drive component; 16. Y-axis limiting component; 17. Needle bar base; 18. Z-axis needle advance / retract structure; 19. Linear guide sleeve; 20. Needle bar slide rail; 21. Z-axis motor; 22. Rack; 23. Gear; 24. Wire clamp; 25. Wire harness; 26. Second wire guide component; 27. Encoder; 28. Connecting plate; 29. ​​Needle cap; 30. Limiting slider; 31. Adjustment knob; 32. Mounting bracket; 33. First wire guide component. Detailed Implementation

[0056] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0057] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0058] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0059] Furthermore, the terms "set up," "equipped with," "connected," and "fixed" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0060] In addition, the term "multiple" should mean two or more.

[0061] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0062] Example 1 In existing technologies, the lever of the master hand control device does not provide the resistance needed for the puncture needle to move within human tissue. Furthermore, the significant weight of the master hand control device makes the lever's operation feel noticeably different from that of the puncture needle. This results in a large difference between the feel of the doctor operating the simulated sleeve and the feel of the doctor actually holding the puncture needle within human tissue. Especially when the lever is remotely controlled to rotate the puncture needle within the tissue, the weight of the hand control device is often combined with rotational resistance from multiple directions within the tissue, making the doctor's feel for controlling the lever vastly different from the feel of the puncture needle moving within the tissue, thus severely impacting the quality of the surgery.

[0063] See Figure 1 The diagram shows the installation positions of the X-axis flipping structure, the Y-axis flipping structure, and the Z-axis needle advance / retract structure on the main manipulator. To address the aforementioned problems, this embodiment specifically discloses a main manipulator used to control a puncture robot to perform puncture operations.

[0064] The main operating device 1 includes: a flipping structure assembly and a puncture needle rod 6; the puncture needle rod 6 is used to control the movement of the puncture robot. (See reference...) Figure 1The axial rotation directions of the X and Y axes are marked in the upper right corner. The flipping structure assembly includes an X-axis flipping structure 2 and a Y-axis flipping structure 9, which provide the puncture needle rod 6 with rotational freedom through a rigid transmission structure. Of course, the structural composition of the flipping structure assembly is not specifically limited in this embodiment. In other embodiments, the flipping structure assembly may be a single X-axis flipping structure 2 or a single Y-axis flipping structure 9. Furthermore, the flipping structure assembly may have three or more rotation directions.

[0065] First, the flipping structure assembly provides the puncture needle rod 6 with the freedom to rotate freely through a rigid transmission structure. This rigid transmission structure effectively reduces the impact of transmission mechanism deformation on the main operating device 1, thereby ensuring the transmission accuracy between the puncture needle rod 6 and the flipping structure assembly, thus ensuring the positional accuracy of the puncture needle rod 6 on the main operating device 1, and ultimately improving the accuracy of the entire puncture system.

[0066] Furthermore, and more importantly, the flipping structure assembly is equipped with a control motor that is driveably connected to the puncture needle rod 6. The main operating hand device 1 has a torque mode that prevents the puncture needle rod 6 from rotating, and a drive mode that assists in the rotation of the puncture needle rod 6. In the torque mode, the control motor outputs a torque to the puncture needle rod 6 to prevent it from rotating, thereby simulating the resistance encountered by the puncture needle when rotating within human tissue. In the drive mode, the control motor outputs a driving force to the puncture needle rod 6 to assist in its rotation, thereby compensating for the weight of the main operating hand device 1 and reducing the impact of the various transmission structures and drive motors on the weight of the puncture needle rod 6. It is worth noting that in the torque mode and drive mode, the weight of the main operating hand device 1 itself and the magnitude of the resistance encountered by the simulated puncture needle need to be considered. Therefore, multiple control motors in different positions and with different driving directions often apply driving force or resistance to the puncture needle rod 6 together, thereby eliminating the influence of the weight of the main operating device 1 itself and simulating the resistance encountered by the puncture needle during insertion into human tissue or rotation within human tissue in the most realistic way.

[0067] In the above preferred embodiments, see [reference] Figure 1 The diagram shows a three-dimensional structural representation of the main operating device. And, Figure 2 The diagram shows the component connection structure of the X-axis flipping structure. In this preferred embodiment, the main operating device 1 further includes a support platform 3. Both the flipping structure assembly and the puncture needle rod 6 are mounted on the support platform 3.

