Master manipulator structure and master-slave robot-assisted puncture system

Abstract

The application provides a master operating hand structure and a master-slave robot assisted puncture system, and belongs to the technical field of surgical robots, and specifically comprises: a parallel moving mechanism, a moving platform and a posture adjusting mechanism; the parallel moving mechanism comprises a motion branch chain; the posture adjusting mechanism comprises a first rotating pair, a puncture needle rod and a second rotating pair; the lower end of the puncture needle rod is movably connected with the moving platform through the second rotating pair, and when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod rotates relative to the moving platform and drives the moving platform to translate. The puncture needle rod is arranged to be axially movable along the first rotating pair, so as to simulate the process of the puncture needle penetrating into the tissue in a puncture operation, so that the doctor can directly operate the puncture needle rod, is closer to the real operation environment, and the experience of the doctor is enhanced.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically, to a master manipulator structure and a master-slave 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] Existing master-slave robot-assisted puncture systems typically employ a master handpiece with a simulated sleeve mounted on a lever for axial movement. The surgeon grasps and adjusts the simulated sleeve's angle to adjust the lever's angle, which in turn adjusts the angle of the puncture needle in the slave hand. Once the angle is adjusted, the surgeon holds the simulated sleeve and slides it along the lever to guide the puncture needle for the procedure. Therefore, during the operation, the surgeon primarily manipulates the simulated sleeve. Because the simulated sleeve is attached to the lever, the overall structure of the master hand differs significantly from a real puncture needle. Furthermore, the slender lever, being a non-directly manipulated component, can affect the surgeon's judgment and tactile feedback, reducing their clinical awareness. Utility Model Content

[0005] The purpose of this application is to provide a master operating hand structure and a master-slave surgical robot-assisted puncture system, which aims to solve the problem that the structure of the master operating end in related technologies differs greatly from that of a real puncture needle, and that the slender operating rod, as a non-direct operating component, also affects the doctor's judgment and feel, thus reducing the doctor's clinical experience.

[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 operator structure is provided, comprising: a parallel translation mechanism, a moving platform, and an attitude adjustment mechanism; wherein...

[0008] The parallel translation mechanism includes a motion branch and a first motion information monitoring component. The motion branch is connected in parallel to the motion platform, and the first motion information monitoring component is used to monitor the motion information of the motion branch.

[0009] The posture adjustment mechanism includes a first rotating joint, a puncture needle rod, a second rotating joint, and a second motion information monitoring component. The lower end of the puncture needle rod slides through the movable end of the first rotating joint. The puncture needle rod can rotate using the first rotating joint and move linearly along the axial direction relative to the movable end of the first rotating joint.

[0010] The lower end of the puncture needle rod is movably connected to the moving platform through the second revolute joint, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism. The second motion information monitoring component is used to monitor the motion information of the second revolute joint.

[0011] In one exemplary embodiment of this application, the second rotating pair includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the moving platform so that the first rotating block can rotate about a first direction;

[0012] 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 being opposite to the second direction;

[0013] The lower end of the puncture needle rod is fixed to the second rotating block.

[0014] In one exemplary embodiment of this application, the first rotating block is provided with a mounting slot for mounting the second rotating block, and the second rotating block is rotatably mounted in the mounting slot.

[0015] In an exemplary embodiment of this application, the second rotating joint further includes a U-shaped joint, which is rotatably mounted on the moving platform. The rotation direction of the U-shaped joint is the second direction. The U-shaped joint has an arc-shaped slot with a width matching the diameter of the puncture needle rod. The extension direction of the arc-shaped slot is the first direction. The lower end of the puncture needle rod passes through the arc-shaped slot. The lower end of the puncture needle rod is adapted to slide along the arc-shaped slot in the first direction. The end of the puncture needle rod is also adapted to drive the U-shaped joint to rotate in the second direction.

[0016] In one exemplary embodiment of this application, the main operator structure further includes a housing, and the parallel translation mechanism and the moving platform are disposed within the housing;

[0017] The upper end of the outer shell is provided with a mounting hole, the first rotating joint is disposed in the mounting hole, and the upper end of the puncture needle rod extends out of the upper end of the outer shell.

