A main operating hand structure for a puncture robot and an auxiliary puncture system

Abstract

This application provides a master manipulator structure for a puncture robot and a master-slave surgical robot-assisted puncture system, belonging to the field of medical device technology. Specifically, it is used to operate a remote slave robot to perform surgical actions, including: a gantry, an attitude adjustment mechanism, a needle insertion mechanism, a force feedback mechanism, a first position detection component, and a second position detection component. The force feedback mechanism is connected to the moving part and is used to transmit force to the moving part according to the puncture action of the remote slave robot. The master manipulator structure allows the surgeon to control the slave robot to complete surgical actions outside the CT room, avoiding long-term exposure to radiation. The force feedback mechanism connected to the moving part provides force to the moving part when the surgeon operates the puncture needle rod to reciprocate, simulating the resistance encountered by the puncture needle when it pierces human tissue, thus simulating the real surgical scenario as closely as possible and improving the surgeon's surgical experience.

Description

Technical Field

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

[0002] In recent years, X-ray computed tomography (CT) imaging technology has made tremendous progress, both in its basic technology and in new clinical applications. Significant advancements have been made in all components of CT, such as the optical tube, detector, slip ring, data acquisition system, and algorithms. Since the advent of spiral CT and multi-slice CT, many new clinical applications have emerged, offering advantages such as fast scanning time and clear images, making them suitable for examining a wide range of diseases.

[0003] CT-guided percutaneous puncture is a widely used clinical technique. Under the precise guidance of a CT scan, a puncture needle is accurately inserted into the lesion to obtain diseased tissue. CT-guided puncture, with CT imaging (of human tissue and the puncture needle), allows for real-time determination of the puncture direction and timely adjustments, greatly 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 puncture system has been proposed. This system allows remote operation via a master manipulator to complete the puncture process from the robotic arm, enabling doctors to perform surgery outside the CT room and avoiding long-term radiation exposure.

[0004] The current main operating hand structure has no resistance during the downward pressing of the puncture needle shaft, which cannot simulate the resistance encountered by the puncture needle when it enters human tissue. This results in a poor surgical experience for the doctor and may affect the surgical procedure. Summary of the Invention

[0005] The purpose of this application is to provide a master manipulator structure for a puncture robot and a master-slave surgical robot-assisted puncture system, aiming to solve the problem in related technologies that the puncture needle rod of the master manipulator structure has no resistance during the downward pressing process, which cannot simulate the resistance of the puncture needle when it is inserted into human tissue, resulting in a poor surgical experience for doctors and potentially affecting the surgical process.

[0006] 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.

[0007] According to a first aspect of this application, a master manipulator structure for a puncture robot is provided for operating a distal slave manipulator to perform surgical actions, including:

[0008] The frame, attitude adjustment mechanism, needle insertion mechanism, force feedback mechanism, first position detection component, and second position detection component;

[0009] The posture adjustment mechanism includes a puncture needle rod and a rotating structure. The rotating structure is connected to the frame, and the puncture needle rod is connected to the rotating structure. The puncture needle rod can rotate using the rotating structure and can reciprocate linearly relative to the rotating structure. The first position detection component is used to detect the rotation angle of the puncture needle rod.

[0010] The lower end of the puncture needle rod passes through the rotating structure and is connected to the moving part in the needle insertion mechanism. The moving part is driven to reciprocate by the puncture needle rod. The second position detection component is used to detect the amount of movement of the moving part.

[0011] The force feedback mechanism is connected to the moving part and is used to transmit force to the moving part according to the piercing action of the remote slave robot.

[0012] In one exemplary embodiment of this application, the rotating structure includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the frame so that the first rotating block can rotate about a first direction;

[0013] The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, the first direction and the second direction being opposite;

[0014] The puncture needle rod is slidably disposed within the second rotating block, and the puncture needle rod moves linearly back and forth when it slides within the second rotating block.

[0015] In one exemplary embodiment of this application, a second servo motor and a third servo motor are further included, wherein the drive shaft of the second servo motor is connected to the rotating shaft of the first rotating block, and the drive shaft of the third servo motor is connected to the rotating shaft of the second rotating block.