[0068] Specifically, such as Figure 2As shown, the flipping structure assembly includes an X-axis flipping structure 2, which provides the puncture needle rod 6 with a degree of freedom to rotate around the X-axis. The aforementioned support platform 3 is a hollow frame structure, with the X-axis flipping shaft 4 rotatably disposed within the hollow frame, and the X-axis flipping motor 5 disposed on the outer periphery of the support platform 3; the X-axis flipping motor 5 is directly connected to the X-axis flipping shaft 4 passing through the hollow frame. In this specific embodiment, mounting the flipping structure assembly and the puncture needle rod 6 on the same support platform 3 can effectively reduce the distance between the flipping structure assembly and the puncture needle rod 6, thereby reducing the positional error generated when providing rotational freedom to the puncture needle rod 6 through the aforementioned rigid transmission structure, and ensuring the rotational accuracy of the puncture needle rod 6. Moreover, the above structure also allows the X-axis flipping motor 5 located outside the hollow frame to directly drive the X-axis flipping shaft 4 located inside the hollow frame, thereby making the drive shaft of the X-axis flipping motor 5 coaxial with the X-axis flipping shaft 4 and reducing the power transmission distance. The above-described structural arrangement not only effectively improves the transmission accuracy between the puncture needle rod 6 on the X-axis rotation shaft 4 and the X-axis rotation motor 5, but also allows for the miniaturization of the main operating device 1. Of course, this embodiment does not specifically limit the structure of the support platform 3. In other embodiments, the support platform 3 can also be a support column, with both ends of the X-axis rotation shaft 4 rotatably positioned between two support columns. Furthermore, the X-axis rotation motor 5 is also located at the top of the aforementioned support columns, thereby driving the X-axis rotation of the X-axis rotation shaft 4.

[0069] The X-axis flipping structure 2 includes an X-axis flipping shaft 4 and an X-axis flipping motor 5. The puncture needle rod 6 is movably mounted on the support platform 3 via the X-axis flipping shaft 4. The X-axis flipping shaft 4 is rotatably mounted on the support platform 3 around the X-axis; and the X-axis flipping motor 5 is drive-connected to the X-axis flipping shaft 4. In the torque mode, the X-axis flipping motor 5 outputs a torque to the X-axis flipping shaft 4 to prevent rotation, thereby preventing the puncture needle rod 6 from rotating around the X-axis, thus simulating the resistance encountered by the puncture needle when rotating within human tissue. Additionally, the X-axis flipping motor 5 outputs a driving force to the X-axis flipping shaft 4 to assist the puncture needle rod 6 in rotating around the X-axis, thereby providing gravity compensation for the main operating device 1 and reducing the weight impact of the various transmission structures and drive motors on the puncture needle rod 6. Similarly, it should be noted that in the drive mode, the weight of the main operating device 1 itself and the magnitude of the resistance encountered by the simulated puncture needle need to be considered. Therefore, the X-axis flipping motor 5 alone can function. However, in more cases, multiple control motors in different positions and with different driving directions apply driving force or resistance to the puncture needle rod 6 together, thereby eliminating the influence of the weight of the main operating device 1 itself and simulating the resistance encountered by the puncture needle during insertion into human tissue or rotation within human tissue in the most realistic way.

[0070] In the preferred embodiment described above, an X-axis limiting member 8 is further provided within the hollow frame of the supporting platform 3. The X-axis limiting member 8 is positioned along the rotation path of the X-axis rotating shaft 4, limiting the rotation angle of the X-axis rotating shaft 4. The X-axis limiting member 8 provides a mechanical limit to the X-axis rotating shaft 4, restricting its maximum rotation angle along the X-axis. Of course, the position of the X-axis limiting member 8 can be adjusted according to the swing angle requirements.

[0071] In the preferred embodiment described above, both ends of the X-axis tilting shaft 4 can be rotatably mounted on the support platform 3 via bearings 7. When both ends of the X-axis tilting shaft 4 are mounted on the support platform 3 via bearings 7, the bearings 7 have the advantage of high positioning accuracy, but the cost is relatively high. Of course, this embodiment does not specifically limit the method of rotatably mounting the X-axis tilting shaft 4 on the support platform 3. In other embodiments, both ends of the X-axis tilting shaft 4 can also be rotatably mounted on the support platform 3 via sliding sleeves. When both ends of the X-axis tilting shaft 4 are mounted on the support platform 3 via sliding sleeves, the sliding sleeves have lower cost, but lower positioning accuracy and shorter lifespan.

[0072] In the above preferred embodiments, see [reference] Figure 1 The diagram shows a three-dimensional structural representation of the main operating device. And, Figure 3 The diagram shows the component connection structure of the Y-axis flipping structure. In this preferred embodiment, the flipping structure assembly further includes: a Y-axis flipping structure 9; the Y-axis flipping structure 9 is used to provide the puncture needle rod 6 with a degree of freedom of rotation about the Y-axis.

