Main control equipment and puncture robot system

Abstract

The utility model relates to main control equipment and a puncture robot system. The master control device comprises an operator, and the operator comprises a rocker; the sliding ring comprises a sleeving piece arranged outside the rocker in a sleeving mode and an abutting piece connected to the inner wall of the sleeving piece, and the abutting piece can elastically stretch out and draw back in the first direction relative to the sleeving piece; the connecting piece is arranged between the rocker and the sleeving piece and is connected to the rocker in a sliding mode, the connecting piece comprises a locking block, a mounting groove sunken in the first direction is formed in the abutting face, and the sliding ring has a locking state and an unlocking state; in the locking state, the abutting piece is clamped into the mounting groove, and in the unlocking state, the abutting piece is disengaged from the mounting groove. The sleeving piece is configured to move in the second direction, so that the abutting piece elastically abuts against the abutting face and shrinks till the abutting piece is clamped into the mounting groove, the second direction is parallel to the length direction of the rocker, and the first direction is perpendicular to the second direction. The main control equipment can simplify the disassembly and assembly process of the slip ring and the rocker and reduce the disassembly and assembly difficulty.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a main control device and a puncture robot system. Background Art

[0002] Puncture is a diagnostic and treatment technique in which a puncture needle is inserted into the patient's body cavity to extract secretions for testing, inject gas or contrast agent into the body cavity for angiography, or inject drugs into the body cavity. Currently, punctures are mostly guided by CT images. By observing the CT image, the operator can determine the position and direction of the puncture needle in the patient's body, so that the posture of the puncture needle can be adjusted in time to complete the puncture smoothly. Since CT scans are radioactive, it will cause great harm to the body for doctors to stay in this environment for a long time. Therefore, when completing the puncture with the help of CT image guidance, a robot is usually set up in the CT room, and the puncture needle is installed on the robot. The doctor remotely controls the robot through the main control device outside the CT room to drive the puncture needle to complete the puncture.

[0003] The main control device usually includes an operator, which includes a rocker and a slip ring slidably mounted on the rocker. By operating the slip ring, the puncture needle can be remotely controlled to perform the corresponding puncture action. If the operator fails, the slip ring needs to be removed from the rocker and the inside of the rocker needs to be repaired. However, in the related art, the connection structure between the slip ring and the rocker is complicated, the disassembly and assembly process is cumbersome, and the disassembly and assembly is difficult. Utility Model Content

[0004] Based on this, it is necessary to provide a main control device and a puncture robot system to simplify the disassembly and assembly process of the slip ring and the rocker and reduce the difficulty of disassembly and assembly.

[0005] A main control device, the main control device includes an operator, and the operator includes:

[0006] Joystick;

[0007] A slip ring, the slip ring comprising a sleeve member sleeved on the outside of the rocker, and a supporting member connected to the inner wall of the sleeve member, the supporting member being able to elastically expand and contract relative to the sleeve member along a first direction; and

[0008] A connecting member is disposed between the rocker and the sleeve member and is slidably connected to the rocker, the connecting member includes a locking block, the abutting surface is provided with a mounting groove recessed along the first direction, and the slip ring has a locked state with the connecting member and an unlocked state with the connecting member;

[0009] In the locked state, the abutment is inserted into the mounting groove, and in the unlocked state, the abutment is removed from the mounting groove; the sleeve is configured to move along a second direction so that the abutment elastically abuts against the abutment surface and contracts until the abutment is inserted into the mounting groove, wherein the second direction is parallel to the length direction of the rocker, and the first direction is perpendicular to the second direction.

[0010] In one of the embodiments, the locking block has a supporting surface formed on each of the side walls on both sides along the first direction, each of the supporting surfaces is provided with an inwardly recessed installation groove, and the locking block has supporting members on both sides along the first direction. In the locked state, the two supporting members are correspondingly inserted into the two installation grooves.

[0011] In one embodiment, the connecting member includes a positioning block connected to the end of the locking block along the second direction. In the locked state, the sleeve is blocked by the positioning block to inhibit the sleeve from moving along the second direction.