[0016] The second and third servo motors are used to assist the rotation of the puncture needle rod.

[0017] In one exemplary embodiment of this application, the first rotating block further includes two U-shaped members arranged side by side, the ends of the two U-shaped members are connected to the first rotating block, and an arc-shaped groove matching the diameter of the puncture needle rod is formed between the two U-shaped members. The lower end of the puncture needle rod passes through the arc-shaped groove and is connected to the moving part.

[0018] When the puncture needle rod rotates in the first direction, it can drive the two U-shaped parts to rotate together in the first direction. When the puncture needle rod rotates in the second direction, it can slide along the extension direction of the arc-shaped groove.

[0019] In one exemplary embodiment of this application, the needle insertion mechanism includes a bracket and a traction member. The bracket is located below the frame and is connected to the rotating structure. The bracket is capable of rotating with the rotating structure.

[0020] The movable part is slidably disposed on the support, and the moving direction of the movable part is parallel to the moving direction of the puncture needle rod. The traction member is disposed on the support and connected to the movable part for transmitting traction force to the movable part. The force feedback mechanism is connected to the traction member for applying traction force to the traction member.

[0021] In an exemplary embodiment of this application, the traction member includes a timing belt and two pulleys. The two pulleys are disposed at the upper and lower ends of the bracket. The timing belt is wound around the two pulleys. The moving part is fixed to one side of the timing belt. The force feedback mechanism is drivenly connected to one of the pulleys and is used to apply torque to the pulley.

[0022] In one exemplary embodiment of this application, the force feedback mechanism includes a first servo motor, wherein one of the pulleys is connected to the drive shaft of the first servo motor.

[0023] In one exemplary embodiment of this application, the second position detection component includes an encoder, which is configured corresponding to the drive shaft of the first servo motor;

[0024] The first servo motor and encoder are both located at the upper end of the bracket, close to the frame, and the drive shaft of the first servo motor is connected to a pulley located at the upper end of the bracket.

[0025] In one exemplary embodiment of this application, the bracket is provided with a top-to-bottom sliding groove, the moving part includes a slider, and a protrusion protruding from the side of the slider to cooperate with the sliding groove, the protrusion being slidably disposed in the sliding groove.

[0026] In one exemplary embodiment of this application, a tensioning mechanism is further included, which is disposed on the bracket, and the timing belt passes through the tensioning mechanism. The tensioning mechanism is used to adjust the tension of the timing belt.

[0027] According to a second aspect of this application, a master-slave robot-assisted puncture system is provided, including the aforementioned master manipulator structure for a puncture robot.

[0028] The exemplary embodiments of this application may have some or all of the following beneficial effects:

[0029] The master manipulator structure for a puncture robot provided in the example embodiment of this application is used to operate a remote slave robot to perform surgical actions. It includes a frame, an attitude adjustment mechanism, a needle insertion mechanism, a force feedback mechanism, a first position detection component, and a second position detection component. The attitude adjustment mechanism includes a puncture needle rod and a rotating structure. The rotating structure is connected to the frame, and the puncture needle rod is connected to the rotating structure. The puncture needle rod can rotate using the rotating structure and can reciprocate relative to the rotating structure. The first position detection component is used to detect the rotation angle of the puncture needle rod. The lower end of the puncture needle rod passes through the rotating structure and connects to the moving part of the needle insertion mechanism, driving the moving part to reciprocate. The second position detection component is used to detect the amount of movement of the moving part. The force feedback mechanism is connected to the moving part and is used to transmit force to the moving part according to the puncture action of the remote slave robot. The master hand structure allows the surgeon to control the slave hand robot to perform surgical actions outside the CT room, avoiding long-term exposure to radiation. A force feedback mechanism is connected to the moving part. When the surgeon operates the puncture needle rod to make reciprocating linear movements, the force feedback mechanism can provide force to the moving part to simulate the resistance of the puncture needle when it enters human tissue, simulating the real surgical scenario as much as possible and improving the surgeon's surgical experience.