[0073] The Y-axis flipping structure 9 includes: a Y-axis flipping motor 14, a Y-axis flipping shaft 10, a swing guide sleeve 11 fitted on the puncture needle rod 6, and a linkage assembly 12 drivenly connected to the swing guide sleeve 11. The puncture needle rod 6 is mounted on a needle rod base 17, and the swing guide sleeve 11 is mounted on the Y-axis flipping shaft 10 via the needle rod base 17. The X-axis flipping shaft 4 has a hollow cavity for mounting the puncture needle rod 6, and the puncture needle rod 6 is rotatably disposed within the hollow cavity of the X-axis flipping shaft 4 via the Y-axis flipping shaft 10; the puncture needle rod 6 swings synchronously around the Y-axis via the swing guide sleeve 11 and the linkage assembly 12; the Y-axis flipping motor 14 is drivenly connected to the linkage assembly 12. The linkage between the Y-axis flipping structure 9 and the puncture needle rod 6 is as follows: the swing guide sleeve 11 is fitted on the puncture needle rod 6, and the Y-axis flipping motor 14 is then drivenly connected to the swing guide sleeve 11 via the linkage assembly 12. In the torque mode, the Y-axis flip motor 14 outputs a torque to prevent the puncture needle rod 6 from rotating around the Y-axis, thereby simulating the resistance encountered by the puncture needle when rotating within human tissue. Additionally, in the drive mode, the Y-axis flip motor 14 outputs a driving force to assist the puncture needle rod 6 in rotating around the Y-axis, thereby providing gravity compensation for the main operating hand device 1 and reducing the weight impact of the various transmission structures and drive motors on the puncture needle rod 6.

[0074] Specifically, in the above transmission method, the Y-axis flipping shaft 10 is rotatably mounted inside the hollow cavity of the X-axis flipping shaft 4, and then the swing guide sleeve 11 is driven to swing through the linkage component 12, thereby causing the puncture needle rod 6 to rotate around the X-axis. This structure not only allows the Y-axis flipping shaft 10 to be placed inside the X-axis flipping shaft 4, making the Y-axis flipping shaft 10 and the X-axis flipping shaft 4 lie in the same plane, thus effectively reducing the volume of the flipping structure assembly and optimizing its spatial layout, but more importantly, it cleverly uses the linkage component 12 to drive the swing guide sleeve 11, which is fitted on the puncture needle rod 6, to rotate, thereby causing the puncture needle rod 6 to rotate around the Y-axis. In an alternative, less desirable embodiment, the entire X-axis flipping shaft 4 can also be directly driven to rotate around the Y-axis by a drive component, thereby causing the puncture needle rod 6 to rotate around the Y-axis. Figure 3 The Y-axis rotation is used. However, in the preferred embodiment, the Y-axis flipping shaft 10 is rotatably installed in the hollow cavity of the X-axis flipping shaft 4, allowing the puncture needle rod 6 with the swing guide sleeve 11 to rotate independently. The X-axis flipping shaft 4 does not need to rotate synchronously around the Y-axis, allowing the Y-axis flipping motor 14 to directly drive the puncture needle rod 6 to rotate independently. This reduces the transmission steps of driving force and resistance, effectively improving the transmission accuracy between the puncture needle rod 6 and the flipping structure assembly.

[0075] In the preferred embodiments described above, such as Figure 3 The diagram shows the component connection structure of the Y-axis flipping structure. And, Figure 4 The diagram shows an enlarged view of the connection position between the transmission half-shaft and the linkage assembly. The Y-axis flipping structure 9 also includes a transmission half-shaft 13 arranged in the Y-axis direction. In the torque mode, the Y-axis flipping motor 14 outputs a torque to the transmission half-shaft 13 to prevent rotation, thereby preventing the puncture needle rod 6 from rotating around the Y-axis; in the drive mode, the Y-axis flipping motor 14 outputs a driving force to the Y-axis flipping shaft 10 to assist the puncture needle rod 6 in rotating around the Y-axis.

[0076] Specifically, such as Figure 3 As shown, the transmission half-shaft 13 is located within the hollow frame of the support platform 3, and the Y-axis flip motor 14 is positioned on the outer periphery of the support platform 3. The Y-axis flip motor 14 is directly connected to the transmission half-shaft 13, which passes through the hollow frame. Furthermore, the aforementioned linkage assembly 12 is mounted on the transmission half-shaft 13, enabling the puncture needle rod 6 to be driveably connected to the Y-axis flip motor 14. This structure allows the Y-axis flip motor 14, located outside the hollow frame, to directly drive the transmission half-shaft 13 within the hollow frame, thereby ensuring that the drive shaft of the X-axis flip motor 5 is coaxial with the transmission half-shaft 13 and reducing the power transmission distance. This structural arrangement not only effectively improves the transmission accuracy of the transmission half-shaft 13 but also allows for miniaturization of the main operating device 1.