[0018] In one exemplary embodiment of this application, the first revolute joint is configured as a ball joint.

[0019] In one exemplary embodiment of this application, the outer shell includes an upper shell and a lower shell, which are connected by a telescopic mechanism so that the upper shell can extend and retract vertically relative to the lower shell;

[0020] The mounting hole is located on the upper housing.

[0021] In one exemplary embodiment of this application, the second motion information monitoring component includes a first encoder and a second encoder. The first encoder is disposed on the moving platform and connected to the rotation axis of the first rotating block, and is used to acquire the rotation angle of the puncture needle rod in the first direction.

[0022] The second encoder is mounted on the moving platform and connected to the rotation shaft of the U-shaped pair, and is used to obtain the rotation angle of the puncture needle rod in the second direction.

[0023] In one exemplary embodiment of this application, the parallel translation mechanism further includes a static platform, a drive motor, and a mounting bracket, wherein the mounting bracket is fixedly mounted on the static platform;

[0024] The motion chain includes a driving rod and a driven rod. The first end of the driving rod is rotatably mounted on the mounting bracket, and the first end of the driven rod is rotatably mounted on the end of the driving rod. The end of the driven rod is rotatably connected to the moving platform.

[0025] The drive motor is mounted on the mounting bracket, and the drive end of the drive motor is connected to the drive rod.

[0026] According to a second aspect of this application, a master-slave surgical robot-assisted puncture system is provided, including the master manipulator structure described above.

[0027] The exemplary embodiments of this application may have some or all of the following beneficial effects:

[0028] The master hand structure provided in the example embodiment of this application includes a parallel translation mechanism, a moving platform, and an attitude adjustment mechanism. The parallel translation mechanism includes a kinematic branch, which is connected in parallel to the moving platform. The attitude adjustment mechanism includes a first revolute joint, a puncture needle rod, and a second revolute joint. The lower end of the puncture needle rod slides through the movable end of the first revolute joint. The puncture needle rod can rotate using the first revolute joint and move linearly along the axial direction relative to the movable end of the first revolute joint. The lower end of the puncture needle rod is movably connected to the moving platform through the second revolute joint, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism.

[0029] On the one hand, during the operation, the surgeon can hold the upper end of the puncture needle rod and rotate it using the first and second revolute joints. Simultaneously, under the action of the parallel translational mechanism, when the puncture needle rod rotates to any angle within the operating space, the moving platform translates to the position corresponding to the puncture needle rod. Furthermore, under the action of the kinematic chain of the parallel translational mechanism, the surgeon can more smoothly operate the puncture needle rod to move linearly along the axial direction, driving the moving platform to move linearly along the axial direction as well. The kinematic chain follows the movement of the moving platform along the axial direction. Therefore, in this application, the puncture needle rod is used as the operating end of the master hand. The puncture needle rod is structurally and physically similar to the puncture needle of the slave hand, thus improving the surgeon's judgment accuracy and operational feel during the operation, enhancing the surgeon's clinical experience. This addresses the problem in related technologies where the structure of the master hand's operating end differs significantly from the actual puncture needle, and the slender operating rod, as a non-directly operated component, also affects the surgeon's judgment and feel, weakening their clinical 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 A schematic diagram of the main operator structure in Embodiment 1 of this application is shown;

[0033] Figure 2 A schematic diagram of the main operator structure in Embodiment 1 of this application is shown;

[0034] Figure 3 A schematic diagram of the parallel translation mechanism in Embodiment 1 of this application is shown;

[0035] Figure 4 A schematic diagram of the structure of the second rotating pair in Embodiment 1 of this application is shown;

[0036] Figure 5 A side view of the second revolute joint in Embodiment 1 of this application is shown;

[0037] Figure 6 A schematic diagram of the connection structure between the puncture needle rod and the first rotating joint in Embodiment 1 of this application is shown.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Outer shell; 2. Lower shell; 3. Upper shell; 4. Puncture needle rod; 5. First rotating joint; 6. Basic component; 7. Operating end; 8. Ball joint; 9. Parallel translation mechanism; 10. Passive rod; 11. Drive rod; 12. Static platform; 13. Drive motor; 14. Mounting bracket; 15. Moving platform; 16. Second rotating joint; 17. First rotating block; 18. Second rotating block; 19. U-shaped joint; 20. Second encoder; 21. First encoder. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Example 1

