Master hand control apparatus for robot, puncture apparatus, and robot

Abstract

Provided in the embodiments of this specification are a master hand control apparatus for a robot, a puncture apparatus, and a robot. The master hand control apparatus comprises: a puncture needle execution assembly, comprising a rod-shaped structure; and a posture adjustment execution assembly, configured to acquire a posture of the rod-shaped structure, wherein the rod-shaped structure can move in an axial direction of itself relative to the posture adjustment execution assembly. The puncture apparatus comprises: a puncture needle driving assembly, comprising an advance-retract driving mechanism, the advance-retract driving mechanism being connected to a puncture needle; and a posture adjustment control assembly, the advance-retract driving mechanism being arranged on the posture adjustment control assembly, and the advance-retract driving mechanism being configured to drive the puncture needle to move in an axial direction of the puncture needle relative to the posture adjustment control assembly. The robot comprises the master hand control apparatus and the puncture apparatus, and the puncture needle driving assembly of the puncture apparatus drives the puncture needle to move in response to a puncture execution signal of the puncture needle execution assembly of the master hand control apparatus.

Description

Main hand manipulation device for robot, puncture device and robot Cross-references

[0001] This application claims priority to Chinese applications No. 202311811277.8 and No. 202311798581.3 filed on December 25, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This specification relates to the technical field of medical equipment, and in particular to a main hand control device for a robot, a puncture device, and a robot. Background Art

[0003] The master-slave teleoperated robot-assisted puncture surgery mode is a relatively advanced surgical method. The master-hand control device of the master-slave teleoperated robot remotely controls the slave puncture device to perform the puncture operation, which can effectively prevent medical staff from being exposed to radiation (such as X-rays) during the operation. At the same time, medical images (such as CT images, MR images, etc.) guide the puncture in real time, which can control the entire puncture operation and greatly improve the accuracy and success rate of the puncture. In actual clinical operations, the operator controls the end effector through the master-hand control device to perform puncture. The closer the master-hand control device is to the puncture needle structure and the closer the control of the puncture operation is to the actual puncture situation when the operator holds the needle, the higher the success rate of the puncture operation. However, the current master-hand control device cannot simulate the actual puncture situation when the operator holds the needle during the puncture operation, which has a certain impact on the success rate of the puncture operation. Summary of the Invention

[0004] One or more embodiments of the present specification provide a main hand manipulation device for a robot, comprising: a puncture needle actuator assembly, the puncture needle actuator assembly comprising a rod-shaped structure; a posture adjustment actuator assembly, the posture adjustment actuator assembly being configured to obtain the posture of the rod-shaped structure; wherein the rod-shaped structure can move axially along the rod-shaped structure itself relative to the posture adjustment actuator assembly.

[0005] One or more embodiments of the present specification provide a puncture device for a robot, comprising: a puncture needle drive assembly, including an advance and retreat drive mechanism, the advance and retreat drive mechanism being connected to the puncture needle; a posture adjustment control assembly, the posture adjustment control assembly being provided with the advance and retreat drive mechanism, the advance and retreat drive mechanism being configured to drive the puncture needle to move axially relative to the posture adjustment control assembly along the puncture needle.

[0006] One or more embodiments of the present specification provide a robot comprising a master hand control device and a puncture device, wherein the puncture needle drive assembly of the puncture device drives the puncture needle to move in response to a puncture execution signal of the puncture needle execution assembly of the master hand control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0008] FIG1A is a structural block diagram of a master-hand control device according to some embodiments of this specification;

[0009] FIG1B is a schematic structural diagram of a master-hand control device according to some embodiments of this specification;

[0010] FIG2 is a schematic diagram of the structure of the connection between the puncture needle actuator and a portion of the posture adjustment actuator according to some embodiments of this specification;

[0011] FIG3 is a schematic diagram of the structure shown in FIG2 at another angle;

[0012] FIG4 is a schematic diagram of the structure shown in FIG2 at another angle;

[0013] FIG5 is an enlarged structural diagram of the position detection component in FIG4 ;

[0014] FIG6 is a schematic diagram of the structure shown in FIG2 at another angle;

[0015] FIG7 is an enlarged structural diagram of the position detection assembly in FIG6 ;

[0016] FIG8A is a schematic structural diagram of a force feedback assembly according to some embodiments of this specification;

[0017] FIG8B is an enlarged structural schematic diagram of the force feedback assembly shown in FIG8A at another angle;

[0018] FIG8C is a schematic diagram of the detailed structure of the force feedback assembly shown in FIG8A ;

[0019] FIG8D is a schematic diagram of the enlarged structure of the dotted box M in FIG8C;

[0020] FIG8E is a schematic diagram of the enlarged structure of the dotted box N in FIG8C ;

[0021] FIG9 is a schematic structural diagram of a master-hand control device according to other embodiments of the present specification;

[0022] FIG10 is a schematic diagram of the enlarged structure of the dotted box A in FIG9 of this specification;

[0023] FIG11 is a schematic diagram showing the working principle of a master-hand control device according to some embodiments of this specification;

[0024] FIG12 is a comparative schematic diagram of a rod-shaped structure before and after movement along a first degree of freedom according to some embodiments of this specification;

[0025] FIG13 is a comparative schematic diagram of a rod-shaped structure before and after movement along the second degree of freedom according to some embodiments of this specification;

[0026] FIG14 is a comparative schematic diagram of a rod-shaped structure before and after movement along the third degree of freedom according to some embodiments of this specification;

[0027] FIG15 is another structural diagram of a master-hand control device according to some embodiments of this specification;

[0028] FIG16 is a schematic diagram showing the working principle of a posture adjustment execution component according to some embodiments of this specification;

[0029] FIG17 is a schematic cross-sectional view of the dotted line frame in FIG15 ;

[0030] FIG18 is a schematic diagram of the master-hand control device shown in FIG15 at another angle;

[0031] FIG19 is an enlarged structural diagram of the dotted box C in FIG18;

[0032] FIG20 is an enlarged structural diagram of the dotted box D in FIG18;

[0033] FIG21A is a structural block diagram of a puncture device according to some embodiments of this specification;

[0034] FIG21B is a schematic structural diagram of a puncture device according to some embodiments of this specification;

[0035] FIG22 is an enlarged structural diagram of the dotted box F in FIG21B ;

[0036] FIG23 is a schematic structural diagram of a puncture device according to other embodiments of this specification;

[0037] FIG24 is an enlarged structural diagram of the dotted box G in FIG23;

[0038] FIG25 is a schematic diagram of the structure of the connection between the puncture device and the moving device according to some embodiments of this specification;

[0039] FIG26 is a comparative schematic diagram of the puncture needle before and after moving along the first degree of freedom according to some embodiments of this specification;

[0040] FIG27 is a comparative schematic diagram of the puncture needle before and after moving along the third degree of freedom according to some embodiments of this specification;

[0041] FIG28 is a flowchart of a robot's workflow according to some embodiments of the present specification.

[0042] Explanation of reference numerals: 100, main hand control device; 110, puncture needle actuator; 111, rod-shaped structure; 1110, interactive handle; 1111, operating portion; 11111, operating area; 11112, first control area; 11113, first enabling button; 11114, second control area; 11115, second enabling button; 11116, third enabling button; 11117, finger placement area; 1112, sliding portion; 1113, first limiting structure; 1114, second limiting structure; 112, first position detection assembly; 1121, first scale; 1122, first scale reading component; 1123, scale reading head mounting seat; 113, resistance transmission member; 1131, rack; 1132 , mounting base; 1133, first connecting rope; 1134, second connecting rope; 114, angle detection component; 1141, encoder; 1142, encoder reading component; 120, posture adjustment execution component; 1211, first connecting rod; 1212, first rotating ring; 1213, second angle sensor; 1221, second connecting rod; 1222, second rotating ring; 1223, third angle sensor; 1224, second connecting shaft; 1225, second support base; 1226, second shaft end cover; 1227, third brake; 1228, second motor; 12281, second return to zero angle sensor; 1229, second reducer; 123, base; 125, second damper; 1251, second damper 126, passive degree of freedom connection assembly; 1261, passive degree of freedom mounting seat; 1262, first passive degree of freedom bearing; 1263, second passive degree of freedom bearing; 1264, bearing locking seat; 130, force feedback assembly; 131, force output unit; 1311, force feedback motor; 132, force transmission unit; 1321, coupling; 1322, gear; 1323, first angle sensor; 1324, first brake; 1325, force feedback mounting seat; 1326, rope pulley; 140, linear guide assembly; 141, linear guide rail; 142, slider; 200, puncture device; 210, puncture needle drive assembly; 211, puncture needle; 212, rotation drive mechanism; 2121, rotation Rotation drive motor; 2122, fourth angle sensor; 2123, fourth brake; 2124, first force sensor; 213, advance / retract drive mechanism; 2131, advance / retract drive motor; 2132, fifth angle sensor; 2133, fifth brake; 2134, linear guide; 2135, slider; 2136, mounting seat; 2137, transmission mechanism; 21371, ball nut; 21372, ball screw; 2138, second coupling; 2139, second position detection assembly; 21391, second scale; 21392, second scale reading component; 2140, mounting base; 21401, slewing bearing; 220, attitude control assembly; 221, guide structure; 222, attitude adjustment base;223, attitude adjustment drive assembly; 2231, first passive ring; 2232, second passive ring; 2233, first connecting rod; 2234, second connecting rod; 2235, first attitude adjustment drive mechanism; 2236, second attitude adjustment drive mechanism; 22361, seventh brake; 22362, second reducer; 22363, second attitude adjustment drive motor; 22364, seventh angle sensor; 2237, second attitude adjustment support seat; 2238, second attitude adjustment end cover; 2239, first attitude adjustment support seat; 300, moving device; 310, cart body; 320, transmission connection assembly; 321, telescopic portion; 322, first connecting portion; 323, second connecting portion; 330, casters. DETAILED DESCRIPTION

[0043] To more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this specification. Those skilled in the art can apply this specification to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0044] It should be understood that the terms "system," "device," "unit," and / or "module" used herein are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0045] As used in this specification, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0046] In recent years, medical imaging technologies (such as CT and MR) have made tremendous progress, both in fundamental technologies and in new clinical applications. Significant advances have been made in various components of medical imaging technologies, including light pipes, detectors, slip rings, data acquisition systems, and algorithms. Taking CT as an example, since the advent of spiral CT and multislice CT, many new clinical applications have emerged. Their advantages, such as fast scan times and clear images, have enabled them to be used for the examination of a wide range of diseases. After more than three decades of development, medical imaging technologies (such as CT and MR) have once again become one of the most exciting diagnostic methods in the field of medical imaging. Today, medical imaging technologies (such as CT and MR) no longer exist solely as imaging examinations. Driven by the diverse models of modern medical science, which continuously break down the boundaries between disciplines and foster interdependent and collaborative exploration, medical imaging technologies (such as CT and MR) are now integrated with various clinical disciplines to achieve diverse examinations and treatments, achieving remarkable medical results. Percutaneous puncture guided by medical imaging technology (such as CT, MR, etc.) is a technology that is now widely used in clinical practice. It is actually a technology that uses the precise guidance of medical images to accurately insert the puncture needle connected to the robot into the lesion in the body and obtain the diseased tissue.

[0047] A puncture procedure involves inserting a surgical tool (such as a puncture needle) mounted on a puncture device at the end of the device into the patient's body to perform a biopsy or resection of the lesion. Traditional puncture procedures are performed blindly, with the operator performing the procedure based on clinical experience without knowing the exact location of the lesion. This method generally has a low success rate, is prone to causing multiple injuries to the patient, and places high demands on the operator. Medical image-guided puncture procedures, based on medical imaging (medical images of human tissue and puncture instruments), can determine the puncture direction in real time and make timely adjustments, greatly improving the success rate of the procedure, reducing surgical risks, and improving the patient's recovery speed and quality of life. However, medical imaging equipment uses X-rays, gamma rays, etc. to complete their work. Performing surgery on the medical imaging equipment side will expose medical staff to a radiation environment for a long time, posing a great threat to their health. Based on this, master-slave teleoperated robots came into being.

[0048] A master-slave teleoperated robotic-assisted puncture system (hereinafter referred to as the "robot") allows the robotic arm to be remotely controlled from outside the medical imaging room, protecting the surgeon from X-ray radiation during the procedure. Medical images also guide the procedure, improving the success rate. However, some current robots cannot simulate the actual needle grip of a human during a puncture procedure, preventing the operator from experiencing the sensation of a clinical puncture, which in turn reduces the success rate of puncture procedures.

[0049] Based on the above reasons, this specification provides a master-hand control device that can completely simulate puncture and needle insertion at the master end. The master-hand control device can be set in the operating room, and the operator controls the clinical slave-end puncture process and the posture adjustment process of the slave-end puncture needle by operating the needle handle of the master end (i.e., the rod-shaped structure in the following text), so that the operator can complete the puncture operation under the real-time guidance of medical imaging, thereby improving the success rate of puncture. In some embodiments, the master-hand control device includes a posture adjustment execution component and a puncture needle execution component. The posture adjustment execution component is used by the operator to adjust the posture of the puncture needle so that the puncture needle can be inserted along the correct route. The puncture needle execution component is used to perform the puncture process after the operator determines the posture of the puncture needle. The puncture needle will follow the movement of the needle handle of the master end of the puncture needle execution component of the master-hand control device, thereby completing the master-slave posture adjustment and the entire puncture process, and realizing the master-slave remote-controlled puncture operation under the guidance of medical images. Since it was found that the structure of the main hand control device and the structure and size of the end effector (for example, the puncture needle) are quite different, which will affect the puncture effect, the structure of the needle handle at the main end is set to be closer to the actual puncture needle structure at the slave end in the embodiment of this specification. When the operator holds the needle handle at the main end for puncture or posture adjustment, it can simulate the actual puncture situation when the operator holds the puncture needle during the puncture operation, so that the operator can feel the feeling of clinical puncture as much as possible, thereby improving the success rate of the puncture operation.

[0050] In some embodiments, as shown in Figures 1A-5 , the master-hand control device 100 includes a puncture needle actuator 110 and a posture adjustment actuator 120. The puncture needle actuator 110 includes a rod-shaped structure 111. The posture adjustment actuator 120 is configured to obtain the posture of the rod-shaped structure 111. The rod-shaped structure 111 is capable of axial movement relative to the posture adjustment actuator 120 along the rod-shaped structure 111 itself.

[0051] The puncture needle actuator 110 is the main structure of the main hand control device 100 used to control the puncture needle to perform the needle insertion operation or the needle withdrawal operation. The needle insertion operation refers to the puncture of the puncture needle into the patient's body. The needle withdrawal operation refers to the withdrawal of the puncture needle from the patient's body. In some embodiments, the main hand control device 100 can communicate / connect with the robot's processor (not shown in the figure). When the puncture needle actuator 110 moves, the movement of the puncture needle actuator 110 can be fed back to the processor in real time, and then the processor can control the robot to drive the puncture needle to perform the puncture operation according to the movement of the puncture needle actuator 110. For relevant content about the puncture needle, please refer to the relevant description of Figures 21A to 24 below.

[0052] The posture adjustment actuator 120 is the main structure of the master hand control device 100 for adjusting the posture of the puncture needle. Acquiring the posture of the rod-like structure 111 refers to obtaining the axial rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120. As an example only, when the posture of the puncture needle needs to be adjusted, the operator can control the rod-like structure 111 to swing relative to the posture adjustment actuator 120. The posture adjustment actuator 120 can detect the rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120 (for example, the rotation angle of the first connecting rod 1211 relative to the base 123 and the rotation angle of the second connecting rod 1221 relative to the base 123 described below) and feed the rotation angle information back to the robot's processor. The processor can adjust the posture of the puncture needle based on the rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120 to achieve the purpose of adjusting the puncture needle posture, so that the puncture needle can be aligned with the target puncture target and ensure the accuracy of the puncture operation.

[0053] The rod-like structure 111 is the structure of the master-hand control device 100 that the operator holds and controls. The rod-like structure 111 allows the operator to move axially along the rod-like structure 111 during needle insertion or withdrawal, thereby controlling the linear motion of the puncture needle. It also allows the operator to swing relative to the posture adjustment actuator 120 during posture adjustment, thereby controlling the puncture needle's posture. The rod-like structure 111 is capable of linear motion. This linear motion is fed back to the robot's processor, which controls the puncture needle to perform the insertion operation based on the distance of the rod-like structure 111's linear motion, ensuring that the puncture needle successfully penetrates the target puncture site. After the puncture procedure is completed, the master-hand control device 100 moves in the reverse direction of the insertion operation to withdraw the puncture needle from the patient's body, using essentially the same principles as the insertion operation. In some embodiments, the axial direction of the rod-like structure 111 can be represented by the arrow X in Figure 1B. When the rod-like structure 111 moves downward in the direction of arrow X (e.g., in the direction X1 in Figure 1B), the puncture needle is inserted. When the rod-like structure 111 moves upward in the direction of arrow X (e.g., in the direction X2 in FIG. 1B ), the puncture needle is withdrawn. In some cases, because the shape of the rod-like structure 111 is closer to the actual shape of the puncture needle, when the operator grasps the rod-like structure 111 and moves along its axial direction, it can better simulate the linear motion generated when grasping the puncture needle during the puncture procedure, thereby improving puncture accuracy.

[0054] It should be noted that the working process of the main hand control device 100 provided in this specification may include a puncture process and a posture adjustment process. During the puncture process, the rod-shaped structure 111 moves along the axial direction of the rod-shaped structure 111 itself, and during the posture adjustment process, the rod-shaped structure 111 swings relative to the posture adjustment actuator 120. The "puncture" and "puncture mode" mentioned in this specification correspond to the "puncture process", and the "posture adjustment" and "posture adjustment mode" mentioned in this specification correspond to the "posture adjustment process". In some embodiments, the puncture process and the posture adjustment process are decoupled from each other, that is, posture adjustment cannot be achieved during the puncture process, and puncture cannot be achieved during the posture adjustment process, so as to ensure the safety of the patient.

[0055] It should also be noted that the distance of the linear motion of the puncture needle and the distance of the linear motion of the rod-like structure 111 can be proportionally mapped. For example, the ratio of the distance of the linear motion of the puncture needle to the distance of the linear motion of the rod-like structure 111 can be 1:1, 1:1.2, 1:1.5, 1:2, 2:1, or 1.5:1. In some embodiments, the ratio of the distance of the linear motion of the puncture needle to the distance of the linear motion of the rod-like structure 11 is 1:1, so that when the operator operates the rod-like structure 111 to output a preset distance, the operator can control the puncture needle to move the preset distance, allowing the operator to experience the feeling of clinical puncture as much as possible, improving the operator's operating experience and increasing the success rate of the puncture procedure.

[0056] In some embodiments, the master-hand control device 100 further includes a first signal transmission component (not shown), which communicates / is connected to the puncture needle actuator 110 and the posture adjustment actuator 120. The first signal transmission component is capable of receiving various signals fed back by the puncture needle actuator 110 and the posture adjustment actuator 120 (e.g., the rotation angle information described above or below, the puncture force feedback information described below), and outputting corresponding control signals based on the received signals to meet the usage requirements of different scenarios (e.g., posture adjustment scenario, puncture scenario).

[0057] In some embodiments, the first signal transmission component can communicate / connect with the robot's processor to establish signal transmission between the master-hand control device 100 and the robot, enabling information exchange between the master-hand control device 100 and the robot. In some embodiments, the first signal transmission component can include, but is not limited to, Ethernet, serial port, wireless, CAN bus, EtherCAT bus, etc. For example, the first signal transmission component can enable information exchange via Ethernet.