[0077] In the preferred embodiments described above, such as Figure 2 and Figure 3 As shown, the aforementioned linkage assembly 12 includes: sleeve drive members 15 respectively disposed on both sides of the swing guide sleeve 11 in the radial direction; the sleeve drive members 15 are respectively installed on both sides of the transmission half shaft 13 in the radial direction, and swing synchronously with the swing guide sleeve 11. This transmission structure allows the sleeve drive members 15 to fit against the swing guide sleeve 11 on both sides, ensuring the swing guide sleeve 11 is subjected to force on both sides, resulting in extremely high transmission rigidity. Simultaneously, it ensures no deformation or gap between the sleeve drive members 15 and the transmission half shaft 13, and good linear force feedback, guaranteeing the smooth swing of the swing guide sleeve 11. In an alternative, less desirable embodiment, the transmission half shaft 13 and the sleeve drive members 15 can be directly connected via an L-shaped rotating connecting rod. However, in this embodiment, the rotation of the sleeve drive members 15 via the L-shaped rotating connecting rod results in a small swing angle range, which can easily lead to restricted swing or even jamming at the swing angle. Moreover, the rigidity of the aforementioned rotating connecting rod alone is not as good as that of the sleeve drive members 15 respectively set on both sides of the swing guide sleeve 11. The rotating connecting rod is prone to deformation, which affects the transmission accuracy.

[0078] Specifically, such as Figure 4 As shown, there are two transmission half-shafts 13, which are rotatably mounted on opposite sides within the frame of the bearing platform 3. This structural arrangement allows each end of the sleeve drive component 15 to be connected to one of the transmission half-shafts 13. Compared to driving the sleeve drive component 15 through a single transmission half-shaft 13, this effectively reduces the deformation of the sleeve drive component 15 under stress and improves transmission accuracy. Simultaneously, it also enhances the overall reliability of the equipment.

[0079] Furthermore, the sleeve drive component 15 is an arc-shaped baffle extending towards the swing guide sleeve 11. There are two arc-shaped baffles, respectively installed on both sides of the two transmission half-shafts 13 in the radial direction; and the radial diameter 'a' of the transmission half-shaft 13 is adapted to the radial dimension of the swing guide sleeve 11, so that the linkage assembly 12 drives the swing guide sleeve 11 to swing synchronously. The sleeve drive component 15 extending towards the swing guide sleeve 11 avoids the installation positions of the X-axis flip shaft 4, the Y-axis flip shaft 10, and the needle bar base 17, preventing positional interference with these shafts and bases. This allows the X-axis flip shaft 4, the Y-axis flip shaft 10, and the needle bar base 17 to be arranged on the same plane, optimizing the spatial layout of the main operating device and reducing its size. Furthermore, in this embodiment, the radial diameter 'a' of the transmission half-shaft 13 is designed to match the radial dimension of the swing guide sleeve 11. An arc-shaped baffle is installed on the radial side of the transmission half-shaft 13, thereby fitting snugly against the swing guide sleeve 11. For example, as... Figure 4 As shown, the radial diameter 'a' of the aforementioned transmission half-shaft 13 can be designed to be slightly larger than the radial dimension of the swing guide sleeve 11, thereby maximizing the transmission accuracy of the arc-shaped baffle and the swing guide sleeve 11 while ensuring that they can be assembled. Of course, in this embodiment, the arc-shaped baffle can also be driven by only one transmission half-shaft 13 as needed. Alternatively, in other embodiments, other structures such as an arc-shaped rod can be used as the sleeve drive component 15.

[0080] In one specific embodiment, such as Figure 3 and Figure 4 As shown, a Y-axis limiting member 16 is also provided within the hollow frame of the supporting platform 3. The Y-axis limiting member 16 is positioned on the rotation path of the linkage assembly 12, limiting the rotation angle of the Y-axis rotating shaft 10. By blocking the swing angle of the linkage assembly 12, the Y-axis limiting member 16 mechanically limits the Y-axis rotating shaft 10, restricting its maximum rotation angle along the Y-axis. Of course, the position of the Y-axis limiting member 16 can be adjusted according to the swing angle requirements.