[0044] This embodiment provides a specific implementation method for the main operator, such as... Figure 1 , Figure 2 and Figure 6 As shown, the device includes a parallel translation mechanism 9, a moving platform 15, and an attitude adjustment mechanism. The parallel translation mechanism 9 includes a motion chain, which is connected in parallel to the moving platform 15. The attitude adjustment mechanism includes a first rotary joint 5, a puncture needle rod 4, and a second rotary joint 16. The lower end of the puncture needle rod 4 slides through the movable end of the first rotary joint 5. The puncture needle rod 4 can rotate using the first rotary joint 5 and move linearly along the axial direction relative to the movable end of the first rotary joint 5. The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 through the second rotary joint 16, so that when the upper end of the puncture needle rod 4 is operated, the lower end of the puncture needle rod 4 can rotate relative to the moving platform 15 and drive the moving platform 15 to translate under the action of the parallel translation mechanism 9.

[0045] In this embodiment, the lower end of the puncture needle rod 4 passes through the first rotating joint 5 and connects to the second rotating joint 16. The second rotating joint 16 is connected to the moving platform 15. During the puncture procedure, the doctor manipulates the upper end of the puncture needle rod 4. The doctor controls the upper end of the puncture needle rod 4 to rotate around the first rotating joint 5 to adjust the angle of the puncture needle rod 4, that is, to adjust the puncture angle of the hand-operated puncture needle. When the doctor controls the rotation of the puncture needle rod 4, the lower end of the puncture needle rod 4 rotates within the moving platform 15 through the second rotating joint 16, which in turn drives the moving platform 15 to move.

[0046] In this embodiment, the parallel translation mechanism 9 also includes a first motion information monitoring component, which can monitor the motion information of the motion branch; the posture adjustment mechanism also includes a second motion information monitoring component, which can monitor the motion information of the second rotary joint 16. During the rotation of the puncture needle rod 4, the motion information of the second rotary joint 16 is monitored by the second motion information monitoring component. The second motion information monitoring component can be an encoder, a sensor, etc.

[0047] Since the moving platform 15 is connected to the motion chain of the parallel translation mechanism 9, the moving platform 15 can always be kept in a horizontal state under the action of the parallel translation mechanism 9. Therefore, the rotation of the lower end of the puncture needle rod 4 will drive the moving platform 15 to translate. During this process, the motion chain of the parallel translation mechanism 9 will rotate at a corresponding angle. During this process, the motion information of the motion chain is monitored by the first motion information monitoring component. The first motion information monitoring component can be an encoder, sensor, etc.

[0048] After the doctor adjusts the angle of the puncture needle rod 4, the doctor controls the puncture needle rod 4 to move linearly along its axis within the movable end of the first rotary joint 5. During this process, under the action of the kinematic chain, when the puncture needle rod 4 is at any angle within the operable space, the moving platform 15 can move linearly along its axis with the puncture needle rod 4 to control the insertion and withdrawal of the needle.

[0049] The first revolute joint 5 includes a fixed end and a movable section. The fixed end can be fixed to the outer shell 1 or the base, and the movable end is rotatably connected to the fixed end. The puncture needle rod 4 slides through the movable end, allowing the puncture needle rod 4 to rotate through the movable end and move linearly along the axial direction relative to the movable end. When the doctor controls the puncture needle rod 4 to adjust the angle, that is, controls the puncture needle rod 4 to rotate around the axis of the first revolute joint 5, the angle of the puncture needle rod 4 is adjusted. When the puncture needle rod 4 slides within the first revolute joint 5, the puncture process of the puncture needle is simulated. The doctor directly operates the puncture needle rod 4 to drive the puncture needle in the hand for surgery. Through the second revolute joint 16 at the lower end of the puncture needle rod 4, the moving platform 15, and the parallel translation mechanism 9, the puncture needle rod 4 can both adjust the angle and perform the puncture process in the main operating hand structure. The doctor's direct operation of the puncture needle rod 4 can more closely resemble the real surgical environment, enhance the doctor's environmental experience, and ensure the smooth progress of the surgery.