[0030] 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

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0032] Figure 1 This paper shows a schematic diagram of the main manipulator structure for the puncture robot in Embodiment 1 of this application;

[0033] Figure 2 A front view of the main manipulator structure for a puncture robot in Embodiment 1 of this application is shown;

[0034] Figure 3 A side view of the main manipulator structure for a puncture robot according to Embodiment 1 of this application is shown;

[0035] Figure 4 A top view of the main manipulator structure for a puncture robot in Embodiment 1 of this application is shown.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Frame; 2. Attitude adjustment mechanism; 21. Puncture needle bar; 22. Rotating structure; 221. First rotating block; 222. Second rotating block; 3. Needle insertion mechanism; 31. Moving part; 311. Protrusion; 32. Support; 33. Slide groove; 34. Pulley; 35. Synchronous belt; 4. Force feedback mechanism; 41. First servo motor; 42. Encoder; 5. Second servo motor; 6. Third servo motor; 7. U-shaped part; 8. Tensioning mechanism; 9. Bearing. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] 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.

[0041] Example 1

[0042] This embodiment provides a specific implementation of the master manipulator structure for a puncture robot, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the master manipulator structure is used to operate the distal slave robot to perform surgical actions. The master manipulator structure includes a frame 1, an attitude adjustment mechanism 2, a needle insertion mechanism 3, a force feedback mechanism 4, a first position detection component, and a second position detection component. The attitude adjustment mechanism 2 includes a puncture needle rod 21 and a rotating structure 22. The rotating structure 22 is connected to the frame 1, and the puncture needle rod 21 is connected to the rotating structure 22. The puncture needle rod 21 can rotate using the rotating structure 22 to adjust its angle, and it can also reciprocate relative to the rotating structure 22 to adjust its insertion depth. The first position detection component is used to detect the rotation angle of the puncture needle rod 21. The puncture needle... The lower end of the rod 21 passes through the rotating structure 22 and is connected to the moving part 31 in the needle insertion mechanism 3. The puncture needle rod 21 can drive the moving part 31 to reciprocate. The second position detection component is used to detect the amount of movement of the moving part 31, that is, the amount of movement of the puncture needle rod 21. The force feedback mechanism 4 is connected to the moving part 31. The force feedback mechanism 4 is used to transmit force to the moving part 31 according to the puncture action of the remote slave robot. During the puncture surgery, when the surgeon operates the puncture needle rod 21 to perform the puncture action, the force feedback mechanism 4 acts on the puncture needle rod 21 according to the force provided by the puncture action of the remote slave robot, so that the surgeon can feel the resistance of the needle rod entering the tissue during the puncture process, thereby improving the surgeon's surgical experience.

[0043] In some embodiments, the moving part 31 can be two rotating wheels, which are respectively disposed on both sides of the puncture needle rod 21, and the circumferential sides of the two rotating wheels abut against the surface of the puncture needle rod 21. When the puncture needle rod 21 moves axially, the two rotating wheels can be driven to rotate by friction. The amount of movement of the puncture needle rod 21 can be obtained by the rotation angle of the two rotating wheels. At the same time, the force feedback mechanism 4 is connected to the two rotating wheels, and the force feedback mechanism 4 can drive the two rotating wheels to move away from or closer to each other, thereby controlling the squeezing force of the two rotating wheels on the puncture needle rod 21, thereby simulating the resistance of the puncture needle rod 21 when it pierces the tissue.

[0044] In some embodiments, the moving part 31 can be a slider, which can move linearly driven by the puncture needle rod 21. The amount of movement of the puncture needle rod 21 is obtained by detecting the amount of movement of the slider. At the same time, the force feedback mechanism 4 is connected to the slider, and by applying resistance to the slider, resistance is applied to the puncture needle rod 21, thereby simulating the resistance of the puncture needle rod 21 when it pierces the tissue.

[0045] In this embodiment, the force feedback mechanism 4 can provide the moving part 31 with a force opposite to its moving direction, so that the surgeon can feel the real insertion process of the end robot while controlling the puncture needle rod 21 to insert into the tissue, thus improving the surgeon's surgical experience.