[0081] In one specific embodiment, the two ends of the Y-axis rotating shaft 10 are rotatably mounted in the hollow cavity of the X-axis rotating shaft 4 via bearings 7 or sliding sleeves. When the two ends of the Y-axis rotating shaft 10 are mounted on the X-axis rotating shaft 4 via bearings 7, the bearings 7 have the advantage of high positioning accuracy, but the cost is relatively high. Alternatively, when the two ends of the Y-axis rotating shaft 10 can also be mounted on the X-axis rotating shaft 4 via sliding sleeves, the sliding sleeves have a lower cost, but the positioning accuracy is lower and the lifespan is shorter.

[0082] In the preferred embodiments described above, such as Figure 5 The diagram shows a three-dimensional representation of the Z-axis needle advance / retract structure mounted on the X-axis rotating axis via a needle bar base. The main operating device 1 further includes a Z-axis needle advance / retract structure 18; this structure provides the puncture needle bar 6 with the freedom to extend and retract along the Z-axis. The Z-axis needle advance / retract structure 18 includes a linear guide sleeve 19, a needle bar slide rail 20 connected to the puncture needle bar 6, and a Z-axis motor 21 drivenly connected to the needle bar slide rail 20. The linear guide sleeve 19 is mounted on the swing guide sleeve 11 and slidably connected to the puncture needle bar 6, guiding the puncture needle bar 6 to extend and retract along the length of the swing guide sleeve 11, thus realizing the needle advance and retraction actions of the puncture needle bar 6. The Z-axis motor 21 is then linked to the needle bar slide rail 20 on the puncture needle bar 6, achieving linkage between the Z-axis motor 21 and the puncture needle bar 6.

[0083] The aforementioned main operating device 1 not only has a torque mode to prevent the rotation angle of the puncture needle rod 6, and a drive mode to assist the rotation angle of the puncture needle rod 6, but also a torque mode to prevent the insertion and withdrawal of the puncture needle rod 6, and a drive mode to assist the insertion and withdrawal of the puncture needle rod 6. In the torque mode, the Z-axis motor 21 outputs torque to the puncture needle rod 6 through the needle rod slide rail 20 to prevent the insertion and withdrawal of the puncture needle rod 6, thereby maximally simulating the resistance felt by the doctor when inserting the puncture needle into human tissue, and the resistance felt by the doctor when withdrawing the puncture needle from human tissue. This improves the surgeon's surgical experience. In addition, in the driving mode, the Z-axis motor 21 outputs driving force to the puncture needle bar 6 through the needle bar slide rail 20 to assist the needle bar 6 in its needle insertion and retraction actions, thereby compensating for the gravity of the main operating hand device 1 and weakening the influence of various transmission structures and drive motors on the weight of the puncture needle bar 6.

[0084] It is worth noting that in the aforementioned torque and drive modes, the weight of the main operating device 1 itself and the magnitude of the resistance experienced by the simulated puncture needle need to be considered. Therefore, multiple control motors at different positions and in different drive directions often apply driving force or resistance to the puncture needle rod 6 together, thereby eliminating the influence of the weight of the main operating device 1 itself and realistically simulating the resistance experienced by the puncture needle during insertion into or rotation within human tissue. For example, in this specific embodiment, considering factors such as the weight of the device and the resistance experienced by the puncture needle from the operating end, the combined force of the X-axis flipping motor 5 on the X-axis flipping structure 2, the Y-axis flipping motor 14 on the Y-axis flipping structure 9, and the Z-axis needle advance / retract structure 18 applied to the puncture needle rod 6 works together to realistically simulate the resistance experienced by the puncture needle during insertion into or rotation within human tissue.

[0085] In the preferred embodiments described above, such as Figure 6 The diagram shows an enlarged view of the connection structure between the Z-axis motor and the needle bar slide rail on the Z-axis advance and retract needle structure. A rack 22 is also provided along the length of the needle bar slide rail 20; a gear 23 adapted to the rack 22 is provided on the rotating shaft of the Z-axis motor 21. Through meshing transmission, the linear motion of the puncture needle bar 6 can be converted into the rotational motion of the Z-axis motor 21, thereby simulating puncture resistance by outputting torque from the Z-axis motor 21. Alternatively, the rotational motion of the Z-axis motor 21 can be converted into the linear motion of the puncture needle bar 6, thereby outputting driving force from the Z-axis motor 21 to compensate for gravity in the main operating device 1, reducing the influence of various transmission structures and drive motors on the weight of the puncture needle bar 6. Furthermore, the above-mentioned meshing transmission method also has the advantage of high transmission accuracy. Of course, as an alternative implementation, a servo motor can control the rotation of the pulley, thereby pulling the needle bar slide rail 20 on the puncture needle bar 6 via a synchronous belt on the pulley. This enables the following: the torque that prevents the needle from advancing and retracting is output to the puncture needle rod 6 via the pulley and synchronous belt on the servo motor; or, the driving force is output to the puncture needle rod 6 via the pulley and synchronous belt on the servo motor, thereby providing gravity compensation for the main operating hand device 1.