[0050] The lower end of the puncture needle rod 4 is movably connected to the moving platform 15 via the second revolute joint 16, allowing the lower end of the puncture needle rod 4 to rotate relative to the moving platform 15. That is, when the operator controls the puncture needle rod 4 to adjust its angle, the lower end of the puncture needle rod 4 can rotate within the moving platform 15 relative to it. Simultaneously, the rotation of the lower end of the puncture needle rod 4 can drive the moving platform 15 to translate. A parallel translation mechanism 9 is used to connect with the moving platform 15. The parallel translation mechanism 9 has high speed, low inertia, good dynamic response, good isotropy, and convenient position determination. Furthermore, after the operator adjusts the angle of the puncture needle rod 4, the operator can control the puncture needle rod 4 to press down to simulate puncture. The puncture needle rod 4 slides within the first revolute joint 5, and simultaneously, the lower end of the puncture needle rod 4 drives the moving platform 15 to move downwards.

[0051] In one embodiment, the first revolute joint 5 and the second revolute joint 16 may have multiple rotational directions. For example, the first revolute joint 5 may be two intersecting U-joints or omnidirectional ball joints 8, and similarly, the second revolute joint 16 may also be two intersecting U-joints or omnidirectional ball joints 8.

[0052] In another embodiment, the first rotating joint 5 is a spherical joint 8 capable of omnidirectional rotation, and the second rotating joint 16 has at least two rotational directions. The first rotating joint 5 and the second rotating joint 16 cooperate to achieve arbitrary angle rotation of the puncture needle rod 4 within the operating space. In this embodiment, the second rotating joint 16 can be two intersecting U-joints or a similar structure; this embodiment does not impose any limitations on it.

[0053] In one aspect, during surgery, the surgeon can hold the upper end of the puncture needle rod 4 and rotate it using the first rotary joint 5 and the second rotary joint 16. The rotation angle of the puncture needle rod 4, obtained by the second motion monitoring component, controls the rotation of the puncture needle from the hand. Simultaneously, under the action of the parallel translation mechanism 9, when the puncture needle rod 4 rotates to any angle within the operating space, the moving platform 15 translates to the position corresponding to the puncture needle rod 4. Under the action of the motion branch of the parallel translation mechanism 9, the surgeon can more smoothly operate the puncture needle rod 4 to move linearly along the axial direction and drive the moving platform 15 to move linearly along the axial direction. During the axial movement of the moving platform 15, the motion branch moves accordingly. The insertion and withdrawal of the puncture needle from the hand are controlled based on the motion information of the motion branch obtained by the first motion information monitoring component.

[0054] Therefore, in this application, the puncture needle rod is used as the operating end 7 of the master hand. The puncture needle rod 4 is similar to the puncture needle of the slave hand in terms of structure and movement. Therefore, it can improve the accuracy of the doctor's judgment and the feel of operation during the operation, and enhance the doctor's clinical sense. This solves the problem that the structure of the master hand operating end 7 is very different from the actual puncture needle in related technologies. At the same time, the slender operating rod, as a non-direct operating part, will also affect the doctor's judgment and feel, and weaken the doctor's clinical sense.

[0055] On the other hand, both the first motion information monitoring component and the second motion information monitoring component can monitor the angle of the puncture needle rod 4, so that the doctor can accurately obtain the adjustment angle of the puncture needle rod 4.

[0056] Specifically, by utilizing the first revolute joint 5 and the second revolute joint 16, the rotation of the puncture needle rod 4 causes the moving platform 15 to translate. During this process, the motion chain also rotates to support the translation of the moving platform 15. Therefore, the motion information of the motion chain can be monitored by the first motion information monitoring component, and the angle adjustment information of the puncture needle rod 4 can be obtained from the position movement information of the motion chain. Alternatively, the motion information of the second revolute joint 16 can be monitored by the second motion information monitoring component, and the angle adjustment information of the puncture needle rod 4 can be obtained from the motion information of the second revolute joint 16. The first and second motion information monitoring components can corroborate each other to ensure the accuracy of the angle adjustment of the puncture needle rod 4, or they can be used independently to detect the motion information of different components in the main operator's hand.