[0012] In one of the embodiments, the sleeve is provided with a positioning groove along the end portion of the second direction, and in the locked state, the positioning block is inserted into the positioning groove.

[0013] In one embodiment, the groove wall of the positioning groove is provided with a first positioning portion, and the positioning block is provided with a second positioning portion. One of the first positioning portion and the second positioning portion is a positioning pin, and the other is a positioning hole. In the locked state, the positioning pin is inserted into the positioning hole.

[0014] In one embodiment, the operator includes a first sliding member, the rocker includes a first shell and a second shell that are detachably connected, the connecting member is arranged on a side of the first shell facing away from the second shell, one end of the first sliding member is connected to the connecting member, and the other end extends into the rocker and is slidably connected to the second shell.

[0015] In one embodiment, the first shell is snap-fitted to the second shell, or the first shell is magnetically connected to the second shell.

[0016] In one embodiment, the main control device includes an operating table, and a telescopic driving member installed on the operating table, the telescopic end of the telescopic driving member passes through the operating table and is connected to the operator, and the telescopic driving member can drive the operator to move downward.

[0017] In one embodiment, the main control device includes a rotating drive member, the telescopic drive member is connected to a power output end of the rotating drive member, and the rotating drive member is used to drive the telescopic drive member and the operator to rotate.

[0018] In one embodiment, the operating table includes a supporting plate and a plurality of telescopic rods connected to the bottom end of the supporting plate, the telescopic end of the telescopic driving member passes through the supporting plate and is connected to the operator, an inclination sensor is provided at the bottom end of the supporting plate, and the inclination sensor is communicatively connected to each of the telescopic rods.

[0019] A puncture robot system includes the main control device mentioned in the preceding item, and also includes a puncture needle and a robot, wherein the puncture needle is installed on the robot, and the robot is communicatively connected to the main control device.

[0020] In the above-mentioned main control device and puncture robot system, the sleeve of the slip ring is sleeved on the outside of the rocker, and the inner wall of the sleeve is connected with a supporting member, the connecting member is arranged between the rocker and the sleeve, and is slidably connected to the rocker, and the locking block of the connecting member has a supporting surface, and a mounting groove recessed along the first direction is provided on the supporting surface. In the locked state, the supporting member is inserted into the mounting groove to inhibit the separation of the slip ring and the rocker, and the slip ring can slide relative to the rocker together with the connecting member; in the unlocked state, the supporting member is out of the mounting groove, so that the slip ring can be removed from the rocker. When installing, it is only necessary to move the sleeve in the second direction so that the supporting member elastically abuts against the supporting surface and shrinks until it slides to the mounting groove, and the mounting groove can provide a rebound space for the supporting member, so that the supporting member rebounds and is inserted into the mounting groove, thereby locking the slip ring to the rocker. It can be understood that when disassembling, it is only necessary to move the sleeve in the opposite direction of the second direction so that the supporting member slides out of the mounting groove to release the lock between the slip ring and the rocker. In the above structure, locking can be achieved by moving the sleeve along the second direction, and unlocking can be achieved by moving it in the opposite direction of the second direction. There is no need to set fasteners such as screws. Therefore, there is no need to lock or remove screws during disassembly and assembly, which can simplify the disassembly and assembly process of the slip ring and the rocker and reduce the difficulty of disassembly and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic diagram of the structure of a main control device in an embodiment of the present application.

[0022] FIG. 2 is an enlarged view of the operator in FIG. 1 .

[0023] FIG. 3 is a schematic diagram of the structure of an operator in an embodiment of the present application.

[0024] FIG. 4 is a schematic structural diagram of the operator from another perspective in one embodiment of the present application.

[0025] FIG. 5 is a schematic structural diagram of a connecting member, a supporting member and a positioning pin in a locked state in one embodiment of the present application.

[0026] FIG. 6 is a schematic structural diagram of a sleeve member, a supporting member and a positioning pin in an embodiment of the present application.

[0027] FIG. 7 is an exploded view of components such as a slip ring and a connector in one embodiment of the present application.

[0028] FIG. 8 is a schematic diagram of the structure of the second shell in one embodiment of the present application.