[0086] In one specific embodiment, such as Figure 6The diagram shows an enlarged view of the connection structure between the Z-axis motor and the needle bar slide rail. The Z-axis forward / reverse needle structure 18 also includes a limiting slider 30 for adjusting the meshing backlash between the rack 22 and the gear 23. The limiting slider 30 can be mounted on the mounting bracket 32 ​​as needed. By adjusting the knob 31 on the limiting slider 30, the limiting slider 30 is driven to move the needle bar slide rail 20 and the rack 22 as a whole, thereby adjusting the meshing backlash and allowing the rack 22 and gear 23 to engage with high precision, improving the transmission accuracy between the Z-axis forward / reverse needle structure 18 and the puncture needle bar 6.

[0087] In the specific implementation methods described above, such as Figure 6 As shown, the Z-axis forward and backward needle structure 18 further includes: an encoder 27 for recording the position information of the puncture needle rod 6; the encoder 27 is coaxially connected to the gear 23, and converts the rotational motion of the gear 23 into an electrical signal to detect the position information of the puncture needle rod 6; in a preferred embodiment, the encoder 27 is coaxially connected to the gear 23 through the rotating shaft of the Z-axis motor 21.

[0088] In one embodiment, the rack 22 is fixed to the side of the needle bar slide rail 20 facing the Z-axis motor 21 by screws. In another embodiment, the puncture needle bar 6 and the needle bar slide rail 20 are fixedly connected by a connecting plate 28. Furthermore, in a preferred embodiment, a needle cap 29 is also provided on the puncture needle bar 6. The needle cap 29 is used to lock the main operating hand device 1, or to release the locked state of the main operating hand device 1, so that the puncture needle bar 6 can be driven to rotate an angle or to advance or retract the needle. The needle cap 29 effectively prevents the operator from accidentally touching the puncture needle bar 6, avoiding safety hazards caused by misoperation during surgery.

[0089] In the preferred embodiments described above, such as Figure 7 The diagram shows a schematic of the wire harness mechanism. The main operating device also includes a wire harness mechanism, which guides the wire harness 25 on the encoder 27 out of the bearing platform 3 along the swing origin of the X-axis flip shaft 4. The wire harness mechanism includes: The first guide wire 33 is provided with a mounting bracket 32 ​​at the lower end of the swing guide sleeve 11, and the encoder 27 is mounted on the mounting bracket 32; the Z-axis motor 21 is also mounted on the mounting bracket 32; the first guide wire 33 is mounted on the mounting bracket 32, and the first guide wire 33 has a through hole extending along the length direction of the swing guide sleeve 11. The wire clamp 24 is provided at the upper end of the swing guide sleeve 11, and the puncture needle bar 6 is mounted on the Y-axis flip shaft 10 through the needle bar base 17. The wire clamp 24 is mounted on the needle bar base 17. The wire clamp 24 has a through hole extending along the rotation axis of the X-axis flip shaft 4. The wire clamp 24 clamps the wire bundle 25 and guides the wire bundle 25 to the swing origin of the X-axis flip shaft 4. The second guide wire 26 is positioned at the swing origin of the X-axis flip axis 4. The second guide wire 26 has a through hole for guiding the wire harness 25 out of the support platform 3. The wire harness 25 on the encoder 27 passes sequentially through the first guide wire 33, the clamping wire 24, and the second guide wire 26, and is guided out of the support platform 3 from the swing origin of the X-axis flip axis 4. Alternatively, in other optional embodiments, the wire harness mechanism can also guide and fix the control motor on the flip structure assembly; or guide and fix the Z-axis motor 21 and other wire harnesses within the main operator device 1. Through the aforementioned guide wires and clamping wire 24, the wire harness 25 can be fixed and guided, thereby minimizing the impact of cable weight and reducing cable pulling and wear during mechanism operation. Furthermore, the aforementioned wire harness mechanism can guide the wire harness 25 to the swing origin position on the main operator device 1, allowing the wire harness 25 to exit from the swing origin position of the device, thus effectively reducing cable pulling movement and extending cable lifespan.

[0090] Example 2 This embodiment provides a specific implementation of a master-slave robot-assisted puncture system, which includes a master manipulator 1 and a slave manipulator arm of the master-slave puncture robot. The master manipulator 1 described above is the same as that in Embodiment 1.