[0058] In some embodiments, the master hand control device 100 further includes a force feedback component 130, which is configured to apply puncture motion resistance along the axis of the rod-like structure 111 to the rod-like structure 111, so as to provide the operator with force feedback simulating the puncture of the puncture needle during the master-slave teleoperation, thereby simulating the linear motion generated by the doctor holding the needle during the puncture operation, so as to make the operation process safer and more efficient, and to improve the puncture accuracy. In some embodiments, the force feedback component 130 can obtain the puncture force feedback information of the puncture needle, and then apply motion resistance to the rod-like structure 11 based on the puncture force feedback information of the puncture needle. For relevant descriptions of the force feedback component, please refer to Figures 6-7 and their embodiments.

[0059] In some embodiments, the master-hand control device 100 further includes a resistance transmission member 113 disposed on the rod-like structure 111. The force feedback assembly 130 applies puncture resistance to the rod-like structure 111 via the resistance transmission member 113. For example, the resistance transmission member 113 may include a sliding portion 1112 disposed on the rod-like structure 111. The resistance transmission member 113 may be connected to the force feedback assembly 130 and configured to transmit the puncture resistance generated by the force feedback assembly 130 along the axial direction of the rod-like structure 111 to the rod-like structure 111.

[0060] In some embodiments, as shown in Figures 6 and 7, the force feedback assembly 130 includes a force output unit 131 and a force transmission unit 132. The force transmission unit 132 is transmission-connected to the resistance transmission member 113. The force output unit 131 outputs the puncture motion resistance based on the puncture force feedback information during puncture by the puncture needle. The force output unit 131 refers to a component that outputs motion resistance. The force transmission unit 132 refers to a component that transmits the motion resistance output by the force output unit 131 to the resistance transmission member 113. The puncture force feedback information refers to the resistance information encountered by the puncture needle provided on the puncture device when the rod-like structure 111 is performing puncture (when performing linear motion along its own axial direction) when the puncture needle is advancing or withdrawing the needle. For example, the resistance encountered by the puncture needle from the patient's tissue during the process of the puncture needle puncturing the patient's tissue. In some embodiments, the resistance experienced by the puncture needle can be detected by a force sensor (e.g., the first force sensor described below) provided on the puncture needle, and then fed back to the force output unit 131 through a signal transmission component (e.g., the first signal transmission component, the second signal transmission component). The force output unit 131 then outputs a puncture resistance equivalent to the resistance experienced by the puncture needle during the puncture process to the rod-shaped structure through the resistance transmission member 113. In this way, when the operator performs the puncture operation, they can feel the resistance experienced by the puncture needle through the puncture resistance feedback of the force feedback component 130, thereby realistically simulating the situation of holding the needle for puncture. In some embodiments, the force output unit 131 may include a motor (e.g., the force feedback motor 1311 described below), a hydraulic cylinder, a pneumatic cylinder, etc.

[0061] In some embodiments, the specific structure of the resistance transmission member 113 can be adjusted based on the specific structure of the force feedback assembly 130. For example, the resistance transmission member 113 can include a worm (the corresponding force transmission portion 132 can include a turbine that cooperates with the worm), a rack (the corresponding force transmission portion 132 can include a gear that cooperates with the rack), a connecting rope (the corresponding force transmission portion 132 can include a pulley around which the connecting rope is wound), or a synchronous belt (the corresponding force transmission portion 132 can include a pulley that cooperates with the synchronous belt), etc. For more details about the resistance transmission member 113 and the force feedback assembly 130, please refer to the description of Figures 4-5 and their embodiments below.

[0062] In some embodiments, as shown in Figures 3-7 , the force output unit 131 includes a force feedback motor 1311, and the force transmission unit 132 includes a gear 1322 connected to the output end of the force feedback motor 1311. The resistance transmission member 113 may include a rack 1131 meshing with the gear. The rack 1131 is disposed on the rod-like structure 111, and the orientation of the rack 1131 is parallel to the axial direction of the rod-like structure 111.

[0063] When the rod-like structure 111 moves along its own axis, the rack 1131 moves relative to the gear 1322. When the force feedback motor 1311 outputs torque, this torque will hinder the relative rotation of the gear 1322 and the rack 1131, thereby causing the operator to feel resistance to movement. The greater the torque generated by the force feedback motor 1311, the greater the torque required to rotate the gear 1322, and the more obvious the resistance to movement felt by the operator when holding the rod-like structure 111. The smaller the torque generated by the force feedback motor 1311, the smaller the torque required to rotate the gear 1322, and the weaker the resistance to movement felt by the operator.

[0064] In some embodiments, the force transmission unit 132 further includes a coupling 1321. The coupling 1321 is fixedly connected to the output shaft of the force feedback motor 1311 and the gear 1322. The torque output by the force feedback motor 1311 is the source of motion resistance. The coupling 1321 connects the output shaft of the force feedback motor 1311 to the rotating shaft of the gear 1322, thereby transmitting the output torque of the force feedback motor 1311 to the gear 1322.

[0065] In this embodiment, the force feedback motor 1311 can generate torque based on the puncture force feedback information. The generated torque can be transmitted to the gear 1322 through the coupling 1321, and then transmitted to the resistance transmission member 113 through the gear 1322. Finally, the torque is transmitted to the rod-like structure 111 through the resistance transmission member 113 connected to the rod-like structure 111, so that the operator can feel the axial movement resistance along the rod-like structure 111 when holding the rod-like structure 111.

[0066] In some embodiments, as shown in Figures 8A-8E, the force output unit 131 includes a force feedback motor 1311, the force transmission unit 132 includes a pulley 1326 connected to the output end of the force feedback motor 1311, and the resistance transmission member 113 includes a mounting base 1132, a first connecting rope 1133, and a second connecting rope 1134. The mounting base 1132 is provided with two mounting portions, which are spaced apart and parallel to the axial direction of the rod-shaped structure 111. One end of the first connecting rope 1133 is connected to one mounting portion, the first connecting rope 1133 is wound around the pulley 1326, and the other end of the first connecting rope 1133 is fixed to the pulley 1326. One end of the second connecting rope 1134 is connected to the other mounting portion, the second connecting rope 1134 is wound around the pulley 1326, and the other end of the second connecting rope 1134 is fixed to the pulley 1326. The first connecting rope 1133 and the second connecting rope 1134 are wound around the pulley 1326 in opposite directions.

[0067] The mounting seat 1132 is a base on the resistance transmission member 113 for mounting connecting ropes (such as the first connecting rope 1133 and the second connecting rope 1134). As shown in Figure 8D, one end of the first connecting rope 1133 and the second connecting rope 1134 can be clamped on the mounting seat 1132. In other embodiments, one end of the first connecting rope 1133 and the second connecting rope 1134 can be bolted or bonded to the mounting seat 1132. In some embodiments, the mounting seat 1132 can be a strip-shaped structure, and the extension direction of the strip-shaped structure is parallel to the axial direction of the rod-shaped structure 111. In this case, the two mounting parts are respectively provided at both ends of the strip-shaped structure. The pulley 1326 is used to wind the connecting ropes (including the first connecting rope 1133 and the second connecting rope 1134). In some embodiments, the first connecting rope 1133 and the second connecting rope 1134 can be steel wire ropes. For example, as shown in Figure 8C, when the needle insertion operation is performed (the mounting seat 1132 moves toward the direction of X1 in Figure 8C), the first connecting rope 1133 is wound around the pulley 1326, and the second connecting rope 1134 is wound out of the pulley 1326; when the needle withdrawal operation is performed (the mounting seat 1132 moves toward the direction of X2 in Figure 8C), the first connecting rope 1133 is wound out of the pulley 1326, and the second connecting rope 1134 is wound into the pulley 1326.

[0068] When the rod-like structure 111 moves along its own axis, the mounting base 1132 moves relative to the rope pulley 1326, and the first connecting rope 1133 and the second connecting rope 1134 are correspondingly wound into or out of the rope pulley 1326, thereby driving the rope pulley 1326 to rotate. When the force feedback motor 1311 outputs torque, this torque hinders the rotation of the rope pulley 1326, thereby hindering the first connecting rope 1133 and the second connecting rope 1134 from being wound into or out of the rope pulley 1326, thereby hindering the movement of the mounting base 1132 relative to the rope pulley 1326, thereby causing the operator to feel resistance to movement. The greater the torque generated by the force feedback motor 1311, the greater the torque required to rotate the rope pulley 1326, and the more significant the resistance to movement felt by the operator when holding the rod-like structure 111. The smaller the torque generated by the force feedback motor 1311, the smaller the torque required to rotate the rope pulley 1326, and the weaker the resistance to movement felt by the operator.

[0069] In some embodiments, the coupling 1321 may also be fixedly connected to the output shaft of the force feedback motor 1311 and the pulley 1326, respectively, to thereby transmit the output torque of the force feedback motor 1311 to the pulley 1326. In this embodiment, the force feedback motor 1311 may generate torque based on the puncture force feedback information, and the generated torque may be transmitted to the pulley 1326 via the coupling 1321, and then transmitted to the resistance transmission member 113 via the connecting ropes (including the first connecting rope 1133 and the second connecting rope 1134), and finally transmitted to the rod-like structure 111 via the resistance transmission member 113 connected to the rod-like structure 111, so that the operator can feel the motion resistance along the axial direction of the rod-like structure 111 when holding the rod-like structure 111.

[0070] Compared with the gear rack structure, the structure of the pulley 1326 and the connecting rope (including the first connecting rope 1133 and the second connecting rope 1134) has no transmission backlash, and can more accurately transmit the motion resistance generated by the force feedback motor, so that the operator can more accurately feel the motion resistance equivalent to the resistance encountered by the puncture needle during the puncture operation, thereby enhancing the control and perception of the puncture process.

[0071] In some embodiments, as shown in conjunction with Figures 1B, 6, 7, and 8B, the resistance transmission member 113 is fixedly connected to the rod-like structure 111, and the force feedback assembly 130 further includes a first brake 1324. The first brake 1324 is fixedly connected to the posture adjustment actuator 120 and is in transmission connection with the force transmission portion 132. The first brake 1324 is configured to restrict the axial movement of the rod-like structure 111 by controlling the force transmission portion 132 to be fixed relative to the resistance transmission member 113. Exemplarily, the first brake 1324 may include a friction brake, a magnetic powder brake, a hysteresis brake, a water eddy current brake, or the like. As an example only, the first brake 1324 can be a hysteresis brake, which is connected to the output shaft of the force feedback motor 1311 and the coupling 1321. The hysteresis brake can generate a braking torque, which can be transmitted to the gear 1322 (or the pulley 1326) through the coupling 1321, thereby hindering the rotation of the gear 1322 (or the pulley 1326), thereby fixing the gear 1322 (or the pulley 1326) relative to the resistance transmission member 113 (i.e., the rack 1131 or the mounting seat 1132). Because the resistance transmission member 113 is fixedly connected to the rod-like structure 111, and the first brake 1324 is fixedly connected to the posture adjustment actuator 120, when the gear 1322 (or the pulley 1326) is fixed relative to the rack 1131 (or the mounting seat 1132), the rod-like structure 111 and the posture adjustment actuator 120 are relatively fixed. In some embodiments, as shown in Figure 7, the force feedback component 130 also includes a force feedback mount 1325, and the first brake 1324 is fixedly connected to the posture adjustment execution component 120 (for example, the passive degree of freedom mount 1261 of the posture adjustment execution component 120, and more details of the passive degree of freedom mount 1261 can be found in the description of other embodiments of this specification) through the force feedback mount 1325.

[0072] In some embodiments, the braking torque generated by the hysteresis brake is positively correlated with the current of the hysteresis brake. When the current in the hysteresis brake is larger, the braking torque generated is larger, and when the current in the hysteresis brake is smaller, the braking torque generated is smaller.

[0073] When the puncture needle's puncture freedom needs to be locked, that is, to prevent the puncture needle from advancing or withdrawing, the current of the hysteresis brake can be adjusted to the maximum value, thereby generating a braking torque to prevent the gear 1322 (or the rope pulley 1326) from rotating, thereby preventing the resistance transmission member 113 (i.e., the rack 1131 or the mounting base 1132) and the rod-like structure 111 from moving relative to the gear 1322 (or the rope pulley 1326). When the puncture needle's puncture freedom needs to be unlocked, that is, to allow the puncture needle to advance or withdraw, the current of the hysteresis brake can be adjusted to the minimum value. At this time, the generated braking torque has a small or negligible effect on the rotation of the gear 1322 (or the rope pulley 1326), allowing the resistance transmission member 113 and the rod-like structure 111 to move relative to the gear 1322 (or the rope pulley 1326).

[0074] In some embodiments, as shown in conjunction with FIG4 and FIG7 , the force feedback assembly 130 further includes a first angle sensor 1323 . The first angle sensor 1323 is configured to detect the rotation angle of the output shaft of the force feedback motor 1311 . Since the output shaft of the force feedback motor 1311 is connected to the gear 1322 (or the pulley 1326 ) via the coupling 1321 , and the axial movement of the rod-like structure 111 causes the resistance transmission member 113 (i.e., the rack 1131 or the mounting base 1132 ) to move relative to the gear 1322 (or the pulley 1326 ), the first angle sensor 1323 can detect the rotation angle of the gear 1322 (or the pulley 1326 ) by detecting the rotation angle of the output shaft of the force feedback motor 1311 , thereby determining the distance moved by the resistance transmission member 113 and ultimately the axial position of the rod-like structure 111 . In some embodiments, the first angle sensor 1323 may be an incremental encoder.

[0075] In some embodiments, as shown in FIG. 4-FIG . 5 , the puncture needle actuator 110 further includes a first position detection assembly 112 . The first position detection assembly 112 is configured to obtain the position of the rod-shaped structure 111 in its own axial direction.

[0076] Exemplarily, the first position detection assembly 112 may include a laser rangefinder, a displacement encoder, a grating ruler, an inductive displacement sensor, etc. In some embodiments, the first position detection assembly 112 may be disposed at any feasible location on the puncture needle actuator 110 and / or the posture adjustment actuator 120. For example, it may be disposed on the rod-shaped structure 111 of the puncture needle actuator 110 or on the passive degree of freedom connection assembly 126 (see the relevant description below for details) of the posture adjustment actuator 120.

[0077] The first position detection component 112 can accurately detect the axial position of the rod-shaped structure 111, thereby helping the operator to flexibly control the puncture depth of the puncture needle, thereby realizing the advance and retreat control of the puncture needle under master-slave remote operation and improving the safety of puncture.

[0078] The first angle sensor 1323 and the first position detection component 112 in the aforementioned embodiment can both be used to obtain the position of the rod-like structure 111 in its own axial direction. In some embodiments, after the first position detection component 112 is provided, the first angle sensor 1323 may not be provided. In other embodiments, after the first angle sensor 1323 is provided, the first position detection component 112 may not be provided. In yet other embodiments, both the first position detection component 112 and the first angle sensor 1323 are provided. The position data of the rod-like structure 111 in its own axial direction determined by the first angle sensor 1323 and the position data of the rod-like structure 111 in its own axial direction determined by the first position detection component 112 in the aforementioned embodiment can be further subjected to data processing operations such as weighting and comparison, thereby further determining the position of the rod-like structure 111 in its own axial direction.

[0079] In some embodiments, as shown in conjunction with Figures 4 and 5 , the first position detection assembly 112 includes a first scale 1121 and a first scale reading component 1122. The first scale 1121 is disposed on the rod-like structure 111 along its axial direction, and the first scale reading component 1122 is disposed on the posture adjustment actuator 120. In some embodiments, the first position detection assembly 112 is a grating scale. The first scale 1121 is a scale grating, and the first scale reading component 1122 includes a light source, a lens, an indicator grating, and other components. When the scale grating is illuminated parallel to the light source, moiré fringes appear in the first scale reading component 1122. When the first scale 1121 and the first scale reading component 1122 undergo relative motion, the first scale reading component 1122 can detect the number of moiré fringes, read the grating scale, and convert it into an electrical signal, which can then be calculated to determine the position information. By way of example only, the first scale 1121 may be fixedly connected to the rack 1131 (or mounting base 1132) of the puncture needle actuator 110. This rack 1131 or mounting base 1132 may be connected to the force feedback assembly 130 (for a detailed description, see the related embodiments of the force feedback assembly 130 above). A scale reader mounting base 1123 is provided at the bottom of the attitude actuator 120, and the first scale reader component 1122 is connected to the attitude actuator 120 via the scale reader mounting base 1123. When the operator controls the rod-like structure 111 to perform a simulated movement of the puncture needle forward or backward using the main operating end (i.e., the master hand control device 100), the rack 1131 (or mounting base 1132) drives the first scale 1121 to move. The first scale reader component 1122 can read the position information of the first scale 1121, thereby determining the axial position of the rod-like structure 111. It can be understood that, through the cooperation between the first scale 1121 and the first scale reading component 1122 , the position of the rod-like structure 111 in its own axial direction can be determined more accurately.

[0080] In some embodiments, the rod-like structure 111 can rotate around the axial direction of the rod-like structure itself. For example, as shown in Figures 1B to 3, the rod-like structure 111 can rotate along the M2 direction shown in Figure 3. Through such a setting, the rod-like structure 111 can not only allow the operator to move along the axial direction of the rod-like structure 111 when performing needle insertion or needle withdrawal operations, but can also rotate around the axial direction of the rod-like structure 111 during puncture or posture adjustment. During the puncture process, the linear and rotational motions of the puncture needle can be controlled; during the posture adjustment process, the operator can more conveniently swing the rod-like structure 111 relative to the posture adjustment actuator 120, thereby achieving control of the posture of the puncture needle.

[0081] In some cases, since the shape of the rod-like structure 111 is closer to the actual shape of the puncture needle, when the operator holds the rod-like structure 111 and moves along its axis or rotates around its axis, it can better simulate the linear motion or rotational motion generated when holding the puncture needle during the puncture operation, thereby improving the puncture accuracy and puncture efficiency.

[0082] In some embodiments, the posture adjustment actuator assembly 120 includes a passive degree of freedom connection assembly 126, through which the rod-like structure 111 is connected to the posture adjustment actuator assembly 120. The rod-like structure 111 can slide along its own axis relative to the passive degree of freedom connection assembly 126 and the posture adjustment actuator assembly 120, and the rod-like structure 111 can rotate about its own axis relative to the posture adjustment actuator assembly 120 via the passive degree of freedom connection assembly 126, thereby enabling the rod-like structure 111 to rotate about its own axis relative to the posture adjustment actuator assembly 120. For more details about the passive degree of freedom connection assembly 126, see the description of Figures 2 and 17 and their embodiments below in this specification.

[0083] In some embodiments, the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself is configured not to affect the movement of the puncture needle. That is, even if the operator controls the rod-like structure 111 to rotate around the rod-like structure 111 itself, it will not control the axial rotation of the puncture needle around the puncture needle itself. During the process of the operator adjusting the posture of the rod-like structure 111, there may be a need for the rod-like structure 111 to rotate to a certain angle relative to the posture adjustment actuator 120, so that during the posture adjustment process, the rod-like structure 111 can adapt to the operator's holding posture and improve the comfort of human-computer interaction. Through such a setting, while meeting the comfort of human-computer interaction, it can also avoid the rotation of the puncture needle during the posture adjustment process from causing accidental damage to the patient.

[0084] In some embodiments, the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself is configured to control the puncture needle of the puncture device to rotate accordingly around the axis of the puncture needle itself. That is, when the rod-like structure 111 rotates around the axis of the rod-like structure 111 itself, it controls the puncture needle to rotate accordingly around the axis of the puncture needle itself. Through such a configuration, during the puncture process, the operator can control the rod-like structure 111 not only to move along its own axis, but also to rotate around its own axis, so that the puncture needle provided on the puncture device can rotate while inserting the needle, realizing active skin-breaking operation in the master-slave mode, thereby avoiding bending or even kinking of the puncture needle during the puncture process, avoiding accidental injury to the patient, and improving puncture efficiency.