[0057] In this embodiment, as Figure 4 and Figure 5 As shown, the second rotating pair 16 includes a first rotating block 17 and a second rotating block 18. The two ends of the first rotating block 17 are rotatably mounted on the moving platform 15, allowing the first rotating block 17 to rotate around a first direction. The second rotating block 18 is rotatably mounted on the first rotating block 17, allowing the second rotating block 18 to rotate around a second direction. The first and second directions are opposite in direction. The lower end of the puncture needle rod 4 is fixedly mounted on the second rotating block 18. When the doctor operates the upper end of the puncture needle rod 4, the lower end of the puncture needle rod 4 can drive the first rotating block 17 to rotate in the first direction and the second rotating block 18 to rotate in the second direction. At the same time, the lower end of the puncture needle rod 4 can also drive the moving platform 15 to translate through the first rotating block 17 and the second rotating block 18. The rotating connection positions of the first rotating block 17 and the second rotating block 18 are both shaft connections, resulting in low friction and allowing for accurate and rapid completion of the rotation process.

[0058] Furthermore, the first rotating block 17 is provided with a mounting slot for mounting the second rotating block 18, and the second rotating block 18 is rotatably mounted in the mounting slot.

[0059] In other embodiments, the second revolute joint 16 can also be a combination of a rotating block and a rotating ball, or a ball locked within the moving platform 15, as long as it can achieve rotation in two directions. In this embodiment, as shown... Figure 4 and Figure 5 As shown, the second rotating joint 16 also includes a U-shaped joint 19. Both ends of the U-shaped joint 19 are rotatably mounted on the moving platform 15. The rotation direction of the U-shaped joint 19 is the second direction (i.e., consistent with the rotation direction of the second rotating block 18). The U-shaped joint 19 has an arc-shaped slot (not shown) with a width matching the diameter of the puncture needle rod 4. The extension direction of the arc-shaped slot is the first direction (when the puncture needle rod 4 is in a vertical state, the extension direction of the arc-shaped slot is consistent with the first direction). Figure 5 As shown, the arc-shaped slot extends horizontally, and the lower end of the puncture needle rod 4 passes through the arc-shaped slot, allowing it to slide within the slot and rotate the U-shaped joint 19. When adjusting the angle of the puncture needle rod 4 in the first direction, the puncture needle rod 4 drives the first rotating block 17 to rotate within the moving platform 15, while the lower end of the puncture needle rod 4 slides within the arc-shaped slot. When adjusting the angle of the puncture needle rod 4 in the second direction, the puncture needle rod 4 drives the second rotating block 18 to rotate within the first rotation, while the lower end of the puncture needle rod 4 drives the U-shaped joint 19 to rotate synchronously in the second direction.

[0060] The U-shaped joint 19 allows the lower end of the puncture needle rod 4 to slide within the arc-shaped slot, guiding the puncture needle rod 4 to slide within the arc-shaped slot. Furthermore, with the U-shaped joint 19 installed on the moving platform 15 at both ends, the second motion information monitoring component for monitoring the rotation angle of the puncture needle rod 4 in the second direction can be mounted on the moving platform 15, avoiding its placement on the first rotating block 17 and its rotation following the second rotating block 18, thus reducing inertia.

[0061] In this embodiment, a housing 1 is also included. The parallel translation mechanism 9, the moving platform 15, and the posture adjustment mechanism are all installed inside the housing 1. The upper end of the housing 1 is provided with a mounting hole. The first rotating joint 5 is located in the mounting hole. The upper end of the puncture needle rod 4 extends out of the upper end of the housing 1. The housing 1 can be used to simulate the human body surface. The operating end 7 exposed outside the housing 1 is for the operator to operate, avoiding the problem that the exposed length of the puncture needle rod 4 is too long and inconvenient for the doctor to operate. At the same time, by only exposing the operating end 7 outside the housing 1, the scenario of the doctor holding the tail end of the puncture needle to perform puncture surgery can be simulated, further approaching the real surgical environment.