[0029] FIG. 9 is a cross-sectional view of a manipulator in an embodiment of the present application.

[0030] FIG. 10 is a cross-sectional view of the operator in another direction in one embodiment of the present application.

[0031] FIG. 11 is a schematic diagram of the structure of an operating table in one embodiment of the present application.

[0032] FIG. 12 is a cross-sectional view of an operator, a telescopic driving member, and a rotating driving member in one embodiment of the present application.

[0033] Reference numerals:

[0034] 10. Operator; 100. Joystick; 110. First shell; 111. Slide groove; 120. Second shell; 121. Second magnetic member; 200. Slip ring; 210. Socket; 211. Positioning groove; 212. First positioning part; 220. Abutment; 230. Button; 240. Eye tracking sensor; 300. Connector; 310. Locking block; 311. Abutment surface; 312. Mounting groove; 320. Positioning block; 321. Second positioning part; 410. First sliding member; 420. Sliding block; 430. Slide rail; 510. Operating table; 511. Loading plate; 512. Base; 520. Display screen; 530. Keyboard; 540. Control box; 541. Telescopic drive member; 542. Rotation drive member; 550. Telescopic rod; 560. Inclination sensor. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0036] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0037] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0039] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0041] Referring to FIG. 1 and FIG. 2 , a main control device provided in an embodiment of the present application includes an operator 10. Referring to FIG. 3 , FIG. 4 and FIG. 7 , the operator 10 includes a rocker 100, a slip ring 200 and a connector 300. Referring to FIG. 4 to FIG. 7 , the slip ring 200 includes a sleeve 210 sleeved on the outside of the rocker 100, and a support member 220 connected to the inner wall of the sleeve 210, and the support member 220 can elastically expand and contract relative to the sleeve 210 along a first direction. The connector 300 is disposed between the rocker 100 and the sleeve 210, and is slidably connected to the rocker 100. The connector 300 includes a locking block 310, and the locking block 310 has a support surface 311, and a mounting groove 312 is provided on the support surface 311. The sliding ring 200 has a locked state with the connector 300, and an unlocked state with the connector 300. In the locked state, the supporting member 220 is inserted into the installation groove 312, and in the unlocked state, the supporting member 220 is released from the installation groove 312; the sleeve 210 is configured to move along the second direction so that the supporting member 220 elastically abuts against the abutting surface 311 and contracts until the supporting member 220 is inserted into the installation groove 312, wherein the second direction is parallel to the length direction of the rocker 100, and the first direction is perpendicular to the second direction.

[0042] In the above-mentioned main control device and puncture robot system, in the locked state, the abutment 220 is inserted into the installation groove 312 to inhibit the slip ring 200 from separating from the rocker 100. At this time, the slip ring 200 can slide relative to the rocker 100 together with the connecting member 300 to achieve the advancement and withdrawal of the needle; in the unlocked state, the abutment 220 is disengaged from the installation groove 312, so that the slip ring 200 can be removed from the rocker 100. When installing, it is only necessary to move the sleeve 210 along the second direction so that the abutment 220 elastically abuts against the abutment surface 311 and shrinks until it slides to the installation groove 312. The installation groove 312 can provide a rebound space for the abutment 220, so that the abutment 220 rebounds and is inserted into the installation groove 312, thereby locking the slip ring 200 to the rocker 100. It can be understood that when disassembling, the lock between the slip ring 200 and the rocker 100 can be released by moving the sleeve 210 in the opposite direction of the second direction so that the abutting member 220 slides out of the mounting groove 312. In the above structure, locking can be achieved by moving the sleeve 210 in the second direction, and unlocking can be achieved by moving the sleeve 210 in the opposite direction of the second direction, without the need to set fasteners such as screws. Therefore, there is no need to lock or remove screws during disassembly, which can simplify the disassembly process of the slip ring 200 and the rocker 100 and reduce the difficulty of disassembly.

[0043] Specifically, the sleeve 210 is hollow inside, and the abutting member 220 is fixed to its inner wall and extends along the first direction. The connecting member 300 is disposed between the rocker 100 and the inner wall of the sleeve 210. The abutting surface 311 is a side wall of the locking block 310 along one side of the first direction, and the mounting groove 312 is disposed on the abutting surface 311 and is recessed toward the inside of the locking block 310 along the first direction.