[0091] Example 3 This embodiment provides a specific implementation of the main manipulator device 1, which includes the X-axis flip structure 2 and Y-axis flip structure 9 described in Embodiment 1. The main manipulator device 1 does not have the Z-axis needle advance / retract structure 18 described in Embodiment 1. The X-axis flip structure 2 provides the puncture needle rod 6 with a degree of freedom of rotation about the X-axis. The Y-axis flip structure 9 provides the puncture needle rod 6 with a degree of freedom of rotation about the Y-axis.

[0092] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the embodiments thereof. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A master manipulator device for controlling a puncture robot, characterized in that, The main manipulator (1) includes: a flipping structure assembly and a puncture needle rod (6); the puncture needle rod (6) is used to control the movement of the puncture robot; the flipping structure assembly provides the puncture needle rod (6) with rotational freedom through a rigid transmission structure; The flipping structure assembly is equipped with a control motor that is connected to the puncture needle rod (6) for transmission; The main operating device (1) has a torque mode that prevents the puncture needle rod (6) from rotating, and a drive mode that assists the puncture needle rod (6) in rotating. In the torque mode, the control motor outputs a torque to the puncture needle rod (6) to prevent rotation. In the drive mode, the control motor outputs a driving force to the puncture needle rod (6) to assist the puncture needle rod (6) in rotating. The main operating device (1) further includes: a support platform (3); the flipping structure assembly and the puncture needle rod (6) are both mounted on the support platform (3); the flipping structure assembly includes: an X-axis flipping structure (2), which provides the puncture needle rod (6) with a degree of freedom to rotate around the X-axis; the X-axis flipping structure (2) is mounted on the support platform (3) and includes: an X-axis flipping shaft (4) and an X-axis flipping motor (5); the puncture needle rod (6) is movably mounted on the support platform (3) via the X-axis flipping shaft (4); the X-axis flipping shaft (4) is rotatably mounted on the support platform (3) around the X-axis; and the X-axis flipping motor (5) is connected to the X-axis flipping shaft (4) in a transmission. The support platform (3) is a hollow frame structure. The X-axis rotating shaft (4) is rotatably arranged inside the hollow frame around the X-axis. The X-axis rotating motor (5) is located on the outer periphery of the support platform (3). The X-axis rotating motor (5) is directly connected to the X-axis rotating shaft (4) that passes through the hollow frame. The flipping structure assembly further includes: a Y-axis flipping structure (9); the Y-axis flipping structure (9) is used to provide the puncture needle rod (6) with a degree of freedom to rotate around the Y-axis; the Y-axis flipping structure (9) includes: a Y-axis flipping motor (14), a Y-axis flipping shaft (10), a swing guide sleeve (11) fitted on the puncture needle rod (6), and a linkage assembly (12) that is drivenly connected to the swing guide sleeve (11); the X-axis flipping shaft (4) has a hollow cavity for mounting the puncture needle rod (6), the puncture needle rod (6) is disposed in the hollow cavity of the X-axis flipping shaft (4), and the puncture needle rod (6) can rotate around the Y-axis through the Y-axis flipping shaft (10); the puncture needle rod (6) swings synchronously around the Y-axis through the swing guide sleeve (11) and the linkage assembly (12); the Y-axis flipping motor (14) is drivenly connected to the linkage assembly (12). The main operating device (1) further includes: a Z-axis needle advance / retract structure (18); the Z-axis needle advance / retract structure (18) is used to provide the puncture needle rod (6) with the freedom to extend and retract along the Z-axis; the Z-axis needle advance / retract structure (18) includes: a linear guide sleeve (19), a needle rod slide rail (20) connected to the puncture needle rod (6), and a Z-axis motor (21) that is drively connected to the needle rod slide rail (20); the linear guide sleeve (19) is installed at the upper end of the swing guide sleeve (11) and is slidably connected to the puncture needle rod (6), and is used to guide the puncture needle rod (6) to extend and retract along the length direction of the swing guide sleeve (11); A rack (22) is provided along the length of the needle bar slide rail (20); a gear (23) adapted to the rack (22) is provided on the rotating shaft of the Z-axis motor (21); the Z-axis forward and backward needle structure (18) further includes: a limiting slider (30) for adjusting the meshing tooth gap between the rack (22) and the gear (23); the limiting slider (30) is also provided with an adjusting knob (31) for adjusting the meshing tooth gap; a mounting bracket (32) is provided at the lower end of the swing guide sleeve (11), and the limiting slider (30) is mounted on the mounting bracket (32); the Z-axis motor (21) is mounted on the mounting bracket (32).