[0085] In some embodiments, during the process of adjusting the posture of the master hand control device 100, the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself can be configured to not affect the movement of the puncture needle. In some embodiments, during the process of puncture by the master hand control device 100, the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself can be configured to affect the movement of the puncture needle. In some embodiments, the master hand control device 100 can be provided with a rotation switch control, which can control whether the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself can control the axial rotation of the rod-like structure 111 around the rod-like structure 111 itself. The rotation switch control is a selection switch button, a rotation switch knob, etc. As an example only, when the rotation switch button is not pressed, the axial rotation of the rod-shaped structure 111 around the rod-shaped structure 111 itself cannot control the axial rotation of the rod-shaped structure 111 around the rod-shaped structure 111 itself; when the rotation switch button is pressed, the axial rotation of the rod-shaped structure 111 around the rod-shaped structure 111 itself can control the axial rotation of the rod-shaped structure 111 around the rod-shaped structure 111 itself.

[0086] In some embodiments, the master-hand control device 100 includes a rotation control for controlling the rotation of the puncture needle of the puncture device 200 about its own axis. When the puncture needle needs to rotate about its own axis so that it can be inserted while rotating, the rotation control can be triggered to control the rotation, thereby achieving active skin puncture in master-slave mode. The rotation control can be a rotation control button, a rotation control knob, etc. In some embodiments, when the rotation control controls the rotation of the puncture needle about its own axis, the drive structure on the puncture device that controls the puncture freedom (such as the forward and backward drive motor and the rotation drive motor described below) is activated. The forward and backward drive motor is powered on and supplied with a certain control current. The control current of the forward and backward drive motor is proportional to the "force between the puncture needle and the human body." As a result, the operator can feel the feedback force during the actual puncture process on the master-hand control device 100, achieving a force feedback process. The drive structure on the puncture device that controls the posture adjustment freedom (such as the sixth and seventh brakes described below) is locked, for example, the sixth and seventh brakes remain at a low level, preventing posture adjustment. At this time, the puncture needle rotates around its own axis to achieve the active skin-breaking function. When the puncture needle rotates around its own axis, it can puncture or not. If puncture is required, the puncture freedom brake (such as the fifth brake below) is at a high level, and the subsequent advance and retreat drive motor can drive the puncture needle along the axial direction of the puncture needle to achieve puncture; if puncture is not required, the puncture freedom brake (such as the fifth brake below) is at a low level, and the puncture needle cannot move along the axial direction of the puncture needle itself, but can only rotate along the axial direction of the puncture needle itself. It should be noted that the above-mentioned drive structure for controlling the posture adjustment degree of freedom and the level setting of the puncture freedom brake are only examples. For example, when the sixth and seventh brakes are maintained at a high level, the posture adjustment action cannot be performed. For another example, when the fifth brake is maintained at a low level, the subsequent advance and retreat drive motor can drive the puncture needle along the axial direction of the puncture needle itself to achieve puncture.

[0087] The operator can control when the puncture needle rotates by rotating the control, thereby achieving precise control over the puncture operation, which helps to improve the accuracy and success rate of the puncture operation.

[0088] In some embodiments, as shown in FIG9 , the puncture needle actuator 110 includes an angle detection assembly 114 , which is configured to detect the rotation angle of the rod-shaped structure 111 about its own axis. Exemplary angle detection assemblies 114 may include a rotary potentiometer, a Hall sensor, a rotary transformer, and the like. In some embodiments, the angle detection assembly 114 may be disposed on a structural member coaxially disposed with the puncture needle actuator 110 . For example, the angle detection assembly 114 may be disposed on the rod-shaped structure 111 of the puncture needle actuator 110 or on the first rotating ring 1212 of the posture adjustment actuator 120 . For a detailed description of the first rotating ring 1212 , please refer to FIG15-FIG18 and the related descriptions.

[0089] It can be understood that by providing the angle detection component 114 , the rotation angle of the rod-shaped structure 111 when rotating around its own axis can be obtained in real time.

[0090] In some embodiments, as shown in Figures 9-10, the angle detection component 114 includes an encoder 1141 and an encoder reading component 1142. The encoder 1141 is provided on the rod-shaped structure 111 and rotates synchronously with the rod-shaped structure 111. The encoder reading component 1142 is provided on the posture adjustment execution component 120.

[0091] In some embodiments, the angle detection component 114 is a magnetic ring encoder. The encoder 1141 is a magnetic ring, usually made of magnetic material and having a certain magnetic field strength. The encoder reading component 1142 is usually composed of a Hall element or a magnetoresistive sensor, which is used to measure changes in the magnetic field. When the encoder 1141 and the encoder reading component 1142 undergo relative motion, the encoder reading component 1142 can sense the changes in the magnetic field and convert them into electrical signals. The rotation angle information can be determined based on the changes in the magnetic field. In some embodiments, the encoder 1141 is arranged on the passive degree of freedom connection component 126 (the passive degree of freedom mounting seat 1261 shown in Figure 5), and the encoder reading component 1142 is arranged on the posture adjustment actuator 120 (the first rotating ring 1212 shown in Figures 4-6). The rod-shaped structure 111 drives the encoder 1141 to rotate synchronously by driving the passive degree of freedom connection component 126 to rotate synchronously. By way of example only, the encoder 1141 can be fixedly connected (e.g., threadedly connected) to the passive degree of freedom mounting base 1261, and the encoder reading component 1142 can be fixedly connected to the first rotating ring 1212. When the operator controls the rod-like structure 111 to rotate about its own axis, the encoder 1141 moves relative to the encoder reading component 1142, and the encoder reading component 1142 can read the rotation information of the encoder 1141, thereby determining the rotation angle of the rod-like structure 111 about its own axis. In some embodiments, the encoder reading component 1142 can be disposed on the passive degree of freedom connection assembly 126, and the encoder 1411 can be disposed on the posture adjustment actuator 120. The rod-like structure 111 drives the passive degree of freedom connection assembly 126 to rotate synchronously, causing the encoder reading component 1142 to move relative to the encoder 1141. The encoder reading component 1142 can read the rotation information of the encoder 1141, thereby determining the rotation angle of the rod-like structure 111 about its own axis. In some embodiments, the posture adjustment actuator 120 may include an encoder connector (not shown), which is rotatably connected to the passive degree of freedom connection assembly 126 and fixedly connected to the rod-like structure 111. An encoder reading component 1142 may be provided on the posture adjustment actuator 120. The encoder connector is driven to rotate synchronously by the rod-like structure 111, causing the encoder reading component 1142 to move relative to the encoder 1141. The encoder reading component 1142 can read the rotation information of the encoder 1141, thereby determining the rotation angle of the rod-like structure 111 around its own axis.

[0092] It is understandable that due to the advantages of magnetic ring encoders such as high precision, good repeatability, and strong reliability, the angle detection component 114 can more accurately determine the rotation angle of the rod-shaped structure 111 around its own axis by using a magnetic ring encoder. It should be noted that the angle detection component 114 can also use other angle measurement instruments or devices such as photoelectric encoders to meet actual detection requirements.

[0093] In some embodiments, the rod-like structure 111 is disposed on the posture adjustment actuator 120. The rod-like structure 111 has both a puncture degree of freedom and a posture adjustment degree of freedom relative to the posture adjustment actuator 120. The puncture degree of freedom allows the rod-like structure to change its position along the axial direction of the rod-like structure 111. In other words, the puncture degree of freedom is the degree of freedom of the rod-like structure 111 to move along its own axial direction relative to the posture adjustment actuator 120. The posture adjustment degree of freedom allows the rod-like structure 111 to change its axial direction. In other words, the posture adjustment degree of freedom is the degree of freedom of the rod-like structure 111 to change its axial direction relative to the posture adjustment actuator 120. It should be noted that the posture adjustment degree of freedom may include two swinging degrees of freedom (corresponding to the first and second degrees of freedom below) that allow the rod-like structure 111 to swing in two different directions (e.g., two mutually orthogonal directions). In some embodiments, to ensure the safety of the puncture operation, when the puncture degree of freedom is enabled, the posture adjustment degree of freedom is locked; when the posture adjustment degree of freedom is enabled, the puncture degree of freedom is locked. In some embodiments, the rod-like structure 111 may further have a passive degree of freedom relative to the posture adjustment actuator 120. The passive degree of freedom is a degree of freedom that allows the rod-like structure 111 to rotate along its own axis.

[0094] To more clearly illustrate the working principle of the master-hand control device 100, FIG11 shows a schematic diagram of the working principle of the master-hand control device 100. In combination with FIG1B and FIG11, the master-hand control device 100 provided in the embodiment of this specification can be a master-slave posture incremental mapping four-degree-of-freedom force feedback master operation device. The four degrees of freedom include two rotational degrees of freedom (hereinafter referred to as the first and second degrees of freedom) of the posture adjustment freedom, the puncture freedom, and the passive degree of freedom. The operator's movement of the master-hand control device 100 is mapped to the puncture needle at the end of the robot, thereby controlling the puncture needle. For example, the rod-like structure 111 can move along its own axis relative to the posture adjustment actuator 120 (in the direction of arrow X in FIG1B), i.e., it has the puncture freedom (as shown by arrow M1 in FIG11), and the distance the rod-like structure moves in the puncture freedom is L. For example, in the embodiment shown in FIG12, the order from left to right is that the rod-like structure 111 punctures along the puncture freedom relative to the posture adjustment actuator 120, and the puncture depth is L. The rod-like structure 111 can rotate about its own axis via a passive degree of freedom mount (e.g., the passive degree of freedom mount 1261 in FIG. 17 ), i.e., it has a passive degree of freedom (as indicated by arrow M2 in FIG. 11 ). For example, in the embodiment shown in FIG. 13 , from left to right, the rod-like structure 111 rotates along the rotational degree of freedom relative to the posture adjustment actuator 120. Exemplarily, the rod-like structure 111 can swing relative to the posture adjustment actuator 120 within the plane containing the first rotation axis (e.g., O1 in FIG. 15 ) and the fourth rotation axis (e.g., O4 in FIG. 15 ), i.e., it has a first degree of freedom (as indicated by arrow M3 in FIG. 11 ). The rod-like structure 111 can swing relative to the posture adjustment actuator 120 within the plane containing the second rotation axis (e.g., O2 in FIG. 15 ) and the third rotation axis (e.g., O3 in FIG. 15 ), i.e., it has a second degree of freedom (as indicated by arrow M4 in FIG. 11 ). For example, in the embodiment shown in FIG. 14 , the order from left to right is that the rod-shaped structure 111 swings along the first degree of freedom and the second degree of freedom relative to the posture adjustment actuator 120 .

[0095] In some embodiments, the posture adjustment execution component 120 is configured to apply posture adjustment resistance in the posture adjustment degree of freedom to the rod-like structure 111 based on the posture adjustment force feedback information when the puncture needle is adjusted.

[0096] The posture adjustment force feedback information refers to the resistance information that the puncture needle provided on the puncture device encounters in response to the posture adjustment action when the rod-like structure 111 performs the posture adjustment operation. For example, during the posture adjustment process of the puncture needle, the puncture needle encounters resistance from human tissue. In some embodiments, the resistance encountered by the puncture needle can be detected and acquired by a force sensor (the second force sensor described below) provided on the puncture device, and then fed back to the posture adjustment execution component 120 through a signal transmission component (such as the first signal transmission component above and the second signal transmission component below). The posture adjustment execution component 120 outputs a posture adjustment resistance to the rod-like structure 111 that is equivalent to the resistance encountered by the puncture needle during the posture adjustment process. Based on the description of FIG11 above, the posture adjustment degrees of freedom of the rod-like structure 111 can include two swinging degrees of freedom, so the posture adjustment resistance output by the posture adjustment execution component 120 to the rod-like structure 111 can include resistance torques output respectively for the two swinging degrees of freedom.

[0097] With such a setting, when the operator performs posture adjustment operation, he can feel the resistance encountered by the puncture needle during posture adjustment through the posture adjustment resistance feedback from the posture adjustment execution component 120, so as to truly simulate the situation of adjusting the needle posture.

[0098] In some embodiments, as shown in conjunction with Figures 15-20 , the posture adjustment actuator 120 includes a first connecting rod 1211, a first rotating ring 1212, a second connecting rod 1221, a second rotating ring 1222, a second angle sensor 1213, a third angle sensor 1223, and a base 123. The first rotating ring 1212 and the second rotating ring 1222 are coaxial and arranged around the rod-shaped structure 111. One end of the first connecting rod 1211 is rotatably connected to the first rotating ring 1212, and the other end is rotatably connected to the base 123. The second angle sensor 1213 is also provided at the other end of the first connecting rod 1211. One end of the second connecting rod 1221 is rotatably connected to the second rotating ring 1222, and the other end is rotatably connected to the base 123. The third angle sensor 1223 is also provided at the other end of the second connecting rod 1221. The second angle sensor 1213 is configured to detect the angle at which the other end of the first connecting rod 1211 rotates relative to the base 123. The third angle sensor 1223 is configured to detect an angle at which the other end of the second connecting rod 1221 rotates relative to the base 123 .

[0099] The base 123 is configured to support other components of the posture adjustment actuator 120. During the posture adjustment process, the base 123 remains stationary. For ease of description, the axis of rotation of the first connecting rod 1211 relative to the first rotating ring 1212 can be referred to as the first rotation axis (as shown by O1 in FIG15 ), and the axis of rotation of the first connecting rod 1211 relative to the base 123 can be referred to as the second rotation axis (as shown by O2 in FIG15 ). The axis of rotation of the second connecting rod 1221 relative to the second rotating ring 1222 can be referred to as the third rotation axis (as shown by O3 in FIG15 ), and the axis of rotation of the first connecting rod 1211 relative to the base 123 can be referred to as the fourth rotation axis (as shown by O4 in FIG15 ). In some embodiments, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 can be in the same plane. In some embodiments, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 can be in different planes. By way of example only, since the base 123 remains stationary, the axis of rotation of the first connecting rod 1211 relative to the base 123 (i.e., the second rotation axis O2) and the axis of rotation of the second connecting rod 1221 relative to the base 123 (i.e., the fourth rotation axis O4) remain unchanged. However, the axis of rotation of the first connecting rod 1211 relative to the first rotating ring 1212 (i.e., the first rotation axis O1) and the axis of rotation of the second connecting rod 1221 relative to the second rotating ring 1222 (i.e., the third rotation axis O3) change with the movement of the first rotating ring 1212 and the second rotating ring 1222, respectively. In this case, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 may not be in the same plane. For example, the second rotation axis O2 and the fourth rotation axis O4 may be in the same plane, and the first rotation axis O1 and the third rotation axis O3 may be in the same plane. For another example, the first rotation axis O1 and the fourth rotation axis O2 are in the same plane, and the second rotation axis O2 and the third rotation axis O3 are in the same plane.

[0100] In this embodiment, because the first rotating ring 1212 and the second rotating ring 1222 are coaxially arranged around the rod-like structure 111, the rod-like structure 111 always maintains a coaxial relationship with the first rotating ring 1212 and the second rotating ring 1222. That is, the axial direction of the rod-like structure 111 coincides with the central axis of the first rotating ring 1212 and the central axis of the second rotating ring 1222. Therefore, when the rod-like structure 111 swings relative to the base 123, it can drive the first rotating ring 1212 and the second rotating ring 1222 to swing relative to the base 123. Because the first connecting rod 1211 is disposed between the first rotating ring 1212 and the base 123, the swinging of the first rotating ring 1212 relative to the base 123 drives the first connecting rod 1211 to rotate about the second rotation axis O2. Similarly, because the second connecting rod 1221 is disposed between the second rotating ring 1222 and the base 123, the swinging of the second rotating ring 1222 relative to the base 123 drives the second connecting rod 1221 to rotate about the fourth rotation axis O4. The second angle sensor 1213 and the third angle sensor 1223 can respectively detect the rotation angle of the first connecting rod 1211 about the second rotation axis O2 and the rotation angle of the second connecting rod 1221 about the fourth rotation axis O4. The posture of the rod-like structure 111 is then determined based on the rotation angles, thereby adjusting the posture of the puncture needle.

[0101] It should be noted that since the two ends of the first connecting rod 1211 are rotationally connected to the first rotating ring 1212 and the base 123, respectively, and the two ends of the second connecting rod 1221 are rotationally connected to the second rotating ring 1222 and the base 123, respectively, the first connecting rod 1211 and the second connecting rod 1221 are simultaneously rotationally connected to the base 123, equivalent to the first connecting rod 1211 and the second connecting rod 1221 being in a parallel configuration. When the first rotating ring 1212 rotates about the first rotation axis O1, it drives the first connecting rod 1211 to rotate about the second rotation axis O2, which in turn drives the parallel second connecting rod 1221 to rotate about the fourth rotation axis O4, resulting in the rotation angle of the second connecting rod 1221 being detected by the third angle sensor 1223. When the second rotating ring 1222 rotates about the third rotation axis O3, it drives the second connecting rod 1221 to rotate about the fourth rotation axis O4, which in turn drives the parallel first connecting rod 1211 to rotate about the second rotation axis O2, causing the rotation angle of the first connecting rod 1211 to be detected by the second angle sensor 1213. Therefore, the movement of the rod-shaped structure 111 relative to the posture adjustment actuator 120 can be simplified as shown in Figure 16. Figure 16 is merely a schematic diagram of the working principle of the posture adjustment actuator 120. The above embodiment can be implemented in various feasible ways and is not limited to this. In Figure 16, the first rotation axis O1, the second rotation axis O2, the third rotation axis O3, and the fourth rotation axis O4 are in the same plane. At this time, the angle between the first rotation axis O1 and the fourth rotation axis O4 is 180°, and the angle between the second rotation axis O2 and the third rotation axis O3 is 180°. The rod-like structure 111 can rotate relative to the posture adjustment actuator 120 within a plane (e.g., a vertical plane) formed by the first rotation axis O1 and the fourth rotation axis O4, i.e., it has a third degree of freedom (as indicated by arrow M3). The rod-like structure 111 can rotate relative to the posture adjustment actuator 120 within a plane (e.g., a vertical plane) formed by the second rotation axis O2 and the third rotation axis O3, i.e., it has a fourth degree of freedom (as indicated by arrow M4).

[0102] It should be noted that because the first rotation axis O1 and the third rotation axis O3 change with the movement of the first rotating ring 1212 and the second rotating ring 1222, respectively, the angle between the first rotation axis O1 and the fourth rotation axis O4, or the angle between the second rotation axis O2 and the third rotation axis O3, does not always remain 180°, but may also be 150°, 175°, or other angles. When the angles between the first rotation axis O1 and the fourth rotation axis O4, and the angles between the second rotation axis O2 and the third rotation axis O3, are both 180°, i.e., the first rotation axis O1 and the fourth rotation axis O4 are collinear and form the first rotation axis Z1, and the second rotation axis O2 and the third rotation axis O3 are collinear and form the second rotation axis Z2, the plane formed by the first rotation axis O1 and the fourth rotation axis O4 (i.e., the plane in which the first rotation axis Z1 lies) may be parallel to or non-parallel to the horizontal plane. The plane formed by the second rotation axis O2 and the third rotation axis O3 (i.e., the plane in which the second rotation axis Z2 lies) may also be parallel to or non-parallel to the horizontal plane. When the angle between the first rotation axis O1 and the fourth rotation axis O4, and the angle between the second rotation axis O2 and the third rotation axis O3, is not 180°, the fourth rotation axis O4 forms the first rotation axis Z1, and the second rotation axis O2 forms the second rotation axis Z2. In some embodiments, the first rotation axis Z1 and the second rotation axis Z2 are always intersecting and perpendicular. Based on the above, it can be seen that when the rod-like structure 111 swings, it causes the parallel first connecting rod 1211 and / or the second connecting rod 1221 to rotate. The second angle sensor 1213 and the third angle sensor 1223 then detect the rotation angles of the first connecting rod 1211 and the second connecting rod 1221, ultimately determining the posture of the rod-like structure 111.