[0044] It can be understood that there are two directions perpendicular to the second direction (i.e., the length direction of the rocker 100), namely, the width direction and the thickness direction of the rocker 100. In the embodiment shown in the drawings, the first direction is the width direction of the rocker 100. In other embodiments, the first direction may also be the thickness direction of the rocker 100.

[0045] In some embodiments, the resisting member 220 can be made of an elastic material, that is, the resisting member 220 itself is elastic, so that it can elastically expand and contract along the first direction relative to the sleeve 210. Alternatively, in some embodiments, the resisting member 220 itself is inelastic, but it is fixed to the inner wall of the sleeve 210 by an elastic member such as a spring, so that it can elastically expand and contract along the first direction relative to the sleeve 210.

[0046] Referring to Figures 5 to 7 and Figure 9, in some embodiments, the side walls of the locking block 310 on both sides along the first direction each form a supporting surface 311, each supporting surface 311 is provided with an inwardly recessed installation groove 312, and the locking block 310 is provided with supporting members 220 on both sides along the first direction. In the locked state, the two supporting members 220 are correspondingly inserted into the two installation grooves 312 one by one.

[0047] Specifically, both the two abutting members 220 are elastic and fixed to the inner wall of the sleeve 210, or both the abutting members 200 are fixed to the inner wall of the sleeve 210 by elastic members such as springs. When the sleeve 210 moves along the second direction, both the abutting members 220 elastically abut against the corresponding abutting surface 311, and shrink along the first direction toward the side away from the locking block 310, until they slide to the corresponding mounting groove 312, the mounting groove 312 can provide a rebound space for the corresponding abutting members 220, so that the two abutting members 220 rebound and snap into the corresponding mounting groove 312, thereby locking the slip ring 200 to the rocker 100. By providing two sets of matching mounting grooves 312 and abutting members 220, the position accuracy of the sleeve 210 during locking can be improved, so that it is not easy to be offset, and after being locked, it is not easy to be unlocked without applying external force to unlock.

[0048] 5 to 7 , in some embodiments, the connector 300 includes a positioning block 320 connected to the end of the locking block 310 along the second direction. In the locked state, the socket 210 is blocked by the positioning block 320 to inhibit the socket 210 from moving along the second direction.

[0049] Specifically, the positioning block 320 extends along the first direction, and is fixedly connected to the locking block 310, or the two are integrally formed. When the sleeve 210 moves to a position along the second direction, the two abutting members 220 rebound and snap into the corresponding mounting grooves 312. At the same time, the positioning block 320 blocks the sleeve 210, inhibiting the sleeve 210 from continuing to move along the second direction and causing the two abutting members 220 to fall out of the corresponding mounting grooves 312 again, thereby stably achieving the relative position locking of the sleeve 210 and the rocker 100.

[0050] 5 to 7 and 10 , in some embodiments, the sleeve 210 is provided with a positioning groove 211 at an end portion along the second direction, and in a locked state, the positioning block 320 is inserted into the positioning groove 211 .

[0051] Specifically, the shape and size of the positioning block 320 match the positioning groove 211, so that after the sleeve 210 moves to a position along the second direction, the positioning block 320 is inserted into the positioning groove 211 and abuts against the groove wall of the positioning groove 211 to limit the sleeve 210 from continuing to move along the second direction. In this way, after installation, the positioning block 320 can be accommodated in the positioning groove 211 without protruding outward, thereby reducing the overall size of the slip ring 200 and making it easier to operate.

[0052] Of course, in other embodiments, the positioning groove 211 may not be provided, and the sleeve 210 is directly abutted against the positioning block 320 along the end wall in the second direction, thereby limiting the sleeve 210 from continuing to move along the second direction.

[0053] Referring to Figures 5 to 7 and Figure 10, in some embodiments, the groove wall of the positioning groove 211 is provided with a first positioning portion 212, and the positioning block 320 is provided with a second positioning portion 321. One of the first positioning portion 212 and the second positioning portion 321 is a positioning pin, and the other is a positioning hole. In the locked state, the positioning pin is inserted into the positioning hole.