[0062] Specifically, such as Figure 1 and Figure 6As shown, the first rotating joint 5 is a ball joint 8, including a spherical movable end and a basic component 6 capable of accommodating the universal rotation of the movable end. The basic component 6 serves as the fixed end of the first rotating joint 5 and is fixed in the mounting hole of the outer shell 1. The puncture needle rod 4 is slidably mounted on the movable end. When the angle of the puncture needle rod 4 is adjusted by controlling the operating end 7 of the puncture needle rod 4, the puncture needle rod 4 rotates around the center of the ball at the movable end as the fulcrum. The lower end of the puncture needle rod 4 drives the first rotating block 17 and the second rotating block 18 to rotate, and at the same time drives the moving platform 15 to translate.

[0063] In some other embodiments, the first rotating joint 5 can also be a universal joint structure, as long as it allows the puncture needle rod 4 to rotate and move at the first rotating joint 5.

[0064] Furthermore, the outer shell 1 includes an upper shell 3 and a lower shell 2, which are connected by a telescopic mechanism. When the upper shell 3 moves up and down relative to the lower shell 2 through the telescopic mechanism, it is used to simulate the floating of the human body surface during breathing, so that when the doctor controls the main operating hand to drive the secondary operating hand to perform puncture surgery, it can be closer to the real surgical environment.

[0065] Specifically, the upper shell 3 and the lower shell 2 are connected by a ball screw structure, allowing the upper shell 3 to be extended and retracted on the lower shell 2. Ball screw structures are provided at both ends of the upper shell 3 and the lower shell 2. The bottom end of the ball screw structure is installed inside the lower shell 2 and fixedly connected to the lower shell 2. The drive end of the ball screw is connected to the upper shell 3. When the drive end of the ball screw moves up and down, it drives the upper shell 3 away from or closer to the lower shell 2, so as to realize the floating of the upper shell 3 on the lower shell 2, that is, to simulate the floating of the upper body surface when the human body breathes.

[0066] In other embodiments, the telescopic mechanism can also move the upper housing 3 up and down by means of cylinders, telescopic rods, motor drives, etc.

[0067] In this embodiment, the second motion information monitoring component includes a first encoder 21 and a second encoder 20. The first encoder 21 is mounted on the moving platform 15 and connected to the rotation axis of the first rotating block 17, and is used to obtain the rotation angle of the puncture needle rod 4 in the first direction. The second encoder 20 is mounted on the moving platform 15 and connected to the rotation axis of the U-shaped pair 19, and is used to obtain the rotation angle of the puncture needle rod 4 in the second direction. The first encoder 21 and the second encoder 20 are both mounted on the moving platform 15 to avoid mounting the encoders on the rotating block and rotating with the rotating block, which can reduce inertia.

[0068] Furthermore, such as Figure 3As shown, the motion chain includes a drive rod 11 and a driven rod 10. The first end of the driven rod 10 is rotatably mounted on the drive rod 11, and the second end of the driven rod 10 is rotatably connected to the moving platform 15. The motion chain is used to maintain the moving platform 15 in horizontal translation or vertical movement. In this embodiment, there are three motion chains, which are evenly distributed around the moving platform 15 to further ensure the horizontal movement of the moving platform 15. The moving platform 15 includes a mounting frame, and the posture adjustment mechanism is installed in the mounting frame. The three motion chains are connected in parallel around the mounting frame, and the support of the moving platform 15 by the three motion chains forms a three-point support, which is relatively stable. In some other embodiments, the number of motion chains can also be set to two, four, five, etc. This embodiment does not make a specific limitation on this, as long as it can support the moving platform 15 and drive the platform 15 to translate.

[0069] In this embodiment, as Figure 3 As shown, the parallel translation mechanism 9 also includes a static platform 12, a drive motor 13, and a mounting bracket 14. The mounting bracket 14 is fixedly mounted on the static platform 12. The first end of the drive rod 11 is rotatably mounted on the mounting bracket 14. The first end of the passive rod 10 is rotatably connected to the end of the drive rod 11, and the end of the passive rod 10 is rotatably connected to the mounting frame. The drive motor 13 is mounted on the mounting bracket 14, and the drive end of the drive motor 13 is connected to the first end of the drive rod 11. The drive motor 13 provides torque for the motion chain to support the moving platform 15 and support the movement of the moving platform 15. At the same time, when the moving platform 15 is adjusted with the angle and position of the puncture needle rod 4, the moving platform 15 will drive the passive rod 10 and the drive rod 11 to overcome the torque provided by the drive motor 13, which is used to simulate the resistance generated by the tissue during the puncture needle insertion into the human body, making the operator's experience of operating the main manipulator closer to the real surgical scenario.