[0103] In some embodiments, the angle between the first rotation axis O1 and the third rotation axis O3 is greater than 10 degrees. In some embodiments, the angle between the first rotation axis O1 and the third rotation axis O3 is greater than 45 degrees. In some embodiments, the angle between the first rotation axis O1 and the third rotation axis O3 is greater than 60 degrees. In some embodiments, as shown in FIG15 , the angle between the first rotation axis O1 and the third rotation axis O3 is 90 degrees, so that the posture adjustment execution component 120 obtains a larger operating space. Similarly, in some embodiments, the angle between the second rotation axis O2) and the fourth rotation axis O4 is greater than 10 degrees. In some embodiments, as shown in FIG15 , the angle between the second rotation axis O2 and the fourth rotation axis O4 is 90 degrees.

[0104] In some embodiments, the first connecting rod 1211 is shaped to match the first rotating ring 1212, and the second connecting rod 1221 is shaped to match the first rotating ring 1212. By way of example only, as shown in FIG15 , the first rotating ring 1212 and the second rotating ring 1222 are circular rings, and the first connecting rod 1211 and the second connecting rod 1221 are arcuate connecting rods. Both the first connecting rod 1211 and the first rotating ring 1212 are circular rings, and the curvature of the arcuate connecting rods is the same as that of the circular rings. This ensures that the first connecting rod 1211 will never collide with the first rotating ring 1212 during rotation relative to the first rotating ring 1212, and that the second connecting rod 1221 will never collide with the second rotating ring 1222 during rotation relative to the second rotating ring 1222, thereby making the structure more compact. It should be noted that the first connecting rod 1211 and the second connecting rod 1221 can also be designed with any other feasible shape (such as a right angle), as long as they can achieve the corresponding connection function.

[0105] In some embodiments, the posture adjustment actuator assembly 120 further includes a second connecting shaft 1224, a second support seat 1225, and a second shaft end cap 1226. The second support seat 1225 is disposed on the base 123. One end of the second connecting shaft 1224 is connected to the other end of the second connecting rod 1221. The other end of the second connecting shaft 1224 is connected to the second support seat 1225 via a second bearing (not shown). The second shaft end cap 1226 secures the second bearing to the second support seat 1225. The second connecting rod 1221 can rotate relative to the second bearing and the second support seat 1225, thereby achieving rotation relative to the base 123. In some embodiments, the posture adjustment actuator assembly 120 further includes a first connecting shaft, a first support seat, and a first shaft end cap. The specific configuration of the first connecting shaft, the first support seat, and the first shaft end cap is the same or similar to that of the second connecting shaft 1224, the second support seat 1225, and the second shaft end cap 1226.

[0106] In some embodiments, the posture adjustment actuator assembly 120 includes a passive degree of freedom connection assembly 126, which is rotationally connected to a first rotating ring 1212 and a second rotating ring 1222, and is slidably connected to the rod-like structure 11. As an example only, as shown in FIG17 , the passive degree of freedom connection assembly 126 includes a passive degree of freedom mounting seat 1261, a first passive degree of freedom bearing 1262, and a second passive degree of freedom bearing 1263. The first rotating ring 1212 is mounted on the outer ring of the first passive degree of freedom bearing 1262 and is fixed relative to the outer ring of the first passive degree of freedom bearing 1262. The second rotating ring 1222 is mounted on the outer ring of the second passive degree of freedom bearing 1263 and is fixed relative to the outer ring of the second passive degree of freedom bearing 1263. The inner rings of the first passive DOF bearing 1262 and the second passive DOF bearing 1263 are both mounted on the passive DOF mounting seat 1261. The inner rings of the first passive DOF bearing 1262 and the second passive DOF bearing 1263 are fixed relative to the passive DOF mounting seat 1261. The rod-like structure 111 is inserted into the passive DOF mounting seat 1261, and the passive DOF mounting seat 1261 and the rod-like structure 111 are connected by a sliding connection, allowing the rod-like structure 111 to rotate along its own axis relative to the first rotating ring 1212 and the second rotating ring 1222 (as indicated by arrow M2 in FIG17 ). In some embodiments, the rod-like structure 111 and the passive DOF mounting seat 1261 cannot rotate relative to each other. However, the rod-like structure 111 can be rotated about its own axis relative to the first rotating ring 1212 and the second rotating ring 1222 via the first passive DOF bearing 1262 and the second passive DOF bearing 1263, thereby enabling the rod-like structure 111 to rotate about its own axis relative to the attitude adjustment actuator 120. In some embodiments, the first passive degree of freedom bearing 1262 and the second passive degree of freedom bearing 1263 are rolling bearings.

[0107] In other embodiments, the rod-shaped structure 111 can rotate relative to the passive degree of freedom mount 1261, and the rod-shaped structure 111 can rotate around the axial direction of the rod-shaped structure 111 relative to the first rotating ring 1212 and the second rotating ring 1222 through the first passive degree of freedom bearing 1262 and the second passive degree of freedom bearing 1263, so that the rod-shaped structure 111 can also rotate around its own axial direction relative to the posture adjustment actuator 120.

[0108] It should be noted that the passive degree of freedom mount 1261 forms a revolute pair with the first rotating ring 1212 via the first passive degree of freedom bearing 1262, and further forms a revolute pair with the second rotating ring 1222 via the second passive degree of freedom bearing 1263. Because both the first connecting rod 1211 and the second connecting rod 1221 are connected to the base 123, rotation of the first rotating ring 1212 relative to the passive degree of freedom mount 1261 drives the second rotating ring 1222 to rotate relative to the passive degree of freedom mount 1261. Similarly, rotation of the second rotating ring 1222 relative to the passive degree of freedom mount 1261 also drives the first rotating ring 1212 to rotate relative to the passive degree of freedom mount 1261, thereby maintaining the angle between the first rotation axis O1 and the second rotation axis O2.

[0109] In some embodiments, as shown in Figure 17, the posture adjustment execution component 120 also includes a bearing locking seat 1264, which is arranged on the top of the passive degree of freedom mounting seat 1261, and fixes the inner rings of the first passive degree of freedom bearing 1262 and the second passive degree of freedom bearing 1263 to the passive degree of freedom mounting seat 1261 (for example, by screw connection) to prevent the first passive degree of freedom bearing 1262 and the second passive degree of freedom bearing 1263 from loosening from the passive degree of freedom mounting seat 1261.

[0110] In some embodiments, the passive degree of freedom connection assembly 126 may not be necessary, and other methods can be used to achieve the rotation of the rod-like structure 111 around its own axis relative to the posture adjustment actuator 120. As an example only, the sliding portion 1112 and the operating portion 1111 of the rod-like structure 111 are rotationally connected (for example, connected by a bearing), wherein the sliding portion 1112 is slidably connected to the first rotating ring 1212 and the second rotating ring 1222, and the first rotating ring 1212 and the second rotating ring 1222 can move relative to the sliding portion 1112 along the axis of the sliding portion 1112, while the operating portion 1111 can rotate relative to the sliding portion 1112 along the axis of the sliding portion 1112. In addition, the first rotating ring 1212 and the second rotating ring 1222 are also rotationally connected, so that the first rotating ring 1212 and the second rotating ring 1222 can rotate relative to the sliding portion 1112 along the axis of the sliding portion 1112. When the operator holds the operating portion 1111, they can also hold it in a more comfortable posture, satisfying the requirement that the rod-like structure 111 rotates at a certain angle relative to the posture adjustment actuator 120. This allows the rod-like structure 111 to adapt to the operator's holding posture during the operator's posture adjustment process. For a detailed description of the rod-like structure 1112 and the operating portion 1111, please see below.

[0111] In some embodiments, the posture adjustment actuator 120 can provide a damping force that hinders the deflection of the rod-like structure 111 (i.e., deflection relative to the base 123) to simulate the posture adjustment resistance encountered by the puncture needle during actual operation. In some embodiments, the magnitude of the damping force provided by the posture adjustment actuator 120 is fixed. In some practical application scenarios, when the posture of the rod-like structure 111 (and the puncture needle from the end) is adjusted during the needle insertion operation, when the operator applies a deflection force to the rod-like structure 111 to adjust the posture of the rod-like structure 111, as the rod-like structure 111 continues to move in the first direction along its own axis (i.e., downward along the arrow X in Figure 1B), the lever arm of the deflection force applied by the operator on the rod-like structure 111 (the length of which can be equal to the distance between the operator's force application point on the rod-like structure 111 and the contact point between the rod-like structure 111 and the posture adjustment actuator 120) gradually decreases. Because the torque (i.e., the damping force applied by the posture adjustment actuator 120 to the rod-like structure 111 to prevent the rod-like structure 111 from deflecting) remains constant, the resistance to movement felt by the operator gradually increases. When the rod-like structure 111 moves a certain distance in the first direction, the resistance to movement felt by the operator is excessively large. At this point, a significant force is required to continue moving the rod-like structure 111 in the first direction, making axial movement of the rod-like structure 111 difficult and hindering precise adjustment of the puncture depth of the puncture needle. Similarly, during the needle withdrawal operation, as the rod-like structure 111 continues to move along its own axis in the second direction (i.e., upward along arrow X in FIG. 1B ), the force arm of the force applied by the operator on the rod-like structure 111 gradually increases, and the resistance to movement felt by the operator gradually decreases. When the rod-like structure 111 moves a certain distance in the second direction, the resistance to movement felt by the operator is too small. At this point, only a very small force is required to continue moving the rod-like structure 111 in the second direction, resulting in excessive flexibility in axial movement of the rod-like structure 111. From the above, it can be seen that while the fixed damping force provided by the posture adjustment actuator 120 can simulate the posture adjustment resistance of the puncture needle to a certain extent, when the rod-like structure 111 moves a certain distance in the first direction, the axial movement of the rod-like structure 111 becomes too difficult, which is not conducive to accurately adjusting the puncture depth of the puncture needle. When the rod-like structure 111 moves a certain distance in the second direction, the axial movement of the rod-like structure 111 becomes too flexible, which is also not conducive to accurately adjusting the puncture depth of the puncture needle.

[0112] In some embodiments, the posture adjustment actuator 120 includes at least one motor. The motor can realize one or more functions such as zero return (e.g., returning the first connecting rod 1211 to zero position), force feedback (e.g., outputting posture adjustment resistance), and outputting torque to overcome damping.

[0113] In some embodiments, as shown in FIG20 , the posture adjustment actuator 120 includes a first motor (not shown) and a second motor 1228 . The first motor is configured to apply torque to the first connecting rod 1211 . By applying torques of varying magnitudes and / or directions to the first connecting rod 1211 at different times, the first motor can achieve functions such as returning the first connecting rod 1211 to a zero position and applying posture adjustment resistance to the first connecting rod 1211 . The second motor 1228 is configured to apply torque to the second connecting rod 1221 . By applying torques of varying magnitudes and / or directions to the second connecting rod 1221 at different times, the second motor 1228 can achieve functions such as returning the second connecting rod 1221 to a zero position and applying posture adjustment resistance to the second connecting rod 1221 . In other embodiments, only one motor may be provided, which applies torque to the first connecting rod 1211 and the second connecting rod 1221 respectively through a transmission structure (e.g., a clutch).

[0114] In some embodiments, the first motor is configured to apply a posture adjustment resistance torque to the first connecting rod 1211 based on the posture adjustment force feedback information during the posture adjustment of the puncture needle. The second motor 1228 is configured to apply a posture adjustment resistance torque to the second connecting rod 1221 based on the posture adjustment force feedback information during the posture adjustment of the puncture needle.

[0115] Through the coordinated work of the first motor applying posture adjustment resistance to the first connecting rod 1211 and the second motor 1228 applying posture adjustment resistance to the second connecting rod 1221, the posture adjustment execution component 120 can accurately output the posture adjustment resistance based on the posture adjustment force feedback information during posture adjustment, ensuring that when performing the posture adjustment operation, the operator can accurately feel the resistance encountered by the puncture needle during posture adjustment.

[0116] In some embodiments, the posture adjustment execution component 120 also includes a first return to zero component and a second return to zero component. The first return to zero component is configured to return the first connecting rod 1211 to zero position, and the second return to zero component is configured to return the second connecting rod 1221 to zero position. The first return to zero component includes the first motor described above, and the second return to zero component includes the second motor described above. Zero position refers to the standard position of the first connecting rod 1211 and the second connecting rod 1221. In some embodiments, the zero position can be set according to usage requirements. For example, the angle between the second rotating axis (for example, shown as O2 in Figure 15) and the plane where the first rotating ring 1212 is located can be a first preset angle, and when the angle between the fourth rotating axis and the plane where the second rotating ring 1222 is located is a second preset angle, the position of the first connecting rod 1211 and the second connecting rod 1221 is defined as zero position. For the convenience of description, in an embodiment of this specification, the positions of the first connecting rod 1211 and the second connecting rod 1221 when the first rotation axis (for example, as shown in O1 in Figure 15) is coaxial with the fourth rotation axis (that is, the angle between the fourth rotation axis and the plane where the second rotating ring 1222 is located is 0), and the second rotation axis is coaxial with the third rotation axis (for example, as shown in O3 in Figure 15) (that is, the angle between the second rotation axis and the plane where the first rotating ring 1212 is located is 0) can be defined as zero position, as shown in Figure 15.

[0117] In some practical application scenarios, the operator can perform a zero return before the puncture operation to ensure that the posture adjustment actuator 120 is at zero position. The operator can also perform a zero return after the puncture operation to ensure that the posture adjustment actuator 120 returns to zero position for use in the next puncture operation.

[0118] In some embodiments, the posture adjustment actuator 120 includes a first reducer (not shown) and a second reducer 1229. The first motor is connected to the first damper via the first reducer, and the second motor 1228 is connected to the second damper 125 via the second reducer 1229. The first motor is configured to output a torque that overcomes the output damping of the first damper, and the second motor 1228 is configured to output a torque that overcomes the output damping of the second damper 125. The first reducer is configured to increase the output torque of the first damper, and the second reducer 1229 is configured to increase the output torque of the second damper 125. In some embodiments, the output shaft of the first motor is connected to the input shaft of the first reducer, and the output shaft of the first reducer is connected to the first damper. The output shaft of the second motor 1228 is connected to the input shaft of the second reducer 1229, and the output shaft of the second reducer 1229 is connected to the second damper 125. The first reducer increases the torque of the output shaft of the first motor by reducing the speed of the output shaft of the first motor. The second speed reducer 1229 increases the torque of the output shaft of the second motor 1228 by reducing the rotation speed of the output shaft of the second motor 1228 .

[0119] In some embodiments, the first return-to-zero assembly includes a first motor (not shown) and a first reducer (not shown), and the second return-to-zero assembly includes a second motor 1228 and a second reducer 1229. In this embodiment, when the first connecting rod 1211 and the second connecting rod 1221 need to be returned to zero, the first motor 1228 and the second motor 1228 can be driven to operate. The output torque of the first motor is amplified by the first reducer and transmitted to the first damper, completely overcoming the output damping of the first damper, thereby causing the first connecting rod 1211 and the base 123 to rotate (i.e., rotate about the second rotation axis) and return to the zero position. At the same time, the rotation of the first connecting rod 1211 relative to the base 123 also drives the second connecting rod 1221 to rotate relative to the second rotating ring 1222 (i.e., rotate about the third rotation axis) and return to the zero position. Similarly, the output torque of the second motor 1228 is amplified by the second reducer 1229 and then transmitted to the second damper 125, completely overcoming the output damping of the second damper 125, thereby causing the second connecting rod 1221 and the base 123 to rotate (i.e., rotate around the fourth rotation axis) and return to zero position, thereby driving the first connecting rod 1211 to rotate relative to the first rotating ring 1212 (i.e., rotate around the first rotation axis) and return to zero position.

[0120] In some embodiments, the first return-to-zero component further includes a first return-to-zero angle sensor (not shown), and the second return-to-zero component further includes a second return-to-zero angle sensor 12281. The first return-to-zero angle sensor is configured to detect the rotational speed of the output shaft of the first motor to control the output torque of the first motor during the return-to-zero process. The second return-to-zero angle sensor 12281 is configured to detect the rotational speed of the output shaft of the second motor 1228 to control the output torque of the output shaft of the second motor 1228 during the return-to-zero process.

[0121] In some embodiments, as shown in conjunction with Figures 18-20 , the posture adjustment actuator 120 further includes a first damper (not shown) and a second damper 125. The first damper is configured to provide resistance to the rotation of the first connecting rod 1211 relative to the base 123 based on the axial position of the rod-like structure 111. The second damper 125 is configured to provide resistance to the rotation of the second connecting rod 1221 relative to the base 123 based on the axial position of the rod-like structure 111. By way of example only, as shown in Figure 18 , taking the second damper 125 as an example, the second damper 125 can include a rotating end and a fixed end. The rotating end is fixedly connected to the second connecting shaft 1224, and the fixed end is fixed to the second support base 1225 via a second damper mounting base 1251. Pressure is applied between the rotating end and the fixed end, generating friction that resists the rotation of the rotating end relative to the fixed end, thereby generating damping that inhibits the rotation of the second connecting rod 1221 relative to the base 123. In some embodiments, the friction between the rotating end and the fixed end is positively correlated with the current flowing through the second damper 125. The second damper 125 can obtain the axial position of the rod-like structure 111 from the first position detection assembly 112 or the first angle sensor 1323, and then adjust the current based on the position of the rod-like structure 111, ultimately changing the output damping. For example, a greater stroke in the first direction indicates a deeper puncture depth of the puncture needle. In this case, the current flowing through the second damper 125 can be reduced to reduce the output damping, thereby ensuring that the motion resistance felt by the operator at the rod-like structure 111 remains substantially constant during posture adjustment. For another example, a greater stroke in the second direction indicates a shallower puncture depth of the puncture needle. In this case, the current flowing through the second damper 125 can be increased to increase the output damping, thereby ensuring that the motion resistance felt by the operator at the rod-like structure 111 remains substantially constant during posture adjustment. In some embodiments, the structure and operating principle of the first damper can be the same or similar to those of the second damper 125 and will not be further described herein.

[0122] It should be noted that the structures of the first return-to-zero component and the second return-to-zero component shown in FIG20 are for illustrative purposes only and are not intended to limit the specific structures of the first return-to-zero component and the second return-to-zero component. In some embodiments, the specific structures of the first return-to-zero component and the second return-to-zero component can be adjusted according to actual conditions. Taking the second return-to-zero component as an example, in order to return the second connecting rod 1221 to zero position, it is necessary to overcome the damping output by the second damper 125. If the second damper 125 is an adaptive adjustable damper, when the puncture needle is completed, the current of the second damper 125 can be adjusted to a minimum value (for example, 0). At this time, the output damping of the second damper 125 is small or almost negligible. At this time, the torque output by the second motor 1228 can completely overcome the output damping of the second damper 125, thereby returning the second connecting rod 1221 to zero position. If the second damper 125 is a fixed output damper, since the output damping of the second damper 125 is constant (not adjustable), the output damping of the second damper 125 remains unchanged at any time, and the torque output by the second motor 1228 may not be able to completely overcome the output damping of the second damper 125, and thus the second connecting rod 1221 cannot be completely returned to zero position. At this time, it is necessary to use the second reducer 1229 to increase the torque output by the second motor 1228.