[0054] Specifically, in the embodiment shown in the drawings, the first positioning portion 212 is a positioning pin extending along the second direction, and the second positioning portion 321 is a positioning hole extending along the second direction. By plugging and matching the positioning pin and the positioning hole, the sleeve 210 can be positioned when it is just sleeved on the outside of the rocker 100. After positioning, the sleeve 210 is pushed along the second direction until the two abutting members 220 are snapped into the corresponding installation grooves 312. By providing the positioning pin and the positioning hole and plugging and matching the two, the sleeve 210 can be positioned to ensure that after it is moved into place along the second direction, the two abutting members 220 can accurately snap into the corresponding installation grooves 312.

[0055] In other embodiments, the first positioning portion 212 is a positioning hole extending along the second direction, and the second positioning portion 321 is a positioning pin extending along the second direction.

[0056] Preferably, the groove wall of the positioning groove 211 is provided with multiple groups of first positioning parts 212, and the positioning block 320 is provided with multiple groups of second positioning parts 321 corresponding to the first positioning parts 212. One of the first positioning parts 212 and the second positioning parts 321 is a positioning pin, and the other is a positioning hole. In the locked state, the multiple positioning pins are inserted into the multiple positioning holes one by one. By providing multiple groups of mutually matching positioning pins and positioning holes, the accuracy of positioning can be increased.

[0057] Referring to Figures 3, 4, 7 to 9, in some embodiments, the operator 10 includes a first sliding member 410, the rocker 100 includes a first shell 110 and a second shell 120 that are detachably connected, the connecting member 300 is arranged on a side of the first shell 110 away from the second shell 120, one end of the first sliding member 410 is connected to the connecting member 300, and the other end extends into the rocker 100 and is slidably connected to the second shell 120.

[0058] Specifically, one end of the first sliding member 410 is fixed to the connecting member 300 by a screw, or one end of the first sliding member 410 is clamped to the connecting member 300; the first shell 110 is provided with a slide groove 111 extending in the second direction, and the other end of the first sliding member 410 extends into the rocker 100 through the slide groove 111, and is slidably connected to the second shell 120. Further, a slide rail 430 extending in the second direction is fixed to the side of the second shell 120 close to the first shell 110, and a slider 420 is fixed to the end of the first sliding member 410 away from the connecting member 300, and the slider 420 is slidably connected to the slide rail 430. The slip ring 200 can be operated to move in the second direction or in the reverse direction of the second direction, thereby driving the connecting member 300 locked therewith to move synchronously, and the slider 420 will slide along the slide rail 430 for guidance, thereby increasing the stability of the moving process. Since the first shell 110 and the second shell 120 are detachably connected and the slider 420 is slidably connected to the slide rail 430, a sliding connection relationship can be established between the connecting member 300 and the second shell 120, thereby preventing the first shell 110 and the second shell 120 from separating, thereby making the first shell 110 and the second shell 120 more secure after the connection is completed.

[0059] Of course, in other embodiments, one end of the first sliding member 410 may be connected to the connecting member 300 , and the other end may be slidably connected to the first shell 110 .

[0060] 8 and 9 , in some embodiments, the first shell 110 and the second shell 120 are snap-fitted, or the first shell 110 and the second shell 120 are magnetically connected.

[0061] Specifically, a card block may be provided on one of the first shell 110 and the second shell 120, and a card slot may be provided on the other, and the card block is inserted into the card slot to realize the card connection between the first shell 110 and the second shell 120. Alternatively, a first magnetic member may be provided on the first shell 110, and a second magnetic member 121 may be provided on the second shell 120, and the first magnetic member and the second magnetic member 121 have opposite magnetic properties, so that they attract each other to realize magnetic connection.

[0062] Referring to Figures 1, 11 and 12, in some embodiments, the main control device includes an operating table 510, and a telescopic driving member 541 installed on the operating table 510, the telescopic end of the telescopic driving member 541 passes through the operating table 510 and is connected to the operator 10, and the telescopic driving member 541 can drive the operator 10 to move downward.