[0070] The first encoder 21 and the second encoder 20 are both mounted on the mounting frame. The first encoder 21 is located at the position connected to the rotation shaft of the first rotating block 17, and the second encoder 20 is mounted at the position connected to the rotation shaft of the U-shaped pair 19. The first encoder 21 can obtain the rotation angle of the puncture needle rod 4 in the first direction, and the second encoder 20 can obtain the rotation angle of the U-shaped pair 19 in the second direction. Thus, the rotation angle of the puncture needle rod 4 in the second direction can be obtained through the first encoder 21 and the second encoder 20, so as to adjust the puncture needle rod 4 to the puncture angle, which is convenient for subsequent puncture surgery.

[0071] Example 2

[0072] This embodiment provides a specific implementation of a master-slave surgical robot-assisted puncture system, including the master manipulator structure in Embodiment 1.

[0073] 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 operator structure, characterized in that, include: Parallel translation mechanism, moving platform, and attitude adjustment mechanism; among which, The parallel translation mechanism includes a motion chain, which is connected in parallel to the moving platform; The posture adjustment mechanism includes a first rotary joint, a puncture needle rod, and a second rotary joint. The lower end of the puncture needle rod slides through the movable end of the first rotary joint. The puncture needle rod can rotate using the first rotary joint and move linearly along the axial direction relative to the movable end of the first rotary joint. The lower end of the puncture needle rod is movably connected to the moving platform through the second revolute joint, so that when the upper end of the puncture needle rod is operated, the lower end of the puncture needle rod can rotate relative to the moving platform and drive the moving platform to translate under the action of the parallel translation mechanism.

2. The main operator structure according to claim 1, characterized in that, The second rotating pair includes a first rotating block and a second rotating block, wherein the first rotating block is rotatably mounted on the moving platform 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 being opposite to the second direction; The lower end of the puncture needle rod is fixed to the second rotating block.

3. The main operator structure according to claim 2, characterized in that, The first rotating block has a mounting slot for mounting the second rotating block, and the second rotating block is rotatably mounted in the mounting slot.

4. The main operator structure according to claim 2 or 3, characterized in that, The second rotating joint also includes a U-shaped joint, which is rotatably mounted on the moving platform. The rotation direction of the U-shaped joint is the second direction. The U-shaped joint has an arc-shaped slot with a width matching the diameter of the puncture needle rod. The extension direction of the arc-shaped slot is the first direction. The lower end of the puncture needle rod passes through the arc-shaped slot. The lower end of the puncture needle rod is adapted to slide along the arc-shaped slot in the first direction. The end of the puncture needle rod is also adapted to drive the U-shaped joint to rotate in the second direction.

5. The main operator structure according to claim 4, characterized in that, The main operator structure also includes a housing, and the parallel translation mechanism and the moving platform are disposed inside the housing; The upper end of the outer shell is provided with a mounting hole, the first rotating joint is disposed in the mounting hole, and the upper end of the puncture needle rod extends out of the upper end of the outer shell.

6. The main operator structure according to claim 1, characterized in that, The first revolute joint is configured as a ball joint.

7. The main operator structure according to claim 5, characterized in that, The outer shell includes an upper shell and a lower shell, which are connected by a telescopic mechanism so that the upper shell can extend and retract vertically relative to the lower shell. The mounting hole is located on the upper housing.

8. The main operator structure according to claim 1, characterized in that, The parallel translation mechanism also includes a static platform, a drive motor, and a mounting bracket, wherein the mounting bracket is fixedly installed on the static platform; The motion chain includes a driving rod and a driven rod. The first end of the driving rod is rotatably mounted on the mounting bracket, and the first end of the driven rod is rotatably mounted on the end of the driving rod. The end of the driven rod is rotatably connected to the moving platform. The drive motor is mounted on the mounting bracket, and the drive end of the drive motor is connected to the drive rod.

9. A master-slave surgical robot-assisted puncture system, characterized in that, Includes the main operator structure as described in any one of claims 1-8.

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