[0123] As previously mentioned, in some practical application scenarios, the posture adjustment of the puncture needle and the insertion and withdrawal operations cannot be performed simultaneously to avoid damage to human tissue. Therefore, in some embodiments, as shown in Figures 18-20, the posture adjustment actuator 120 also includes a second brake (not shown) and a third brake 1227. The output shaft of the second brake is transmission-connected to the first connecting rod 1211 via a first damper, and the second brake is configured to limit the rotation of the first connecting rod 1211 relative to the base 123. The output shaft of the third brake 1227 is transmission-connected to the second connecting rod 1221 via a second damper 125, and the third brake 1227 is configured to limit the rotation of the second connecting rod 1221 relative to the base 123. In some embodiments, the second brake is configured to limit the rotation of the first connecting rod 1211 about a third rotation axis (e.g., shown as O3 in Figure 15), thereby limiting the rotation of the first connecting rod 1211 relative to the base 123. The third brake 1227 is configured to restrict the second connecting rod 1221 from rotating about a fourth rotation axis (e.g., indicated by O4 in FIG. 15 ), thereby restricting the second connecting rod 1221 from rotating relative to the base 123. Taking the third brake 1227 as an example, the third brake 1227 can be connected to the second damper 125 to restrict the relative rotation between the fixed end and the rotating end of the second damper 125, thereby restricting the second connecting rod 1221 from rotating about the fourth rotation axis, thereby restricting the second connecting rod 1221 from rotating relative to the base 123. In some embodiments, the structure and operating principles of the second and third brakes 1227 can be the same or similar to those of the first brake 1324 in the aforementioned embodiments, and are not further described here.

[0124] It can be understood that by providing the second brake and the third brake 1227 to limit the rotation of the first connecting rod 1211 and the second connecting rod 1221 respectively, it can be effectively ensured that the posture of the puncture needle will not swing when performing the puncture operation.

[0125] In some embodiments, when it is necessary to control the rod-like structure 111 to perform a needle insertion or withdrawal operation, it is necessary to limit the adjustment of the posture of the rod-like structure 111 by the posture adjustment actuator 120. In this case, the currents of the second brake and the third brake 1227 can be adjusted to maximum values, thereby generating braking torques to respectively prevent the first connecting rod 1211 and the second connecting rod 1221 from rotating relative to the base 123, thereby preventing the posture of the rod-like structure 111 from being adjusted by the posture adjustment actuator 120. When it is necessary to adjust the posture of the rod-like structure 111 by the posture adjustment actuator 120, the currents of the second brake and the third brake 1227 can be adjusted to minimum values. At this time, the generated braking torque has a small or negligible effect on the rotation of the first connecting rod 1211 and the second connecting rod 1221 relative to the base 123, so that the rack 1131 and the rod-like structure 111 can move relative to the gear 1322.

[0126] In some embodiments, the second brake and the third brake 1227 are communicatively connected to the first brake 1324. When the braking torque output by the second brake and the third brake 1227 is at a maximum value (i.e., the posture adjustment of the rod-like structure 111 is limited by the posture adjustment execution component 120), the braking torque output by the first brake 1324 is at a minimum value (i.e., the needle insertion or withdrawal operation of the rod-like structure 111 is allowed); when the braking torque output by the second brake and the third brake 1227 is at a minimum value (i.e., the posture adjustment of the rod-like structure 111 is allowed by the posture adjustment execution component 120), the braking torque output by the first brake 1324 is at a maximum value (i.e., the needle insertion or withdrawal operation of the rod-like structure 111 is limited).

[0127] In some embodiments, the master hand control device 100 includes at least one of a mode selection control, a degree of freedom selection control, and a quick switch control.

[0128] The mode selection control is a control component used to select the operating mode of the master-hand control device 100. In some embodiments, the mode selection control is used to select the master-hand control device 100 between puncture mode and posture adjustment mode. In puncture mode, the degrees of freedom of the rod-like structure relative to the posture adjustment actuator are the puncture degrees of freedom. In posture adjustment mode, the degrees of freedom of the rod-like structure 111 relative to the posture adjustment actuator are the posture adjustment degrees of freedom. By way of example only, the mode selection control is a mode switch button, which is used to switch between different operating modes. When the mode switch button is pressed, the master-hand control device 100 is in puncture mode. When the mode switch button is not pressed, the master-hand control device 100 is in posture adjustment mode. When the puncture mode is selected using the mode selection control, the drive structure on the puncture device that controls the puncture degrees of freedom (such as the forward and backward drive motor described below) is activated. The forward and backward drive motor is powered on and supplied with a certain control current. The control current of the forward and backward drive motor is proportional to the "force between the puncture needle and the body." As a result, the operator can feel the feedback force during the actual puncture process on the master-hand control device 100, achieving a force feedback process. The drive structure controlling the degree of freedom for posture adjustment on the puncture device (such as the sixth and seventh brakes described below) is locked. For example, if the sixth and seventh brakes remain at a low level, the posture adjustment action cannot be performed. When the posture adjustment mode is selected via the mode selection control, the control is reversed from the control of the puncture mode described above. The drive structure controlling the degree of freedom for posture adjustment is activated, while the drive structure controlling the degree of freedom for puncture is locked, and the puncture action cannot be performed.

[0129] The degree of freedom selection control is a control component for selecting the degree of freedom of posture adjustment. The degree of freedom of posture adjustment includes the first degree of freedom and / or the second degree of freedom described above. The degree of freedom selection control controls the degree of freedom of posture adjustment of the puncture needle relative to the puncture device to be the first degree of freedom and / or the second degree of freedom. Exemplarily, the degree of freedom selection control can be a degree of freedom selection knob. When the degree of freedom selection knob is rotated to the first position, the rod-like structure 111 is only allowed to adjust its posture in the first degree of freedom; when the degree of freedom selection knob is rotated to the second position, the rod-like structure 111 is only allowed to adjust its posture in the second degree of freedom; when the degree of freedom selection knob is rotated to the third position, the rod-like structure 111 is allowed to adjust its posture in both the first degree of freedom and the second degree of freedom. For details about the first degree of freedom and the second degree of freedom, please refer to the relevant descriptions of Figures 12 to 15.

[0130] In some embodiments, the settings of the first degree of freedom and the second degree of freedom (such as the settings of the specific directions allowed by the degrees of freedom) can be determined based on the patient's medical images. As an example only, for a computed tomography image (CT image), it includes multiple tomographic images. In this case, the first degree of freedom can be the degree of freedom that only allows the rod-shaped structure 111 to control the movement of the puncture needle within the layer area of ​​any tomographic image for posture adjustment, and the second degree of freedom can be the degree of freedom that only allows the rod-shaped structure 111 to control the movement of the puncture needle between different layers corresponding to each tomographic image for posture adjustment. When the degree of freedom selection control only allows the first degree of freedom, it can be in the intra-layer posture adjustment mode, the intra-layer degree of freedom brake (such as the sixth brake below) is given a high level, the inter-layer degree of freedom brake (such as the seventh brake above) remains at a low level, and the puncture degree of freedom brake (such as the fifth brake below) is at a low level, and needle insertion and puncture are not allowed. When the degree of freedom selection control only allows the second degree of freedom, it can be in inter-layer posture adjustment mode, the inter-layer degree of freedom brake (such as the seventh brake below) is given a high level, the intra-layer degree of freedom brake (such as the sixth brake below) remains at a low level, the puncture degree of freedom brake (such as the fifth brake below) is at a low level, and needle puncture is not allowed. When the degree of freedom selection control allows the first and second degrees of freedom, it can be in free mode, the intra-layer and inter-layer degree of freedom brakes (such as the sixth and seventh brakes below) are both given a high level, the puncture degree of freedom brake (such as the fifth brake below) is at a low level, and needle puncture is not allowed.

[0131] The quick switch control is a control component used to quickly switch the mode of the master hand control device. The quick switch control is used to control the master hand control device to switch from posture adjustment mode to puncture mode, and / or control the master hand control device to switch from puncture mode to posture mode. Exemplarily, the quick switch control can be a quick switch button.

[0132] In some embodiments, the master-hand control device 100 includes a release control. The release control is used to control the force feedback component 130 and the posture adjustment actuator 120 to release the force applied to the rod-like structure 111. In some embodiments, after the puncture procedure is completed, the release control is triggered, at which point the brakes (such as the first brake, the second brake, and the third brake described above) for the three degrees of freedom (including the puncture degree of freedom, the first degree of freedom, and the second degree of freedom of the posture adjustment) of the master-hand control device 100 are released. In some embodiments, when the release control is triggered, the motors (such as the force feedback motor, the first motor, and the second motor) for the three degrees of freedom (including the puncture degree of freedom, the first degree of freedom, and the second degree of freedom of the posture adjustment) can also be controlled to drive the rod-like structure back to a zero position (such as the rod-like structure 111 being perpendicular to the horizontal plane and the bottom end of the rod-like structure 111 being connected to the posture adjustment actuator 120). After returning to the zero position, the brakes (such as the first brake, the second brake, and the third brake described above) for the three degrees of freedom are locked, preventing the rod-like structure 111 from moving.

[0133] In some embodiments, as shown in conjunction with Figures 2-4 , the rod-like structure 111 includes an operating portion 1111 and a sliding portion 1112. The operating portion 1111 is configured to receive user operations. The sliding portion 1112 is configured to move along its own axis relative to the posture adjustment actuator assembly 120. The operating portion 1111 is located at the upper end of the rod-like structure 111. The user may be an operator. The operator can control the operating portion 1111 to perform corresponding operations, thereby controlling the rod-like structure 111 to perform corresponding actions, ultimately achieving the purpose of controlling the puncture needle. For example, the operating portion 1111 is connected to the sliding portion 1112, and the sliding portion 1112 is slidably connected to the posture adjustment actuator assembly 120 or slidably connected via a connector (such as the passive degree of freedom connection assembly 126 described below). The operator can use the operating portion 1111 to control the sliding portion 1112 to move along the axis of the rod-like structure 111 relative to the posture adjustment actuator assembly 120, thereby controlling the puncture needle to advance or withdraw. For another example, the operator can control the sliding portion 1112 to swing through the operating portion 1111 to adjust the posture of the puncture needle.

[0134] In some embodiments, the operating portion 1111 may include an interactive handle 1110, which an operator can grasp to manipulate the rod-shaped structure 111. In some embodiments, the interactive handle 1110 may be a prism, cylinder, or other structure. In some embodiments, the interactive handle 1110 is cylindrical. Because the grip of the interactive handle 1110 closely resembles that of a puncture needle, the operator can experience the sensation of a clinical puncture, thereby improving the success rate of the puncture procedure.

[0135] In some embodiments, the operating unit 1111 includes multiple operating areas 11111 and at least one enable button. The enable button is a button that turns motion control on or off between the master and slave ends of the control system. For example, when one or more enable buttons are triggered, motion control between the master and slave ends is enabled, and the movements applied to the master hand control device 100 can be mapped to the robot, which then controls the puncture needle to perform the same movements as the rod-shaped structure 111.

[0136] In some embodiments, the rod-shaped structure 111 further includes a circuit board (not shown in the figure) and a signal transmitting mechanism (not shown in the figure). The circuit board is connected to the signal transmitting mechanism, and the lower end of the enable button is electrically connected to the circuit board. When the enable button is pressed, the circuit board processes the trigger signal of the enable button and transmits it to the signal transmission component through the signal transmitting mechanism (for example, an antenna), thereby realizing the master-slave motion enable control. In some embodiments, the enable button is a silicone button.

[0137] In some embodiments, the multiple operation areas 11111 include a first control area 11112 and at least one second control area 11114, and the first control area 11112 and the second control area 11114 are arranged back to back. Arranged back to back means that the first control area 11112 and the second control area 11114 are symmetrically located at two distant positions on the operating portion 1111. The control area refers to the area of ​​the rod-shaped structure 111 for the operator's fingers to operate. As an example only, in combination with Figures 2 and 3, the first control area 11112 and the second control area 11114 can be symmetrically arranged on both sides of the peripheral wall of the interactive handle 1110 relative to the axis of the rod-shaped structure 111, and the operator can place different fingers on the first control area 11112 and the second control area 11114 to hold and operate the rod-shaped structure 111.

[0138] In some cases, since the first operating area 11112 and the second operating area 11114 are arranged back to back, the operator can hold the operating portion 1111 more firmly, and it is convenient for the operator to apply force to the rod-shaped structure 111.

[0139] In some embodiments, the at least one enabling button includes a first enabling button 11113 disposed in the first control area 11112. In some embodiments, there is one first enabling button 11113. As an example only, in conjunction with FIG2 and FIG3 , the first control area 11112 may include one first enabling button 11113. The operator's thumb may be placed on the first enabling button 11113, and at least one of the operator's index finger, middle finger, and ring finger may be placed in the second control area 11114. When the operator presses the first enabling button 11113, the master-slave end motion enablement may be enabled. In some embodiments, there are multiple first enabling buttons 11113. As an example only, the first control area 11112 may include two first enable buttons 11113, which are distributed along the axial direction of the rod-shaped structure 111. The operator's thumb can be placed on any one of the two first enable buttons 11113. When the operator presses any one of the first enable buttons 11113, the master-slave end motion enable can be turned on.

[0140] In some cases, since there are multiple first enable buttons 11113, the operator can choose a more appropriate holding posture to hold the device, which can effectively improve the operator's operating experience.

[0141] In some embodiments, there may be one first control area 11112. For example, in the embodiment shown in FIG3 , there is one first control area 11112, and a first enable button 11113 is provided within the first control area 11112. In some embodiments, there may be multiple first control areas 11112. For example, there may be two first control areas 11112, and the specific positions of the two first control areas 11112 can be arranged according to actual needs.

[0142] In some embodiments, the at least one enable button includes at least one second enable button 11115 disposed in the second control area 11114. By way of example only, as shown in conjunction with Figures 2-3 , the first control area 11112 may include a first enable button 11113, and the second control area 11114 may include a second enable button 11115. The operator's thumb may be placed on the first enable button 11113, and any one of the operator's index finger, middle finger, or ring finger may be placed on the second enable button 11115. When the operator simultaneously presses the first enable button 11113 and the second enable button 11115, master-slave motion enablement is enabled, effectively preventing erroneous operations caused by the operator accidentally pressing the enable button. Conversely, when the operator does not simultaneously press the first enable button 11113 and the second enable button 11115, master-slave motion enablement is disabled. In another example, the second control area 11114 may include two second enable buttons 11115. The operator's thumb may be placed on the first enable button 11113, and any two of the index finger, middle finger, and ring finger may be placed on the two second enable buttons 11115, respectively. When the operator simultaneously presses the first enable button 11113 and the two second enable buttons 11115, the master-slave end motion enable is enabled, thereby effectively preventing erroneous operations caused by the operator accidentally pressing the enable buttons. Conversely, when the operator does not simultaneously press the first enable button 11113 and the two second enable buttons 11115, the master-slave end motion enable is disabled.

[0143] In some embodiments, the first control area 11112 and / or the second control area 11114 may include a finger placement area 11117. The finger placement area 11117 can help the operator better grip the rod-like structure 111, improve operational efficiency, and more easily apply force to the rod-like structure 111. In some embodiments, the finger placement area 11117 can protrude from the surface of the rod-like structure 111. In some embodiments, the finger placement area 11117 can be recessed relative to the surface of the rod-like structure 111. In some embodiments, the finger placement area 11117 can be made of a non-slip material, such as rubber or silicone, to facilitate gripping. By way of example only, as shown in FIG2 , the second control area 11114 can include a second enable button 11115 and two finger placement areas 11117. The operator's index finger can be placed on the second enable button 11115, and any two of the middle finger, ring finger, and pinky finger can be placed on the finger placement areas 11117.

[0144] In some embodiments, the at least one enabling button further includes a third enabling button 11116 disposed at the top of the operating portion 1111. As an example only, in conjunction with Figures 2 and 3 , the first control area 11112 may include a first enabling button 11113, and the second control area 11114 may include a second enabling button 11115 and two finger placement areas 11117. The operator's thumb may be placed on the first enabling button 11113, the index finger may be placed on the third enabling button 11116, the middle finger may be placed on the second enabling button 11115, and the ring finger and pinky finger may be placed on the finger placement area 11117. When the operator simultaneously presses any two of the first enabling button 11113, the second enabling button 11115, and the third enabling button 11116, the master-slave end motion enable may be turned on.

[0145] In some cases, since the first enable button 11113, the second enable button 11115 and the third enable button 11116 are simultaneously provided on the rod-shaped structure 111, the operator only needs to press any two of them to enable the master-slave end motion. This can provide the operator with more optional operating postures, allowing the operator to perform puncture surgery in a more comfortable holding posture, and making the operator's posture when holding the rod-shaped structure 111 more flexible and more applicable.

[0146] It should be noted that the configuration of the operation area 11111 and enable buttons shown in Figures 2 and 3 is for illustrative purposes only and is not intended to limit the number and location of the operation areas 11111 and enable buttons. In actual application scenarios, the number and location of the operation areas 11111 and enable buttons can be adjusted based on the operator's gripping habits and gripping posture.

[0147] In some embodiments, as shown in Figures 3 and 6, the sliding portion 1112 is provided with a first limiting structure 1113 and a second limiting structure 1114 at the ends close to the operating portion 1111 and away from the operating portion 1111. The first limiting structure 1113 and the second limiting structure 1114 are configured to limit the range of travel of the rod-shaped structure 111 along its own axial movement.

[0148] In some cases, the first limiting structure 1113 and the second limiting structure 1114 can limit the extreme positions of the rod-like structure 111 along its own axial movement, prevent the rod-like structure 111 from overtravel, ensure the accuracy of the movement trajectory of the puncture needle, and ensure that the puncture needle does not overtravel, thereby avoiding accidents. In some embodiments, the distance between the first limiting structure 1113 and the second limiting structure 1114 is the maximum movement stroke of the rod-like structure 111 along its own axial direction. As an example only, when the main hand control device 100 is assembled, the first limiting structure 1113 and the second limiting structure 1114 are respectively located above and below the posture adjustment actuator 120. During the movement of the rod-like structure 111 along its own axial direction, the first limiting structure 1113 and the second limiting structure 1114 can respectively abut against the posture adjustment actuator 120 to limit the rod-like structure 111 from continuing to move.

[0149] In some embodiments, the first limiting structure 1113 and the second limiting structure 1114 can be limiting blocks. For example, in combination with FIG1B and FIG3 , the first limiting structure 1113 (e.g., the first limiting block) is located above the posture adjustment actuator 120 (e.g., the passive degree of freedom connection component 126 of the posture adjustment actuator 120), and the second limiting structure 1114 (e.g., the second limiting block) is located below the posture adjustment actuator 120. During the needle insertion operation of the rod-like structure 111 (i.e., the first limiting structure 1113 moves toward the direction close to the passive degree of freedom connection component 126), when the rod-like structure 111 drives the first limiting structure 1113 to abut against the passive degree of freedom connection component 126, it indicates that the rod-like structure 111 has moved to the needle insertion limit position, and at this time, the rod-like structure 111 cannot continue to insert the needle. During the needle withdrawal operation of the rod-like structure 111 (i.e., the first limiting structure 1113 moves in the direction away from the passive freedom connection component 126), when the rod-like structure 111 withdraws the needle and drives the second limiting structure 1114 to abut against the passive freedom connection component 126, it indicates that the rod-like structure 111 has moved to the needle withdrawal limit position, and at this time the rod-like structure 111 cannot continue to advance the needle.