[0063] Specifically, the operating table 510 includes a carrier plate 511, on which components such as a display screen 520 and a keyboard 530 are placed for data interaction with the user. A base 512 is provided on the carrier plate 511, and the operator 10 is installed at the base 512. A control box 540 is installed at the bottom end of the carrier plate 511, and a telescopic drive member 541 is installed in the control box 540. The telescopic drive member 541 can be a cylinder or a linear motor, which can drive the operator 10 to move up and down. When the operator 10 is not needed, it can be retracted downward to avoid blocking the user from performing other operations on the carrier plate 511. When the operator 10 is needed, it can be extended upward. Preferably, when the operator 10 is not needed, the telescopic drive member 541 drives the operator 10 to move downward until the top of the operator 10 is flush with the top surface of the base 512, so as to maximize the storage of the operator 10.

[0064] 1 , 2 , 11 and 12 , in some embodiments, the main control device includes a rotating drive member 542 , a telescopic drive member 541 connected to a power output end of the rotating drive member 542 , and the rotating drive member 542 is used to drive the telescopic drive member 541 and the operator 10 to rotate.

[0065] Specifically, the rotary drive member 542 is installed in the control box 540, which can be a motor. The telescopic drive member 541 is connected to the output shaft of the rotary drive member 542. The rotary drive member 542 is used to drive the telescopic drive member 541 and the operator 10 to rotate, so as to adjust the direction of the slip ring 200 in the operator 10. The slip ring 200 is provided with a button 230. By adjusting the direction of the slip ring 200, the button 230 can be directed to the user's thumb pressing side, so that the user can press it conveniently.

[0066] Preferably, in some embodiments, an eye tracking sensor 240 is provided on the slip ring 200, and the eye tracking sensor 240 can capture the user's eye orientation. Generally, we believe that the relative position of the user's eye orientation and the orientation of the right thumb used to operate the slip ring 200 is certain. Then, by capturing the user's eye orientation through the eye tracking sensor 240 and sending the information to the controller, the controller can control the rotation angle of the telescopic driving member 541 and the operator 10 driven by the rotating driving member 542, and adjust the orientation of the slip ring 200 to the best, so that it can face the pressing side of the user's thumb.

[0067] Referring to Figures 1, 11 and 12, in some embodiments, the operating platform 510 includes a supporting plate 511 and a plurality of telescopic rods 550 connected to the bottom end of the supporting plate 511, the telescopic end of the telescopic driving member 541 passes through the supporting plate 511 and is connected to the operator 10, and an inclination sensor 560 is provided at the bottom end of the supporting plate 511, and the inclination sensor 560 is communicatively connected to each telescopic rod 550.

[0068] Specifically, each telescopic rod 550 can be an electric push rod or a cylinder. A plurality of inclination sensors 560 are provided at the bottom end of the carrying plate 511, and the plurality of inclination sensors 560 send the detection results to the controller, and the controller can judge whether the carrying surface (top surface) of the carrying plate 511 is horizontal. If it is not horizontal, the controller can control the corresponding telescopic rod 550 to rise and fall, so as to adjust the carrying plate 511 to be horizontal, so as to improve the carrying stability of the carrying plate 511.

[0069] In some embodiments, among the multiple telescopic rods 550, the telescopic rod 550 close to the operator can be controlled to rise and fall to a height that meets the height requirements of most users, and then the telescopic rod 550 away from the operator can be controlled to rise and fall to perform height fine-tuning until the user feels the best when holding the operator 100. At this time, the optimal working height and inclination angle are reached.

[0070] In some embodiments, the puncture robot system includes the main control device in any of the aforementioned embodiments, and also includes a puncture needle and a robot, the puncture needle is installed on the robot, and the robot is communicatively connected to the main control device.

[0071] Specifically, the robot is communicatively connected to a controller of a main control device, and the robot can be remotely controlled by the controller, thereby driving the puncture needle to move to complete the puncture operation.