[0046] In one embodiment, the needle insertion mechanism 3 includes a support 32 and a traction member. The support 32 is located below the frame 1 and is connected to the rotating structure 22. The support 32 can rotate with the rotating structure 22. A moving part 31 is slidably disposed on the support 32, and the sliding direction of the moving part 31 is parallel to the axial direction of the puncture needle rod. The traction member is disposed on the support 32 and connected to the moving part 31. The traction member is used to transmit traction force to the moving part 31. A force feedback mechanism 4 is connected to the traction member. The force feedback mechanism 4 acts on the traction member according to the force provided by the slave robot. The force on the traction member acts on the puncture needle rod 21. The lower end of the puncture needle rod 21 is connected to the traction member. The traction member can guide the puncture needle rod 21 to move linearly. In this embodiment, the moving part 31 is driven to perform linear reciprocating movement.

[0047] In this embodiment, as Figure 3 As shown, the traction component includes a synchronous belt 35 and two pulleys 34. The two pulleys 34 are located at the upper and lower ends of the bracket 32. The synchronous belt 35 is wound around the two pulleys 34. The moving part 31 is fixed to one side of the synchronous belt 35. The force feedback mechanism 4 is connected to one of the pulleys 34 for transmission and is used to apply torque to this pulley 34 so that the synchronous belt 35 is subjected to a certain resistance when rotating. The applied torque is the force provided by the force feedback mechanism 4 to the puncture needle rod 21. The lower end of the puncture needle rod 21 is fixedly connected to one side of the synchronous belt 35 through the moving part 31. When the puncture needle rod 21 performs a puncture action, the lower end of the puncture needle rod 21 drives the synchronous belt 35 to rotate. The resistance of the synchronous belt 35 by the force feedback mechanism 4 is applied to the moving part 31 and the puncture needle rod 21, making the surgeon's operating environment closer to the real surgical scene and improving the surgeon's surgical experience.

[0048] Furthermore, the force feedback mechanism 4 includes a first servo motor 41, with one pulley 34 connected to the drive shaft of the first servo motor 41. The first servo motor 41 applies torque to the pulley 34, and the servo motor provides a force to the pulley 34 in the opposite direction of rotation, so that the synchronous belt 35 experiences a certain resistance when rotating under the action of the moving part 31 and the puncture needle rod 21. In some other embodiments, the force feedback mechanism 4 may also be a friction element or other structure disposed on one side of the synchronous belt 35, as long as it can provide an opposite force to the synchronous belt 35.

[0049] Specifically, the second position detection component includes an encoder 42, which is correspondingly positioned to the drive shaft of the first servo motor 41. The encoder 42 can record the number of rotations of the drive shaft of the first servo motor 41, thereby recording the movement distance of the synchronous belt 35, i.e., the movement amount of the lower moving part 31 of the puncture needle rod 21. In this embodiment, both the first servo motor 41 and the encoder 42 are located at the upper end of the bracket 32, close to the frame 1. The drive shaft of the first servo motor 41 is connected to the pulley 34 located at the upper end of the bracket 32. By positioning both the first servo motor 41 and the encoder 42 at the upper end of the bracket 32, the influence of the torque generated by the first servo electrode and the encoder 42 is reduced when the operator rotates the upper end of the puncture needle rod 21.

[0050] In this embodiment, the bracket 32 ​​is provided with a top-to-bottom sliding groove 33, and the moving part 31 includes a slider. A protrusion 311 that cooperates with the sliding groove 33 extends from the side of the slider. The protrusion 311 is slidably disposed in the sliding groove 33. Through the cooperation between the protrusion 311 and the sliding groove 33, the moving part 31 can be guided to move linearly back and forth along the sliding groove 33.

[0051] In this embodiment, a tensioning mechanism 8 is also included, which is mounted on the bracket 32. The synchronous belt 35 passes through the tensioning mechanism 8, and the tensioning mechanism 8 is used to adjust the tension of the synchronous belt 35. The tensioning mechanism 8 makes it easier to install the synchronous belt 35 onto the two pulleys 34. At the same time, by moving the tensioning mechanism 8, the tension of the synchronous belt 35 can be adjusted so that the synchronous belt 35 can better drive the moving part 31 to move linearly.