[0150] In some embodiments, the first position-limiting structure 1113 may include a first photoelectric sensor, and the second position-limiting structure 1114 may include a second photoelectric sensor. A first photoelectric sensor is disposed on the inner sidewall of the first rotating ring 1212, and a second photoelectric sensor is disposed on the inner sidewall of the second rotating ring 1222. The photoelectric sensors can detect the first photoelectric sensor and generate a first sensor signal, and detect the second photoelectric sensor and generate a second sensor signal, with the first sensor signal and the second sensor signal being different. During axial movement of the rod-like structure 111, when the first photoelectric sensor generates a first sensor signal, it indicates that the first photoelectric sensor has reached the passive degree of freedom connection assembly 126, meaning that the rod-like structure 111 has reached its needle insertion limit. When the second photoelectric sensor generates a second sensor signal, it indicates that the second photoelectric sensor has reached the passive degree of freedom connection assembly 126, meaning that the rod-like structure 111 has reached its needle withdrawal limit. In some embodiments, the first and second photoelectric sensors are electrically connected to a signal transmission assembly. The sensor signals generated by the first and second photoelectric sensors can be fed back to the signal transmission assembly. When the rod-like structure 111 reaches any extreme position, the signal transmission component can issue a warning to the operator. For example, the signal transmission component can issue a voice warning through a microphone located on the master-hand control device 100. Another example is that the signal transmission component can control a warning light located on the master-hand control device 100 to turn on to warn the operator. In some embodiments, the signal transmission component can control the force feedback component 130 to adjust the resistance applied to the rod-like structure 111 to its maximum value, thereby preventing the rod-like structure 111 from further movement.

[0151] In some practical application scenarios, remotely controlling an image-guided puncture robot to perform a puncture operation cannot provide feedback on the amount of resistance encountered by the puncture needle during the puncture process, and thus cannot effectively simulate the actual puncture process. The operator's lack of force perception will increase surgical risks and uncertainties, while increasing operation time, reducing surgical efficiency, and affecting the success rate of the puncture operation.

[0152] In some cases, by setting up a force feedback component 130, axial movement resistance can be applied to the rod-shaped structure 111, so that the operator can feel the movement resistance when holding the rod-shaped structure 111 for linear movement, thereby simulating the actual puncture process and improving the success rate of the puncture operation.

[0153] It should be noted that the structures of the force transmission component 132 and the resistance transmission member 113 shown in Figures 5 and 6 are for illustrative purposes only and are not intended to limit the specific structures of the force transmission component 132 and the resistance transmission member 113. In some embodiments, the specific structures of the force transmission component 132 and the resistance transmission member 113 may be related to the type of motion resistance. In some embodiments, the motion resistance may be friction resistance, transmission force, or the like. As an example only, the motion resistance may be friction resistance. For example, the force output component 131 may include a linear motion motor, the force transmission component 132 may include a friction transmission plate including a friction force transmission surface, and the resistance transmission member 113 may include a friction receiving plate including a friction force receiving surface. The friction receiving plate is disposed on the rod-shaped structure 111 and is connected to the output shaft of the linear motion motor. The friction force transmission surface of the friction transmission plate abuts the friction force receiving surface of the friction receiving plate. The forward and reverse rotation of the linear motion motor can control the pressure between the friction transmission plate and the friction receiving plate, thereby increasing or decreasing the frictional resistance between the friction transmission plate and the friction receiving plate. For another example, when the force transmission component 132 is a friction transmission plate, the resistance transmission element 113 may not be provided, that is, the friction resistance is directly received by the surface of the rod-shaped structure 111. In another example, the motion resistance may be a transmission force. For example, the force output component 131 may be the force feedback motor 1311 described in the aforementioned embodiment, the force transmission component 132 may include the coupling 1321 and gear 1322 described in the aforementioned embodiment, and the resistance transmission element 113 may be the rack 1131 described in the aforementioned embodiment. For another example, when the force output component 131 is the force feedback motor 1311, the force transmission component 132 may include a turbine and a coupling 1321, the turbine connected to the coupling 1321, and the resistance transmission element 113 may be a worm gear adapted to the turbine gear, the worm gear being disposed on the rod-shaped structure 111. For another example, the force transmission component 132 may include a transmission wheel and a coupling 1321, and the resistance transmission element 113 may include a transmission belt adapted to the transmission wheel, the transmission belt being disposed on the rod-shaped structure 111.

[0154] In some practical applications, the posture adjustment of the puncture needle and the insertion and withdrawal of the puncture needle cannot be performed simultaneously to avoid damage to human tissue. Specifically, when the operator adjusts the posture of the rod-like structure 111 using the posture adjustment actuator 120, the rod-like structure 111 cannot be controlled to move along its own axis. Furthermore, when the operator controls the rod-like structure 111 to move along its own axis, the posture adjustment actuator 120 cannot be used to adjust the posture of the rod-like structure 111.

[0155] In some embodiments, the master-hand control device 100 further includes a linear guide assembly 140 . The linear guide assembly 140 is configured to constrain the rod-shaped structure 111 to consistently move linearly along its axis, simulating the needle gripping and puncture process performed by an operator during a puncture procedure. For a description of the linear guide assembly 140 , see FIG. 2 and its embodiment.

[0156] In some embodiments, as shown in FIG2 , the linear guide assembly 140 includes a linear guide rail 141 and a slider 142 that can slide along the linear guide rail 141. The linear guide rail 141 is provided on the rod-like structure 111, and the arrangement direction of the linear guide rail 141 is parallel to the extension direction of the rod-like structure 111. As an example only, the slider 142 can be connected to the passive degree of freedom connection assembly 126 (e.g., the passive degree of freedom mount 1261), and the linear guide rail 141 can be connected to the rack 1131 on the rod-like structure 111, so that the rod-like structure 111 can move relative to the slider.

[0157] In some embodiments, the linear guide rail 141 and the rack 1131 can be fixedly connected. Exemplary fixed connection methods may include welding, riveting, bonding, etc. In some embodiments, the linear guide rail 141 and the rack 1131 can be detachably connected. Exemplary detachable connection methods may include magnetic connection, snap connection, screw connection, etc. Similarly, in some embodiments, the slider 142 and the passive degree of freedom mounting seat 1261 can be fixedly connected. In other embodiments, the slider 142 and the passive degree of freedom mounting seat 1261 can be detachably connected.

[0158] In some embodiments, in addition to the slider 142 and the linear guide rail 141 , the linear guide assembly 140 may also include a magnetic attraction assembly, a worm gear assembly, etc., which will not be repeated here.

[0159] In some cases, the master hand control device 100 of this specification improves the puncture and posture adjustment scheme, using a rod-shaped structure 111 and a linear guide component 140 to simulate clinical puncture actions, which is not only more in line with the clinical puncture process, but also more in line with the human-computer interaction requirements under master-slave remote operation.

[0160] The beneficial effects of the master hand control device for a robot provided in this specification may include but are not limited to: (1) the master hand control device can simulate the linear motion generated by the operator holding the needle and puncturing during the puncture operation, so that the operator can feel the feeling of clinical puncture as much as possible, thereby improving the success rate of the puncture operation; (2) the master hand control device is based on the puncture needle execution component, which can truly simulate the puncture process of the puncture device and can control the puncture device to rotate while inserting the needle, which is beneficial to improving the success rate of the puncture operation; the master hand control device is based on the posture adjustment execution component, and the rod-like structure can swing relative to the posture adjustment execution component so that the rod-like structure can adapt to the operator's holding posture, thereby improving the comfort of human-machine interaction; (3) the puncture needle execution component of the master-slave control device can obtain the puncture execution signal (such as the rotation angle of the rod-like structure relative to the posture adjustment execution component and the position of the rod-like structure on its own axis) by setting an angle detection component and a first position detection component, so that the puncture needle drive component can perform the corresponding puncture operation based on the puncture execution signal, thereby realizing master-slave puncture motion control; (4) the posture adjustment execution component of the master hand control device adopts and The posture adjustment actuator is of linked configuration, and the posture adjustment actuator is provided with an adaptive posture adjustment damper, which can change the damping size accordingly according to the position of the rod-like structure in its own axial direction, ensuring constant damping during the posture adjustment process; and the posture adjustment actuator is also provided with a zero return component and a zero return angle sensor, which can detect the speed of the zero return motor output shaft in real time, and can ensure the accuracy of zero return to a certain extent; (5) The main hand control device combines expert trials and clinical feedback needs, improves the puncture and posture adjustment scheme, and uses an operating needle handle and a linear guide component to simulate clinical puncture actions, not only It is more in line with the clinical puncture process and more in line with the master-end human-computer interaction requirements under master-slave remote operation; (6) After setting the force feedback component, when the operator holds the rod-shaped structure and moves along the axial direction of the rod-shaped structure, the force feedback component can apply motion resistance to the rod-shaped structure, so that the operator can feel the motion resistance of the puncture needle during actual puncture, thereby simulating the actual puncture process and improving the success rate of the puncture operation; (7) Since there are multiple enabling buttons, the operator can choose a more appropriate holding posture to hold, which can effectively improve the operator's operating experience.

[0161] Some embodiments of the present specification provide a puncture device 200. In some embodiments, as shown in conjunction with Figures 21A-23, puncture device 200 includes a puncture needle drive assembly 210 and a posture control assembly 220. Puncture needle drive assembly 210 includes an advance / retract drive mechanism 213, which is connected to a puncture needle 211. In some embodiments, posture control assembly 220 is provided with an advance / retract drive mechanism 213, which is configured to drive puncture needle 211 in axial motion relative to posture control assembly 220.

[0162] The puncture needle drive assembly 210 is the primary structure of the puncture device 200, used to drive the puncture needle 211 to perform needle insertion or withdrawal. In some embodiments, the puncture needle drive assembly 210 can control the movement of the puncture needle actuator assembly 110 (e.g., the axial movement and rotation of the rod-like structure 111) to perform the corresponding movement, thereby performing the needle insertion or withdrawal operation.

[0163] The posture control assembly 220 is the main structure of the puncture device 200 for controlling the posture of the puncture needle 211. In some embodiments, the posture control assembly 220 can control the posture drive assembly 223 to rotate accordingly based on the rotation angle information of the rod-like structure 111 relative to the posture actuator assembly 120 (such as the rotation angle of the first connecting rod 1211 relative to the base 123, the rotation angle of the second connecting rod 1221 relative to the base 123, etc.), so as to achieve the purpose of controlling the posture of the puncture needle 211, so that the puncture needle 211 can be aligned with the target puncture target and ensure the accuracy of the puncture operation.

[0164] In some embodiments, the puncture device 200 further includes a second signal transmission component (not shown), which communicates / is connected to the puncture needle drive component 210 and the posture control component 220. The second signal transmission component is capable of receiving various feedback signals (such as rotation angle information, puncture force feedback information, etc.) from the puncture needle drive component 210 and the posture control component 220, and outputting corresponding control signals based on the received signals to meet the needs of different usage scenarios (such as posture adjustment scenarios, puncture scenarios, etc.).

[0165] In some embodiments, the second signal transmission component can communicate / connect with the robot's processor to establish signal transmission between the puncture device 200 and the robot, enabling information exchange between the puncture device 200 and the robot. In some embodiments, the second signal transmission component can include, but is not limited to, Ethernet, serial port, wireless, CAN bus, EtherCAT bus, etc. For example, the second signal transmission component can enable information exchange via Ethernet. It should be noted that the second signal transmission component and the first signal transmission component can also be integrated into a single signal transmission component, so that communication / connection between the master hand control device 100, the puncture device 200, and the robot's processor can be achieved based on a single signal transmission component.

[0166] In some embodiments, the puncture needle drive assembly 210 includes a rotary drive mechanism 212, which is connected to the puncture needle 211 and is in driving connection with the advance and retreat drive mechanism 213. The rotary drive mechanism 212 is provided on the posture control assembly 220 and is configured to drive the puncture needle 211 to rotate about the axial direction of the puncture needle 211 relative to the posture control assembly 220.

[0167] The rotation drive mechanism 212 is a main structure for driving the puncture needle 211 to rotate around its own axis.

[0168] In some embodiments, as shown in conjunction with Figures 21A-23, the rotational drive mechanism 212 includes a rotational drive motor 2121, a fourth angle sensor 2122, and a fourth brake 2123. The rotational drive motor 2121 is configured to drive the puncture needle 211 to rotate about its own axis. The fourth angle sensor 2122 is configured to detect the rotation angle of the output shaft of the rotational drive motor 2121 to achieve rotational angle detection and closed-loop control of the puncture needle 211. The fourth brake 2123 is disposed between the puncture needle 211 and the rotational drive motor 2121. The fourth brake 2123 is configured to limit the rotation of the puncture needle 211 about its own axis, thereby ensuring that the rotation angle of the puncture needle 211 is always consistent with the rotation angle of the rod-like structure 111 about its own axis.

[0169] In some embodiments, the rotation drive mechanism 212 is fixedly connected to the puncture needle 211, a fourth angle sensor 2122 is disposed at one end of the rotation drive motor 2121, and a fourth brake 2123 is disposed at the other end of the rotation drive motor 2121. In some embodiments, the fourth angle sensor 2122 can detect the rotation angle of the output shaft of the rotation drive motor 2121 in real time and transmit the detected angle to the robot processor based on the second signal transmission component. The processor can control the rotation drive motor 2121 based on the rotation angle of the interactive handle 1110 around the axial direction of the rod-like structure 111 and the rotation angle of the output shaft of the rotation drive motor 2121, so that the rotation angle of the output shaft of the rotation drive motor 2121 (i.e., the rotation angle of the puncture needle 211 around its own axis) and the rotation angle of the interactive handle 1110 around the axial direction of the rod-like structure 111 are always consistent, thereby enabling the master hand control device 100 (master end) to control the rotation of the puncture needle 211 disposed on the puncture device 200 (slave end). As an example only, when the operator controls the interactive handle 1110 to rotate axially around the rod-like structure 111, the angle detection component 114 obtains the rotation angle of the interactive handle 1110 around the axial rotation of the rod-like structure 111 and transmits it to the robot's processor through the first signal transmission component. The processor controls the rotation drive motor 2121 to start working to drive the puncture needle 211 to rotate around its own axis. Based on the real-time feedback of the fourth angle sensor 2122, the rotation angle of the output shaft of the rotation drive motor 2121 (i.e., the rotation angle of the puncture needle 211 around its own axis) is consistent with the rotation angle of the interactive handle 1110 around the axial rotation of the rod-like structure 111. When the interactive handle 1110 stops rotating, the processor controls the rotation drive motor 2121 to stop working and controls the fourth brake 2123 to open, thereby limiting the rotation of the puncture needle 211 around its own axis, thereby further ensuring the consistency of the rotation angle.

[0170] In some embodiments of the present specification, the rotation drive mechanism 212 can realize the rotation control of the puncture needle 211 provided on the puncture device 200 (slave end) by the master hand control device 100 (master end) by adopting the rotation drive motor 2121, the fourth angle sensor 2122 and the fourth brake 2123, and by providing the fourth angle sensor 2122 and the fourth brake 2123, the consistency of the rotation angle can be effectively guaranteed and the control accuracy can be improved.

[0171] The advance / retract drive mechanism 213 is the primary structure for driving the puncture needle 211 for insertion or retraction. In some embodiments, as shown in Figures 21A-23 , the advance / retract drive mechanism 213 includes an advance / retract drive motor 2131, a fifth angle sensor 2132, and a fifth brake 2133. The advance / retract drive motor 2131 is configured to drive the puncture needle 211 in axial motion. The fifth angle sensor 2132 is configured to detect the rotational angle of the output shaft of the advance / retract drive motor 2131, thereby enabling closed-loop control and detection of the rotational angle of the output shaft of the advance / retract drive motor 2131. The fifth brake 2133 is positioned between the puncture needle 211 and the advance / retract drive motor 2131 and is configured to limit axial movement of the puncture needle 211, ensuring that the rotational angle of the output shaft of the advance / retract drive motor 2131 is always consistent with the rotational angle of the output shaft of the force feedback motor 1311.

[0172] In some embodiments, the forward / backward drive mechanism 213 is in transmission connection with the puncture needle 211, a fifth angle sensor 2132 is provided at one end of the forward / backward drive motor 2131, and a fifth brake 2133 is provided at the other end of the forward / backward drive motor 2131. In some embodiments, the fifth angle sensor 2132 can detect the rotation angle of the output shaft of the forward / backward drive motor 2131 in real time and transmit the information to the robot's processor via a second signal transmission component. The processor can control the operation of the forward / backward drive motor 2131 based on the rotation angle of the output shaft of the force feedback motor 1311 and the rotation angle of the output shaft of the forward / backward drive motor 2131, so that the rotation angle of the output shaft of the force feedback motor 1311 and the rotation angle of the output shaft of the forward / backward drive motor 2131 are always consistent, thereby achieving speed control of the forward / backward drive motor 2131 and, in turn, controlling the puncture speed of the puncture needle 211. As an example only, when the operator controls the rod-like structure 111 to move along its own axis, the first angle sensor 1323 obtains the rotation angle of the output shaft of the force feedback motor 1311 and transmits it to the robot's processor via the first signal transmission component. The processor then controls the forward and backward drive motor 2131 to start operating, thereby driving the puncture needle 211 to move along its own axis. Based on the real-time feedback from the fifth angle sensor 2132, the rotation angle of the output shaft of the forward and backward drive motor 2131 is made consistent with the rotation angle of the output shaft of the force feedback motor 1311. When the rod-like structure 111 stops moving along its own axis, the processor can control the forward and backward drive motor 2131 to stop operating and simultaneously control the fifth brake 2133 to activate, thereby limiting the movement of the puncture needle 211 along its own axis, thereby further ensuring the consistency of the rotation angle.

[0173] In some embodiments of the present specification, the advance and retreat drive mechanism 213 can realize the control of the puncture speed of the puncture needle 211 provided on the puncture device 200 (slave end) by the master hand control device 100 (master end) by adopting the advance and retreat drive motor 2131, the fifth angle sensor 2132 and the fifth brake 2133, and by setting the fifth angle sensor 2132 and the fifth brake 2133, it can effectively ensure that the rotation angle of the output shaft of the advance and retreat drive motor 2131 is always consistent with the rotation angle of the output shaft of the force feedback motor 1311, thereby improving the control accuracy.

[0174] In some embodiments, as shown in Figures 21A-22, the advance / retract drive mechanism 213 further includes a linear motion assembly. The linear motion assembly includes a linear guide 2134, a slider 2135, and a mounting seat 2136. The linear guide 2134 is arranged parallel to the puncture needle 211. The slider 2135 is in driving connection with the advance / retract drive motor 2131, and the slider 2135 is slidably connected to the linear guide 2134. The mounting seat 2136 is fixedly connected to the slider 2135, and the puncture needle 211 is mounted on the mounting seat 2136. The mounting seat 2136 is fixedly connected to the rotation drive mechanism 212. The advance / retract drive mechanism 213 drives the mounting seat 2136 to move along the linear guide 2134, thereby causing the puncture needle 211 to move along its own axial direction.

[0175] In some embodiments, the forward and backward drive mechanism 213 may further include a transmission mechanism 2137, through which the slider 2135 is connected to the forward and backward drive motor 2131. The transmission mechanism 2137 refers to a component that can achieve power transmission. In some embodiments, the transmission mechanism 2137 may include a ball nut 21371 and a ball screw 21372, wherein the ball nut 21371 is fixedly connected to the mounting seat 2136, and the ball screw 21372 is connected to the forward and backward drive motor 2131. In some embodiments, the forward and backward drive mechanism 213 further includes a second coupling 2138, through which the ball screw 21372 is fixedly connected to the output shaft of the forward and backward drive motor 2131. The forward and backward drive motor 2131 rotates the ball screw 21372, which in turn is converted into linear motion by the ball nut 21371. This drives the mounting base 2136 along the linear guide 2134, thereby causing the puncture needle 211 to move axially. It should be noted that the transmission mechanism 2137, in addition to the ball nut 21371 and ball screw 21372, may also include a rack and pinion structure, a worm gear structure, or the like.