[0072] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A master control device, characterized in that: The main control device comprises an operator (10), and the operator (10) comprises: Joystick(100); A slip ring (200), the slip ring (200) comprising a sleeve member (210) sleeved on the outside of the rocker (100), and a support member (220) connected to the inner wall of the sleeve member (210), the support member (220) being capable of elastically expanding and contracting along a first direction relative to the sleeve member (210); and a connecting member (300) disposed between the rocking arm (100) and the sleeve member (210) and slidably connected to the rocking arm (100); the connecting member (300) comprises a locking block (310); the locking block (310) has a supporting surface (311); a mounting groove (312) recessed along the first direction is provided on the supporting surface (311); the sliding ring (200) has a locked state with the connecting member (300) and an unlocked state with the connecting member (300); In the locked state, the abutment (220) is inserted into the mounting groove (312), and in the unlocked state, the abutment (220) is removed from the mounting groove (312); the sleeve (210) is configured to move along a second direction so that the abutment (220) elastically abuts against the abutment surface (311) and contracts until the abutment (220) is inserted into the mounting groove (312), wherein the second direction is parallel to the length direction of the rocker (100), and the first direction is perpendicular to the second direction.

2. The main control device according to claim 1, characterized in that: The locking block (310) is provided with a supporting surface (311) on each side wall on both sides along the first direction, and each supporting surface (311) is provided with an inwardly recessed mounting groove (312). The locking block (310) is provided with a supporting piece (220) on both sides along the first direction. In the locked state, the two supporting pieces (220) are correspondingly inserted into the two mounting grooves (312) one by one.

3. The main control device according to claim 1 or 2, characterized in that: The connecting member (300) comprises a positioning block (320) connected to the end of the locking block (310) along the second direction. In the locked state, the sleeve (210) is blocked by the positioning block (320) to inhibit the sleeve (210) from moving along the second direction.

4. The main control device according to claim 3, characterized in that: The sleeve (210) is provided with a positioning groove (211) along the end portion of the second direction, and in the locked state, the positioning block (320) is snapped into the positioning groove (211).

5. The main control device according to claim 4, characterized in that: The groove wall of the positioning groove (211) is provided with a first positioning portion (212), and the positioning block (320) is provided with a second positioning portion (321); one of the first positioning portion (212) and the second positioning portion (321) is a positioning pin, and the other is a positioning hole; in the locked state, the positioning pin is inserted into the positioning hole.

6. The main control device according to claim 1 or 2, characterized in that: The operator (10) includes a first sliding member (410), the rocker (100) includes a first shell (110) and a second shell (120) that are detachably connected, the connecting member (300) is arranged on a side of the first shell (110) that is away from the second shell (120), one end of the first sliding member (410) is connected to the connecting member (300), and the other end extends into the rocker (100) and is slidably connected to the second shell (120).

7. The main control device according to claim 6, characterized in that: The first shell (110) and the second shell (120) are snap-connected, or the first shell (110) and the second shell (120) are magnetically connected.

8. The main control device according to claim 1 or 2, characterized in that: The main control device comprises an operating table (510), and a telescopic driving member (541) installed on the operating table (510), wherein the telescopic end of the telescopic driving member (541) passes through the operating table (510) and is connected to the operator (10), and the telescopic driving member (541) can drive the operator (10) to move downward.

9. The main control device according to claim 8, characterized in that: The main control device comprises a rotating driving member (542), the telescopic driving member (541) is connected to the power output end of the rotating driving member (542), and the rotating driving member (542) is used to drive the telescopic driving member (541) and the operator (10) to rotate.

10. The main control device according to claim 8, characterized in that: The operating platform (510) comprises a carrying plate (511) and a plurality of telescopic rods (550) connected to the bottom end of the carrying plate (511); the telescopic end of the telescopic driving member (541) passes through the carrying plate (511) and is connected to the operator (10); an inclination sensor (560) is provided at the bottom end of the carrying plate (511); and the inclination sensor (560) is communicatively connected to each of the telescopic rods (550).

11. A puncture robot system, characterized in that: The puncture robot system includes the main control device according to any one of claims 1 to 10, and also includes a puncture needle and a robot, wherein the puncture needle is installed on the robot, and the robot is communicatively connected to the main control device.

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