[0052] In this embodiment, the rotating structure 22 includes a first rotating block 221 and a second rotating block 222. The first rotating block 221 is rotatably mounted on the frame 1, so that the first rotating block 221 can rotate around a first direction. The second rotating block 222 is rotatably mounted on the first rotating block 221, so that the second rotating block 222 can rotate around a second direction. The first direction and the second direction are opposite. The puncture needle rod 21 is slidably disposed in the second rotating block 222. When the puncture needle rod 21 slides in the second rotating block 222, it performs linear reciprocating movement.

[0053] In this embodiment, a second servo motor 5 and a third servo motor 6 are also included. The drive shaft of the second servo motor 5 is connected to the rotating shaft of the first rotating block 221, and the drive shaft of the third servo motor 6 is connected to the rotating shaft of the second rotating block 222. The second servo motor 5 and the third servo motor 6 are used to assist the rotation of the puncture needle rod 21. Since the needle insertion mechanism 3 is located at the lower end of the puncture needle rod 21, when the operator rotates the upper end of the puncture needle rod 21, he / she needs to overcome the gravity of the needle insertion mechanism 3. With the assistance of the second servo motor 5 and the third servo motor 6, gravity compensation can be performed, weakening the influence of the gravity of the needle insertion mechanism 3 on the rotation process of the puncture needle rod 21.

[0054] In this embodiment, the second servo motor 5 and the third servo motor 6 can be used simultaneously as the first position detection component to detect the rotation angle of the puncture needle rod 21. By measuring the number of rotations of the two servo motors, the rotation angle of the puncture needle rod 21 in the first direction and the second direction can be determined, thus revealing the rotation angle of the puncture needle rod 21.

[0055] In this embodiment, as Figure 2 As shown, the first rotating block 221 also includes two U-shaped parts 7 arranged side by side. The ends of the two U-shaped parts 7 are connected to the first rotating block 221, and an arc-shaped groove matching the diameter of the puncture needle rod 21 is formed between the two U-shaped parts 7. The lower end of the puncture needle rod 21 passes through the arc-shaped groove and is connected to the moving part 31. When the puncture needle rod 21 rotates in the first direction, the lower end of the puncture needle rod 21 can drive the two U-shaped parts 7 to rotate together in the first direction. When the puncture needle rod 21 rotates in the second direction, the lower end of the puncture needle rod 21 can slide along the extension direction of the arc-shaped groove to guide the movement of the puncture needle rod 21 in the second direction.

[0056] like Figure 4 As shown, the first rotating block 221 and the second rotating block 222 are both rotatably mounted on the frame 1 via bearings 9. The first rotating block 221 is also rotatably mounted on the second rotating block 222. The second servo motor 5 and the third servo motor 6 are both connected to the first rotating block 221 and the second rotating block 222 via couplings.

[0057] Working principle:

[0058] The master manipulator structure for a puncture robot provided in this application is used to operate a remote slave robot to perform surgical actions. That is, when the surgeon controls the master manipulator structure to make adjustments and puncture actions, the remote slave robot follows the master manipulator to make adjustments and puncture actions, so that the surgeon can perform puncture surgery remotely. The master manipulator structure provided in this application has a force feedback mechanism 4 connected to the lower end of the puncture needle rod 21. The force feedback mechanism 4 is used to transmit force to the moving part 31 according to the puncture action of the remote slave robot. During the puncture surgery, when the surgeon operates the puncture needle rod 21 to make puncture actions, the force feedback mechanism 4 acts on the puncture needle rod 21 according to the force provided by the puncture action of the remote slave robot, so that the surgeon can feel the resistance of the needle rod entering the tissue during the puncture process, thereby improving the surgeon's surgical experience.

[0059] Meanwhile, the first servo motor 41 and encoder 42 in the force feedback mechanism 4 are both located on the upper end of the bracket 32, close to the frame 1. The tensioning mechanism 8 is also located on the upper end of the bracket 32 ​​together with the force feedback mechanism 4, so that when the operator rotates the upper end of the puncture needle rod 21, the influence of the torque generated by the first servo electrode and encoder 42 is reduced.

[0060] Example 2

[0061] This embodiment provides a specific implementation of a master-slave robot-assisted puncture system, which is implemented using the master operator structure for the puncture robot in Embodiment 1.