[0176] In some embodiments of the present specification, by providing a linear moving component, the stability of the puncture needle 211 during the puncture operation can be effectively ensured, thereby improving the puncture accuracy and avoiding accidental damage to the patient.

[0177] In some embodiments, as shown in FIG22 , the forward / backward drive mechanism 213 further includes a second position detection assembly 2139 configured to detect the axial position of the puncture needle 211. The second position detection assembly 2139 includes a second scale 21391 and a second scale reading component 21392. The second scale 21391 is disposed on the linear guide rail 2134 along its axial direction, and the second scale reading component 21392 is disposed on the slider 2135.

[0178] In some embodiments, the second position detection component 2139 can be a laser rangefinder, a displacement encoder, a grating scale, an inductive displacement sensor, or the like. In some embodiments, the second position detection component 2139 is a grating scale. The second scale 21391 is a scale grating, and the second scale reading component 21392 includes a light source, a lens, an indicator grating, and the like. When the light source illuminates the scale grating in parallel, moiré fringes appear within the second scale reading component 21392. When the second scale 21391 and the second scale reading component 21392 move relative to each other, the second scale reading component 21392 can detect the number of moiré fringes, read the grating scale, convert it into an electrical signal, and calculate the position information. In some embodiments, when the slider 2135 moves along the linear guide 2134, the second scale reading component 21392 can read the position information of the second scale 21391, thereby determining the axial position of the puncture needle 211. It will be appreciated that the second scale reading component 21392 can acquire the axial position of the puncture needle 211 in real time and transmit this information to the robot's processor via the second signal transmission component. Based on the axial positions of the rod-like structure 111 and the puncture needle 211, the processor controls the operation of the forward / backward drive motor 2131, ensuring that the distance of the rod-like structure 111's linear motion matches or satisfies a mapping ratio, thereby controlling the puncture depth of the puncture needle 211. By way of example only, when an operator controls the rod-like structure 111 to move along its own axis, the first position detection component 112 acquires the axial position of the rod-like structure 111 and transmits this information to the robot's processor via the first signal transmission component. The processor then controls the operation of the forward / backward drive motor 2131, driving the puncture needle 211 along its own axis. Based on real-time feedback from the second position detection component 2139, the processor ensures that the distance of the rod-like structure 111's linear motion matches or satisfies a mapping ratio. When the rod-shaped structure 111 stops moving, the processor controls the forward and backward driving motor 2131 to stop working.

[0179] In some embodiments of this specification, both the master hand control device 100 and the puncture device 200 use a scale detection system to detect the linear motion distance of the rod-like structure 111 and the linear motion distance of the puncture needle 211, respectively. This ensures that the detection results will not be limited by the transmission stiffness of the device, thereby effectively ensuring detection accuracy and improving control accuracy.

[0180] In some embodiments, as shown in Figures 21A-22 , the forward / backward drive mechanism 213 further includes a mounting base 2140, to which the linear guide rail 2134 and the second scale 21391 are fixedly connected. A slewing bearing 21401 is provided on the mounting base 2140, which is configured to support the ball screw 21372.

[0181] In some embodiments, the mounting base 2140 is fixedly connected to the first passive ring 2231 of the attitude control assembly 220. Exemplary fixed connection methods include threaded connection, welding, etc. For details about the first passive ring 2231, please refer to Figure 23 and its related description below.

[0182] It can be understood that since the mounting base 2140 is provided with a slewing bearing 21401 and the ball screw 21372 is passed through the slewing bearing 21401, the advance and retreat drive motor 2131 can easily drive the ball screw 21372 to rotate, and the use of the slewing bearing 21401 can also ensure the stability of the ball screw 21372 during rotation to a certain extent, so as to ensure the stability of the puncture needle 211 when performing the puncture operation.

[0183] In some embodiments, since the puncture needle 211 will encounter resistance from human tissue (such as skin, etc.) when performing needle insertion or withdrawal operations, in order to enable the master-hand control device 100 (such as the force feedback component 130) to accurately provide the operator with force feedback simulating the puncture needle 211 during puncture in the master-slave remote operation, and then simulate the linear motion generated when the doctor holds the needle during the puncture operation, so as to make the operation process safer and more efficient and improve the puncture accuracy, the puncture needle drive component 210 is also provided with a force sensor.

[0184] In some embodiments, as shown in Figures 21A-22 , the rotation drive mechanism 212 further includes a first force sensor 2124. The first force sensor 2124 is disposed between the puncture needle 211 and the puncture needle drive assembly 210. The first force sensor 2124 is configured to obtain puncture force feedback information during puncture by the puncture needle 211. This puncture force feedback information is used to determine the puncture motion resistance output by the master hand control device for controlling the puncture device.

[0185] In some embodiments, as shown in Figures 21A-22 , a first force sensor 2124 is disposed between the puncture needle 211 and the puncture needle drive assembly 210 (e.g., the fourth brake 2123). Exemplary first force sensors include, but are not limited to, variable force sensors, capacitive force sensors, and electrode bending force sensors. In some embodiments, the first force sensor 2124 can obtain real-time puncture force feedback information during puncture by the puncture needle 211 and transmit this puncture force feedback information to the robot's processor via the second signal transmission assembly. The processor controls the force output unit 131 of the force feedback assembly 130 based on the puncture force feedback information. The force output unit 131 then outputs a puncture resistance equivalent to the resistance experienced by the puncture needle during puncture to the rod-shaped structure 111 via the resistance transmission member 113. In this way, when the operator operates the main hand control device 100 to perform a puncture operation, they can feel the resistance of the puncture needle 211 through the puncture resistance feedback of the force feedback component 130, realistically simulating the situation of holding the needle for puncture, allowing for more precise control of the puncture device 200 and thereby improving puncture accuracy. For more information on puncture force feedback, please refer to Figures 6-7 and the related descriptions.

[0186] In some embodiments, as shown in conjunction with Figures 21A-23, the posture adjustment control assembly 220 includes a posture adjustment base 222 and a posture adjustment drive assembly 223. The posture adjustment drive assembly 223 is disposed on the posture adjustment base 222, and the puncture needle drive assembly 210 is mounted on the posture adjustment base 222 via the posture adjustment drive assembly 223. The posture adjustment drive assembly 223 drives the puncture needle 211 to adjust the posture of the puncture needle 211 relative to the posture adjustment base 222.

[0187] The posture adjustment base 222 is configured to mount the posture adjustment drive assembly 223. During the posture adjustment process, the posture adjustment base 222 remains stationary. In some embodiments, the posture adjustment base 222 is fixedly connected to the posture adjustment drive assembly 223, and the puncture needle 211 can be installed on the posture adjustment base 222 through the guide structure 221 installed on the first passive ring 2231.

[0188] In some embodiments, as shown in conjunction with Figures 21A-24, the posture adjustment drive assembly 223 includes a first passive ring 2231, a second passive ring 2232, a first connecting rod 2233, a second connecting rod 2234, a first posture adjustment drive mechanism 2235, and a second posture adjustment drive mechanism 2236. The first passive ring 2231 and the second passive ring 2232 are coaxial and rotatably connected to the posture adjustment base 222. The puncture needle 211 passes through the first passive ring 2231 and the second passive ring 2232 along the axis of the first passive ring 2231. The first passive ring 2231 is rotatably connected to one end of the first connecting rod 2233, the other end of the first connecting rod 2233 is rotatably connected to the posture adjustment base 222, and the other end of the first connecting rod 2233 is also provided with a first posture adjustment drive mechanism 2235. The second passive ring 2232 is rotatably connected to one end of the second connecting rod 2234 , and the other end of the second connecting rod 2234 is rotatably connected to the posture adjustment base 222 . A second posture adjustment driving mechanism 2236 is further provided at the other end of the second connecting rod 2234 .

[0189] In some embodiments, for the convenience of description, the axis about which the first connecting rod 2233 rotates relative to the first passive ring 2231 can be referred to as the fifth rotation axis (as shown in O5 in Figure 23), and the axis about which the first connecting rod 2233 rotates relative to the posture adjustment base 222 can be referred to as the sixth rotation axis (as shown in O6 in Figure 23). The axis about which the second connecting rod 2234 rotates relative to the second passive ring 2232 can be referred to as the seventh rotation axis (as shown in O7 in Figure 23), and the axis about which the second connecting rod 2234 rotates relative to the posture adjustment base 222 can be referred to as the eighth rotation axis (as shown in O8 in Figure 23). In some embodiments, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 can be in the same plane. In some embodiments, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 can be not in the same plane. As an example only, since the posture adjustment base 222 remains stationary, the sixth rotation axis O6 and the eighth rotation axis O8 remain unchanged, while the fifth rotation axis O5 and the seventh rotation axis O7 change with the movement of the first passive ring 2231 and the second passive ring 2232, respectively. In this case, the fifth rotation axis O5, the sixth rotation axis O6, the seventh rotation axis O7, and the eighth rotation axis O8 may not be in the same plane. For example, the sixth rotation axis O6 and the eighth rotation axis O8 are in the same plane, and the fifth rotation axis O5 and the seventh rotation axis O7 are in the same plane. For another example, the fifth rotation axis O5 and the eighth rotation axis O8 are in the same plane, and the sixth rotation axis O6 and the seventh rotation axis O7 are in the same plane.

[0190] In this embodiment, since the first passive ring 2231 and the second passive ring 2232 are coaxially arranged and the puncture needle 211 passes through the first passive ring 2231 and the second passive ring 2232 along the axial direction of the first passive ring 2231, the puncture needle 211 always maintains a coaxial relationship with the first passive ring 2231 and the second passive ring 2232. That is, the axial direction of the puncture needle 211 coincides with the central axis of the first passive ring 2231 and the central axis of the second passive ring 2232. Therefore, when the first passive ring 2231 and the second passive ring 2232 swing relative to the posture adjustment base 222, they can drive the puncture needle 211 to swing relative to the posture adjustment base 222. Since the first connecting rod 2233 is disposed between the first passive ring 2231 and the posture adjustment base 222, and one end of the first connecting rod 2233 is further provided with a first posture adjustment driving mechanism 2235, when the first posture adjustment driving mechanism 2235 rotates relative to the posture adjustment base 222, it drives the first connecting rod 2233 to rotate about the sixth rotation axis, thereby driving the first connecting rod 2233 to rotate about the fifth rotation axis, thereby driving the first passive ring 2231 to swing relative to the posture adjustment base 222. Similarly, since the second connecting rod 2234 is disposed between the second passive ring 2232 and the posture adjustment base 222, and one end of the second connecting rod 2234 is further provided with a second posture adjustment driving mechanism 2236, when the second posture adjustment driving mechanism 2236 rotates relative to the posture adjustment base 222, it drives the second connecting rod 2234 to rotate about the eighth rotation axis, thereby driving the second connecting rod 2234 to rotate about the eighth rotation axis O8, thereby driving the second passive ring 2232 to swing relative to the posture adjustment base 222.

[0191] It should be noted that since the two ends of the first connecting rod 2233 are respectively rotatably connected to the first passive ring 2231 and the posture adjustment base 222, and the two ends of the second connecting rod 2234 are respectively rotatably connected to the second passive ring 2232 and the posture adjustment base 222, the first connecting rod 2233 and the second connecting rod 2234 are simultaneously rotatably connected to the posture adjustment base 222, which is equivalent to the first connecting rod 2233 and the second connecting rod 2234 being a parallel structure. When the first connecting rod 2233 rotates about the sixth rotation axis O6, it drives the parallel second connecting rod 2234 to rotate about the seventh rotation axis O7. When the second connecting rod 2234 rotates about the eighth rotation axis O8, it drives the parallel first connecting rod 2233 to rotate about the fifth rotation axis O5. That is, the posture adjustment drive assembly 223 of the puncture device 200 and the posture adjustment actuator assembly 120 of the master-hand control device 100 both employ a parallel configuration and are substantially identical. Therefore, the motion of the puncture needle 211 relative to the posture adjustment control assembly 220 can be similarly simplified as shown in FIG16 . The fifth rotation axis O5 (equivalent to the first rotation axis O1), the sixth rotation axis O6 (equivalent to the second rotation axis O2), the seventh rotation axis O7 (equivalent to the third rotation axis O3), and the eighth rotation axis O8 (equivalent to the fourth rotation axis O4) are located in the same plane. The angle between the fifth rotation axis O5 and the eighth rotation axis O8 is 180°, and the angle between the sixth rotation axis O6 and the seventh rotation axis O7 is 180°. The puncture needle 211 can rotate relative to the posture adjustment control assembly 220 within the plane formed by the fifth rotation axis O5 and the eighth rotation axis O8 (e.g., a vertical plane), thus possessing a third degree of freedom (indicated by arrow M3). The puncture needle 211 can rotate relative to the posture control assembly 220 within a plane (eg, a vertical plane) formed by the sixth rotation axis O6 and the seventh rotation axis O7, ie, has a fourth degree of freedom (as indicated by arrow M4).

[0192] It should be noted that because the fifth rotation axis O5 and the seventh rotation axis O7 change with the movement of the first passive ring 2231 and the second passive ring 2232, respectively, the angle between the fifth rotation axis O5 and the eighth rotation axis O8, or the angle between the sixth rotation axis O6 and the seventh rotation axis O7, does not always remain 180°, but may also be 150°, 160°, etc. When the angle between the fifth rotation axis O5 and the eighth rotation axis O8, and the angle between the sixth rotation axis O6 and the seventh rotation axis O7, are both 180°, i.e., the fifth rotation axis O5 and the eighth rotation axis O8 are collinear and form a third rotation axis (equivalent to the first rotation axis), and the sixth rotation axis O6 and the seventh rotation axis O7 are collinear and form a fourth rotation axis (equivalent to the second rotation axis), then the plane formed by the fifth rotation axis O5 and the eighth rotation axis O8 (i.e., the plane in which the third rotation axis lies) may be parallel to or non-parallel to the horizontal plane, and the plane formed by the sixth rotation axis O6 and the seventh rotation axis O7 (i.e., the plane in which the fourth rotation axis lies) may also be parallel to or non-parallel to the horizontal plane. When the angle between the fifth rotation axis O5 and the eighth rotation axis O8, and the angle between the sixth rotation axis O6 and the seventh rotation axis O7, is not 180°, the eighth rotation axis O8 forms the third rotation axis, and the sixth rotation axis O6 forms the fourth rotation axis. In some embodiments, the third rotation axis and the fourth rotation axis are always intersecting and perpendicular. Based on the above, it can be seen that when the parallel first connecting rod 2233 and the second connecting rod 2234 rotate together, the puncture needle 211 will swing.

[0193] In some embodiments, the angle between the fifth rotation axis O5 and the seventh rotation axis O7 is greater than 10 degrees. In some embodiments, the angle between the fifth rotation axis O5 and the seventh rotation axis O7 is greater than 45 degrees. In some embodiments, the angle between the fifth rotation axis O5 and the seventh rotation axis O7 is greater than 60 degrees. In some embodiments, as shown in FIG23 , the angle between the fifth rotation axis O5 and the seventh rotation axis O7 is 90 degrees, so that the posture control assembly 220 has a larger operating space. Similarly, in some embodiments, the angle between the sixth rotation axis O6 and the eighth rotation axis O8 is greater than 10 degrees. In some embodiments, as shown in FIG23 , the angle between the sixth rotation axis O6 and the eighth rotation axis O8 is 90 degrees.

[0194] In some embodiments, the first connecting rod 2233 is adapted to the shape of the first passive ring 2231, and the second connecting rod 2234 is adapted to the shape of the second passive ring 2232. As an example only, as shown in Figure 23, the first passive ring 2231 and the second passive ring 2232 are pie-shaped structures, the first connecting rod 2233 and the second connecting rod 2234 are arc-shaped connecting rods, and the outlines of the first connecting rod 2233 and the first passive ring 2231 are both circular rings, and the curvature of the arc-shaped connecting rod is the same as the curvature of the circular ring, so that during the rotation of the first connecting rod 2233 relative to the first passive ring 2231, it will never collide with the first passive ring 2231, and during the rotation of the second connecting rod 2234 relative to the second passive ring 2232, it will never collide with the second passive ring 2232, and the structure can also be made more compact. It should be noted that the first connecting rod 2233 and the second connecting rod 2234 can also be designed to any other feasible shape (such as a right angle, etc.) as long as they can achieve the corresponding connection function.

[0195] In some embodiments, in conjunction with Figures 23-24, the posture adjustment drive assembly 223 further includes a second posture adjustment connecting shaft (not shown in the figures), a second posture adjustment support seat 2237 and a second posture adjustment end cover 2238. The second posture adjustment support seat 2237 is provided on the posture adjustment base 222, one end of the second posture adjustment connecting shaft is connected to the other end of the second connecting rod 2234, the other end of the second posture adjustment connecting shaft is connected to the second posture adjustment support seat 2237 through a second posture adjustment bearing (not shown in the figures), and the second posture adjustment end cover 2238 fixes the second posture adjustment bearing on the second posture adjustment support seat 2237. The second connecting rod 2234 can rotate relative to the second posture adjustment bearing and the second posture adjustment support seat 2237, thereby realizing rotation relative to the posture adjustment base 222. In some embodiments, the posture adjustment drive assembly 223 also includes a first posture adjustment connecting shaft, a first posture adjustment support seat 2239 and a first posture adjustment end cover. The first posture adjustment connecting shaft, the first posture adjustment support seat 2239 and the first posture adjustment end cover are located in the dotted box H in Figure 21A. The specific settings of the first posture adjustment connecting shaft, the first posture adjustment support seat 2239 and the first posture adjustment end cover are the same or similar to the second posture adjustment connecting shaft, the second posture adjustment support seat 2237 and the second posture adjustment end cover 2238 respectively.

[0196] As mentioned above, in some practical application scenarios, the posture adjustment of the puncture needle and the insertion and withdrawal operations of the puncture needle cannot be performed simultaneously to avoid damage to human tissue. Therefore, in some embodiments, as shown in Figure 23, the first posture adjustment drive mechanism 2235 includes a sixth brake (not shown in the figure), a first reducer (not shown in the figure), a first posture adjustment drive motor (not shown in the figure) and a sixth angle sensor (not shown in the figure). The sixth brake, the first reducer, the first posture adjustment drive motor and the sixth angle sensor are arranged at the other end of the first connecting rod 2233, and the sixth angle sensor is configured to detect the rotation angle of the output shaft of the first posture adjustment drive motor.

[0197] In some embodiments, the second posture adjustment drive mechanism 2236 includes a seventh brake 22361, a second reducer 22362, a second posture adjustment drive motor 22363 and a seventh angle sensor 22364. The seventh brake 22361, the second reducer 22362, the second posture adjustment drive motor 22363 and the seventh angle sensor 22364 are sequentially arranged at the other end of the second connecting rod 2234. The seventh angle sensor 22364 is configured to detect the rotation angle of the output shaft of the second posture adjustment drive motor 22363.