2. The main operator device according to claim 1, characterized in that, Within the hollow frame of the bearing platform (3), an X-axis limiting member (8) is also provided; the X-axis limiting member (8) is positioned on the rotation path of the X-axis rotating shaft (4), limiting the rotation angle of the X-axis rotating shaft (4); and / or, The two ends of the X-axis rotating shaft (4) are respectively mounted on the bearing platform (3) via bearings (7) or sliding sleeves.

3. The main operator device according to claim 1, characterized in that, The Y-axis flip structure (9) further includes: a transmission half-shaft (13) arranged in the Y-axis direction; the transmission half-shaft (13) is located in the hollow frame of the bearing platform (3); the Y-axis flip motor (14) is arranged on the outer periphery of the bearing platform (3); the Y-axis flip motor (14) is directly connected to the transmission half-shaft (13) passing through the hollow frame. The linkage component (12) is installed on the transmission half shaft (13), so that the puncture needle rod (6) is connected to the Y-axis flip motor (14) for transmission. In the torque mode, the Y-axis flip motor (14) outputs a torque to the transmission half-shaft (13) to prevent rotation, thereby preventing the puncture needle rod (6) from rotating around the Y-axis; in the drive mode, the Y-axis flip motor (14) outputs a driving force to the Y-axis flip shaft (10) to assist the puncture needle rod (6) in rotating around the Y-axis.

4. The main operator device according to claim 3, characterized in that, The linkage assembly (12) includes: sleeve drive members (15) respectively disposed on both sides of the swing guide sleeve (11) in the radial direction; there are at least two sleeve drive members (15), which are respectively installed on both sides of the transmission half shaft (13) in the radial direction and swing synchronously with the swing guide sleeve (11).

5. The main operator device according to claim 4, characterized in that, There are two transmission half shafts (13), and the two transmission half shafts (13) are respectively rotatably arranged on opposite sides of the frame of the bearing platform (3); The sleeve drive component (15) is an arc-shaped baffle extending toward the swing guide sleeve (11); There are two arc-shaped baffles, which are respectively installed on both sides of the two transmission half shafts (13) in the radial direction; and the radial diameter a of the transmission half shaft (13) is adapted to the radial dimension of the swing guide sleeve (11).

6. The main operator device according to claim 4, characterized in that, The puncture needle bar (6) is mounted on the needle bar base (17), and the swing guide sleeve (11) is mounted on the Y-axis flip shaft (10) via the needle bar base (17); and / or, Within the hollow frame of the bearing platform (3), a Y-axis limiting component (16) is also provided; the Y-axis limiting component (16) is located on the rotation path of the linkage assembly (12) to limit the rotation angle of the Y-axis towards the flip axis (10); and / or, The two ends of the Y-axis flip shaft (10) are respectively rotatably disposed within the hollow cavity of the X-axis flip shaft (4) via bearings (7) or sliding sleeves; and / or, The transmission half-shaft (13) is rotatably mounted on the bearing platform (3) via a bearing (7) or a sliding sleeve.

7. The main operator device according to claim 1, characterized in that, The Z-axis advance / retract needle structure (18) further includes: an encoder (27) for recording the position information of the puncture needle rod (6); the encoder (27) is coaxially connected to the gear (23) and converts the rotational motion of the gear (23) into an electrical signal to detect the position information of the puncture needle rod (6); and / or, The puncture needle rod (6) is also provided with a needle cap (29), which is used to release the locking state of the main operating hand device (1) so that the puncture needle rod (6) can be driven to rotate by an angle or to advance or retract the needle; and / or, The puncture needle bar (6) and the needle bar slide rail (20) are fixedly connected by a connecting plate (28).

8. The main operator device according to claim 1, characterized in that, Also includes: A wire harness mechanism is used to guide the wire harness (25) within the main operating hand device (1) out of the bearing platform (3) along the swing origin of the X-axis flip axis (4); the wire harness mechanism includes: The first guide wire (33) is mounted on the mounting bracket (32) and has a through hole extending along the length direction of the swing guide sleeve (11); The wire clamp (24) has a needle bar base (17) at the upper end of the swing guide sleeve (11); the wire clamp (24) is mounted on the needle bar base (17); the wire clamp (24) has a through hole extending along the rotation axis of the X-axis flip axis (4); the wire clamp (24) clamps the wire bundle (25) and guides the wire bundle (25) to the swing origin of the X-axis flip axis (4); The second guide wire (26) is located at the swing origin of the X-axis flipping shaft (4); the second guide wire (26) has a through hole for guiding the wire harness (25) out of the bearing platform (3).

9. A master-slave robot-assisted puncture system, characterized in that, The device includes the master manipulator (1) according to any one of claims 1-6; and the slave manipulator of the master-slave puncture robot.

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