[0062] 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 structure for a puncture robot, used to operate a distal slave robot to perform surgical actions, characterized in that, include: The frame, attitude adjustment mechanism, needle insertion mechanism, force feedback mechanism, first position detection component, and second position detection component; The posture adjustment mechanism includes a puncture needle rod and a rotating structure. The rotating structure is connected to the frame, and the puncture needle rod is connected to the rotating structure. The puncture needle rod can rotate using the rotating structure and can reciprocate linearly relative to the rotating structure. The first position detection component is used to detect the rotation angle of the puncture needle rod. The lower end of the puncture needle rod passes through the rotating structure and is connected to the moving part in the needle insertion mechanism. The moving part is driven to reciprocate by the puncture needle rod. The second position detection component is used to detect the amount of movement of the moving part. The force feedback mechanism is connected to the moving part and is used to transmit force to the moving part according to the piercing action of the remote slave robot.

2. The main manipulator structure for a puncture robot according to claim 1, characterized in that, The rotating structure includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the frame so that the first rotating block can rotate about a first direction; The second rotating block is rotatably mounted on the first rotating block so that the second rotating block can rotate about a second direction, the first direction and the second direction being opposite; The puncture needle rod is slidably disposed within the second rotating block, and the puncture needle rod moves linearly back and forth when it slides within the second rotating block.

3. The main manipulator structure for a puncture robot according to claim 2, characterized in that, It also includes a second servo motor and a third servo motor, the drive shaft of the second servo motor being connected to the rotating shaft of the first rotating block, and the drive shaft of the third servo motor being connected to the rotating shaft of the second rotating block; The second and third servo motors are used to assist the rotation of the puncture needle rod.

4. The main manipulator structure for a puncture robot according to claim 2, characterized in that, The first rotating block also includes two U-shaped parts arranged side by side. The ends of the two U-shaped parts are connected to the first rotating block. An arc-shaped groove matching the diameter of the puncture needle rod is formed between the two U-shaped parts. The lower end of the puncture needle rod passes through the arc-shaped groove and is connected to the moving part. When the puncture needle rod rotates in the first direction, it can drive the two U-shaped parts to rotate together in the first direction. When the puncture needle rod rotates in the second direction, it can slide along the extension direction of the arc-shaped groove.

5. The main manipulator structure for a puncture robot according to claim 2, characterized in that, The needle insertion mechanism includes a bracket and a traction component. The bracket is located below the frame and is connected to the rotating structure. The bracket can rotate with the rotating structure. The movable part is slidably disposed on the support, and the moving direction of the movable part is parallel to the moving direction of the puncture needle rod. The traction member is disposed on the support and connected to the movable part for transmitting traction force to the movable part. The force feedback mechanism is connected to the traction member for applying traction force to the traction member.

6. The main manipulator structure for a puncture robot according to claim 5, characterized in that, The traction component includes a timing belt and two pulleys. The two pulleys are disposed at the upper and lower ends of the bracket. The timing belt is wound around the two pulleys. The moving part is fixed to one side of the timing belt. The force feedback mechanism is connected to one of the pulleys for applying torque to the pulley.

7. The main manipulator structure for a puncture robot according to claim 6, characterized in that, The force feedback mechanism includes a first servo motor, one of which has a pulley connected to the drive shaft of the first servo motor.

8. The main manipulator structure for a puncture robot according to claim 7, characterized in that, The second position detection component includes an encoder, which is configured to correspond to the drive shaft of the first servo motor; The first servo motor and encoder are both located at the upper end of the bracket, close to the frame, and the drive shaft of the first servo motor is connected to a pulley located at the upper end of the bracket.

9. The main manipulator structure for a puncture robot according to claim 5, characterized in that, The bracket has a top-to-bottom sliding groove, and the moving part includes a slider. A protrusion protrudes from the side of the slider and cooperates with the sliding groove. The protrusion is slidably disposed in the sliding groove.

10. The main manipulator structure for a puncture robot according to claim 6, characterized in that, It also includes a tensioning mechanism, which is mounted on the bracket. The timing belt passes through the tensioning mechanism, which is used to adjust the tension of the timing belt.

11. A master-slave robot-assisted puncture system, characterized in that, Includes the master manipulator structure for a puncture robot as described in any one of claims 1-10.

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