[0198] In some embodiments, when the operator controls the rod-like structure 111 of the master-hand control device 100 to move along its own axis relative to the posture adjustment actuator 120, the posture adjustment control assembly 220 of the puncture device 200 can accordingly adjust the posture of the puncture needle 211. As an example only, when the operator controls the rod-like structure 111 of the master-hand control device 100 to move along its own axis relative to the posture adjustment actuator 120, that is, when the operator controls the rod-like structure 111 to swing relative to the base 1241, the second angle sensor 1213 and the third angle sensor can respectively detect the rotation angle of the first connecting rod 1211 around the second rotation axis O2 and the rotation angle of the second connecting rod 1221 around the fourth rotation axis O4, and transmit the above rotation angles to the robot's processor via the first signal transmission assembly. Based on the above-mentioned rotation angle, the processor can control the first posture adjustment drive motor and the second posture adjustment drive motor 22363 to start working respectively. When the first posture adjustment drive motor rotates and is decelerated by the first reducer, it drives the first connecting rod 2233 to rotate around the fifth rotation axis O5 and / or around the sixth rotation axis O6, which drives the first passive ring 2231 to swing relative to the posture adjustment base 222. When the second posture adjustment drive motor 22363 rotates and is decelerated by the second reducer 22362, it drives the second connecting rod 2234 to rotate around the seventh rotation axis O7 and / or around the eighth rotation axis O8, which drives the second passive ring 2232 to swing relative to the posture adjustment base 222, thereby enabling the puncture needle 211 to swing relative to the posture adjustment base 222 to adjust the posture of the puncture needle 211. In some embodiments, the sixth and seventh angle sensors 22364 can respectively provide real-time feedback on the rotation angles of the output shafts of the first and second posture adjustment drive motors 22363. Based on these rotation angles, the processor can control the first and second connecting rods 2233 and 2234 to rotate along with the first and second connecting rods 1211 and 1221, respectively, and rotate to corresponding angles, thereby enabling the master-hand control device 100 to adjust the posture of the puncture needle 211 disposed on the puncture device 200. In some embodiments, the sixth and seventh angle sensors 22364 can be absolute encoders. It is understood that by providing corresponding angle sensors, the posture adjustment drive mechanism can detect the rotation angle of the connecting rods and implement closed-loop control thereof.

[0199] In some embodiments, the sixth and seventh brakes 22361 function similarly to the fourth and fifth brakes 2123 and 2133. When the operator stops the rod-like structure 111 from swinging, the processor stops the first and second posture adjustment drive motors 22363 and activates the sixth and seventh brakes 22361, respectively, to limit the rotation of the output shafts of the first and second posture adjustment drive motors 22363, thereby further ensuring the consistency of the corresponding rotation angles.

[0200] In some embodiments of this specification, the posture adjustment drive mechanism is provided with a brake and an angle sensor, which helps to ensure that the connecting rod of the puncture device 200 and the connecting rod of the master hand control device 100 rotate to a corresponding angle, thereby improving the puncture accuracy on the basis of achieving master-slave puncture posture adjustment.

[0201] In some embodiments, the puncture device 200 further includes a second force sensor. In some embodiments, the second force sensor is positioned between the puncture needle 211 and the puncture needle drive assembly 210. In this case, the second force sensor and the first force sensor 2124 can be the same sensor. In some embodiments, the second force sensor is positioned between the puncture needle 211 and the posture adjustment control assembly 220. The second force sensor is configured to obtain posture adjustment force feedback information when the puncture needle 211 is adjusted. This posture adjustment force feedback information is used to determine the posture adjustment resistance output by the control master hand control device 100.

[0202] Exemplarily, the second force sensor includes, but is not limited to, a variable force sensor, a capacitive force sensor, and an electrode bending force sensor. In some embodiments, the second force sensor can obtain real-time posture adjustment force feedback information when the puncture needle 211 is adjusted, and transmit the posture adjustment force feedback information to the robot's processor through the second signal transmission component. Based on the posture adjustment force feedback information, the processor controls the first motor and the second motor 1228 of the posture adjustment execution component of the main hand control device to output a posture adjustment resistance equivalent to the resistance encountered by the puncture needle during the posture adjustment process. In this way, when the operator operates the main hand control device 100 to perform a puncture operation, the posture adjustment resistance feedback from the posture adjustment execution component 120 can feel the resistance encountered by the puncture needle 211, realistically simulating the situation of adjusting the needle grip, so as to more accurately control the puncture device 200 and thereby improve the puncture accuracy. For more information on posture adjustment force feedback, please refer to Figure 20 and its related description.

[0203] In some embodiments, as shown in Figures 21A and 23 , the posture control assembly 220 is provided with a guide structure 221, and the puncture needle 211 passes through the guide structure 221. The guide structure 221 is configured to provide guidance for the puncture needle 211 along its own axial direction.

[0204] The guide structure 221 is a structure capable of providing guidance for the puncture needle 211. In some embodiments, the guide structure 221 may include a housing fixedly connected to the first passive ring 2231 and guide balls (not shown) disposed within the housing. An annular guide groove (not shown) is disposed within the housing. A plurality of guide balls are disposed circumferentially within the annular guide groove and contact the puncture needle 211. When the puncture needle 211 moves axially, the guide balls crowd the puncture needle 211 within the annular guide groove, causing axial movement, thereby providing guidance for the puncture needle 211. When the puncture needle 211 rotates axially, the guide balls generate rotational motion within the annular guide groove, thereby providing guidance for the puncture needle 211. It should be noted that the guide structure 221 may also be any other feasible structure that provides guidance for the puncture needle 211 along its axial direction. For example, the guide structure 221 may also be a hole-shaped structure with an elastic inner wall.

[0205] In some embodiments of the present specification, a guide structure 221 is provided to provide guidance for the puncture needle 211 along its own axial direction, so that the puncture needle 211 can perform the needle insertion or withdrawal operation more smoothly, which not only improves the puncture stability, but also helps to improve the puncture efficiency and puncture experience.

[0206] The beneficial effects of the puncture device provided in this specification may include but are not limited to: (1) The puncture device is based on the puncture needle drive component and the posture adjustment execution component, and can stably perform the puncture operation and posture adjustment operation under the control of the master hand control device; (2) The puncture needle can perform the needle insertion or withdrawal operation while rotating, thereby realizing active skin breaking in the master-slave mode, avoiding accidental damage to the patient and improving the puncture efficiency; (3) The rotation drive mechanism of the puncture device adopts a rotation drive motor, a fourth angle sensor and a fourth brake, which can realize the master hand control device to control the rotation of the puncture needle set on the puncture device, and by setting the fourth angle sensor and the fourth brake, it can effectively ensure the consistency of the rotation angle, thereby improving the efficiency of the puncture. High control accuracy; (4) By setting a first force sensor and / or a second force sensor on the puncture device, the force between the puncture needle and the human tissue during the puncture process and / or the adjustment process (puncture force feedback information and / or posture adjustment force feedback information) can be directly detected, thereby facilitating the master hand control device to simulate the actual puncture process / posture adjustment process and improve the success rate of the puncture operation; (5) The posture adjustment control component of the puncture device adopts a parallel configuration and is consistent with the configuration of the posture adjustment execution component of the master hand control device, making motion transmission and motion control simple and easy to implement; (6) The puncture device can detect and feedback the puncture depth of the puncture needle in real time by setting a scale system (second position detection component), which is conducive to improving the master-slave puncture accuracy.

[0207] In some embodiments, the puncture device 200 further includes at least one of an instrument confirmation control and a manual switching control.

[0208] The device confirmation control is configured to control the puncture device to enter the posture adjustment state or puncture state after the puncture needle is clamped. For example, the device confirmation control can be a control button, a control lever, etc. When the puncture needle is clamped by the puncture device, triggering the device confirmation control can proceed to the next puncture operation or posture adjustment operation. For example, when the device confirmation control is triggered, the mode selection control described above can be used to select the mode to confirm that the main hand control device has entered the puncture mode or posture adjustment mode.

[0209] The manual switch control is configured to manually release the puncture needle from the puncture device. That is, when the manual switch control is triggered, the puncture needle can be manually released from the puncture device. For example, the manual switch control can be a manual switch button, a manual switch lever, etc. In certain emergency situations (such as a power outage), the manual switch control can be provided to manually release the puncture needle and remove it, thereby avoiding further damage to the patient.

[0210] It should be noted that because the puncture device 200 is typically used within the aperture of medical imaging equipment and is subject to high doses of radiation, the mechanisms and components of the puncture device 200 (such as the angle sensor, brake, or force sensor) are all equipped with lead shielding to shield against radiation. Furthermore, to prevent artifacts generated by the puncture device 200's structure from obscuring the lesion area, the puncture device 200 is often constructed of materials that produce less artifacts, such as plastic or ceramic. Furthermore, when the puncture device 200 performs a puncture operation, the puncture needle drive assembly 210 is typically deflected axially by a certain angle relative to the posture control assembly 220, causing the puncture needle drive assembly 210 to shift away from the lesion area, thereby preventing artifacts from overlapping with the medical image of the lesion area.

[0211] Some embodiments of this specification also provide a robot comprising the master-hand control device 100 described in any of the above technical solutions and the puncture device 200 described in any of the above technical solutions. The puncture needle drive assembly 210 of the puncture device 200 drives the puncture needle 211 in response to a puncture execution signal from the puncture needle actuator 110 of the master-hand control device 100. The puncture execution signal is a control signal triggered by an operator controlling the movement of the puncture needle actuator 110; these control signals are used to control the puncture movement of the puncture needle.

[0212] In some embodiments, as shown in Figures 1A-20 , the master-hand control device 100 includes a puncture needle actuator 110 and a posture adjustment actuator 120. The puncture needle actuator 110 includes a rod-shaped structure 111. The posture adjustment actuator 120 is configured to obtain the posture of the rod-shaped structure 111. The rod-shaped structure 111 is capable of moving along its own axis.

[0213] The puncture needle actuator 110 is the main structure of the main hand control device 100 used to control the puncture device to perform needle insertion or withdrawal operations. The needle insertion operation refers to the related operation of the puncture needle provided on the puncture device to puncture the patient's body. The needle withdrawal operation refers to the related operation of the puncture needle provided on the puncture device to withdraw from the patient's body. In some embodiments, the main hand control device 100 can communicate / connect with the processor of the robot (not shown in the figure). When the puncture needle actuator 110 moves, the movement of the puncture needle actuator 110 can be fed back to the processor in real time, and then the processor can control the puncture device to drive the puncture needle to perform the puncture operation according to the movement of the puncture needle actuator 110.

[0214] The posture adjustment actuator 120 is the main structure of the main hand control device 100 for adjusting the posture of the puncture needle. Acquiring the posture of the rod-like structure 111 refers to obtaining the axial rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120. As an example only, when the posture of the puncture needle needs to be adjusted, the operator can control the rod-like structure 111 to swing relative to the posture adjustment actuator 120. The posture adjustment actuator 120 can detect the rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120 and feed the rotation angle information back to the robot's processor. The processor can adjust the posture of the puncture needle according to the rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120 to achieve the purpose of adjusting the posture of the puncture needle, so that the puncture needle can be aligned with the target puncture target and ensure the accuracy of the puncture operation.

[0215] The rod-like structure 111 is the structure of the master-hand control device 100 that the operator grasps and controls. In some embodiments, the rod-like structure 111 can be moved axially along the rod-like structure 111 during needle insertion or withdrawal, thereby controlling the linear motion of the puncture needle. It can also be swung relative to the posture adjustment actuator 120 during needle adjustment, thereby controlling the puncture needle's posture. In some embodiments, the rod-like structure 111 is capable of linear motion. This linear motion is fed back to the robot's processor, which controls the puncture needle's insertion based on the distance of the rod-like structure 111's linear motion, ensuring successful insertion of the puncture needle into the target site. After the puncture procedure is completed, the master-hand control device 100 moves in the reverse direction of the insertion operation to withdraw the puncture needle from the patient's body, using essentially the same principles as the insertion operation. In some embodiments, the axial direction of the rod-like structure 111 is represented by the arrow X in Figure 1B. When the rod-like structure 111 moves downward in the direction of arrow X, the puncture needle is inserted. When the rod-like structure 111 moves upward in the direction of arrow X, the puncture needle is withdrawn. In some cases, because the rod-like structure 111 is closer to the actual structure of the puncture needle, when the operator holds the rod-like structure 111 and moves along its axial direction, it can better simulate the linear motion generated when holding the puncture needle during the puncture operation, thereby improving the puncture accuracy and efficiency. For more information about the main hand control device 100 and the puncture needle actuator 110, please refer to Figures 1A to 20 and related descriptions. For more information about the puncture device 200 and the puncture needle drive assembly 210, please refer to Figures 21A to 24 and related descriptions.

[0216] In some embodiments, as shown in Figures 21A to 23, the puncture device 200 includes a puncture needle drive assembly 210 and a posture control assembly 220. The puncture needle drive assembly 210 is the main structure of the puncture device 200 for driving the puncture needle 211 to perform a needle insertion operation or a needle withdrawal operation. In some embodiments, the puncture needle drive assembly 210 can control the puncture needle drive assembly 210 to perform corresponding movements based on the real-time movement of the puncture needle actuator assembly 110 (such as the movement of the rod-like structure 111 along its own axis) to perform a needle insertion operation or a needle withdrawal operation. In some embodiments, the puncture needle drive assembly 210 includes an advance and retreat drive mechanism 213. The advance and retreat drive mechanism 213 is configured to drive the puncture needle 211 to move along the axial direction of the puncture needle 211 relative to the posture control assembly 220.

[0217] The advance / retract drive mechanism 213 is the primary structure for driving the puncture needle 211 for insertion or retraction. In some embodiments, as shown in Figures 21A-23 , the advance / retract drive mechanism 213 includes an advance / retract drive motor 2131, a fifth angle sensor 2132, and a fifth brake 2133. The advance / retract drive motor 2131 is configured to drive the puncture needle 211 in axial motion. The fifth angle sensor 2132 is configured to detect the rotational angle of the output shaft of the advance / retract drive motor 2131, thereby enabling closed-loop control and detection of the rotational angle of the output shaft of the advance / retract drive motor 2131. The fifth brake 2133 is positioned between the puncture needle 211 and the advance / retract drive motor 2131 and is configured to limit axial movement of the puncture needle 211, ensuring that the rotational angle of the output shaft of the advance / retract drive motor 2131 is always consistent with the rotational angle of the output shaft of the force feedback motor 1311.

[0218] In some embodiments, as shown in FIG17 , the forward / backward drive mechanism 213 further includes a second position detection assembly 2139 configured to detect the axial position of the puncture needle 211. The second position detection assembly 2139 includes a second scale 21391 and a second scale reading component 21392. The second scale 21391 is disposed on the linear guide rail 2134 along its axial direction, and the second scale reading component 21392 is disposed on the slider 2135.

[0219] The posture control assembly 220 is the main structure of the puncture device 200 for controlling the posture of the puncture needle 211. In some embodiments, the posture control assembly 220 can control the posture drive assembly 223 to rotate accordingly based on the rotation angle information of the rod-like structure 111 relative to the posture actuator assembly 120 (such as the rotation angle of the first connecting rod 1211 relative to the base 1241, the rotation angle of the second connecting rod 1221 relative to the base 1241, etc.), so as to achieve the purpose of controlling the posture of the puncture needle 211, so that the puncture needle 211 can be aligned with the target puncture target and ensure the accuracy of the puncture operation. For more information about the puncture device 200, please refer to the corresponding description above.

[0220] In some embodiments, the robot further includes a processor (not shown) configured to process data related to the master hand control device 100 and the puncture device 200. By way of example only, the processor can control the puncture needle drive assembly 210 of the puncture device 200 to drive the puncture needle 211 to move in response to a puncture execution signal from the puncture needle actuator 110 of the master hand control device 100. In some embodiments, the processor can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processor can be local or remote. In some embodiments, the processor can be implemented on a cloud platform. By way of example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, or the like, or any combination thereof.

[0221] In some embodiments, the puncture needle actuator 110 includes a first position detection assembly 112 configured to detect the axial position of the rod-like structure 111. The puncture execution signal includes the axial position of the rod-like structure 111. The forward / backward drive motor 2131 is configured to drive the puncture needle 211 along its axial direction a corresponding distance based on the axial position of the rod-like structure 111.

[0222] In some embodiments, the position of the rod-like structure 111 along its own axis, as acquired by the first position detection component 112, can reflect the distance the rod-like structure 111 has moved along its own axis (i.e., the distance the rod-like structure 111 has moved linearly). In some embodiments, the corresponding distance the puncture needle 211 has moved along its own axis can be understood as a corresponding relationship between the distance the puncture needle 211 has moved along its own axis (i.e., the distance the puncture needle 211 has moved linearly) and the distance the rod-like structure 111 has moved along its own axis, including a mapping or proportional mapping relationship. For example, the distance the puncture needle 211 has moved along its own axis and the distance the rod-like structure 111 has moved along its own axis can be mapped 1:1, i.e., the distance the puncture needle 211 has moved along its own axis is consistent with the distance the rod-like structure 111 has moved along its own axis. For another example, there is always a distance difference between the distance the puncture needle 211 has moved along its own axis and the distance the rod-like structure 111 has moved along its own axis, such as a distance difference of 0.5 mm, 1 mm, etc. For another example, there is always a distance ratio between the distance that the puncture needle 211 moves along its own axis and the distance that the rod-shaped structure 111 moves along its own axis, such as a distance ratio of 1:1.2, 1:1.5, 1:2, 2:1, 1.5:1, etc. In some embodiments, the distance that the puncture needle 211 moves along its own axis and the distance that the rod-shaped structure 111 moves along its own axis can be mapped 1:1, so that when the operator operates the rod-shaped structure 111 to output a preset distance, the operator can control the puncture needle 211 to move a preset distance, thereby allowing the operator to experience the feeling of clinical puncture as much as possible, improving the operator's operating experience and increasing the success rate of the puncture operation. For the first position detection component 112, please refer to the relevant description of Figures 4-5. For the advance and retreat drive mechanism 213, please refer to the relevant description of Figures 21A-24.

[0223] In some embodiments, the rod-like structure 111 is capable of rotating about its own axis. In some embodiments, the puncture needle drive assembly 210 may include a rotation drive mechanism 212, which is connected to the puncture needle 211 and is in transmission connection with an advance / retract drive mechanism 213. In some embodiments, the posture control assembly 220 is provided with the rotation drive mechanism 212 and the advance / retract drive mechanism 213.

[0224] The rotational drive mechanism 212 is the primary structure for driving the puncture needle 211 to rotate about its axis. In some embodiments, as shown in Figures 21A-23 , the rotational drive mechanism 212 includes a rotational drive motor 2121, a fourth angle sensor 2122, and a fourth brake 2123. The rotational drive motor 2121 is configured to drive the puncture needle 211 to rotate about its axis. The fourth angle sensor 2122 is configured to detect the rotation angle of the output shaft of the rotational drive motor 2121, thereby enabling rotational angle detection and closed-loop control of the puncture needle 211. The fourth brake 2123 is disposed between the puncture needle 211 and the rotational drive motor 2121 and is configured to limit rotation of the puncture needle 211 about its axis, ensuring that the rotational angle of the puncture needle 211 always coincides with the rotational angle of the rod-like structure 111 about its axis.

[0225] In some embodiments, the puncture needle actuator 110 includes an angle detection assembly 114 configured to detect the rotation angle of the rod-shaped structure 111 about its axis. The puncture execution signal includes the rotation angle. The rotation drive mechanism 212 includes a rotation drive motor 2121 configured to drive the puncture needle 211 to rotate about its axis by a corresponding angle based on the rotation angle.

[0226] The corresponding angle of rotation of the puncture needle 211 about its own axis can be understood as a corresponding relationship between the rotation angle of the puncture needle 211 about its own axis and the rotation angle of the rod-like structure 111 about its own axis, including a mapping or proportional mapping relationship. For example, the rotation angle of the puncture needle 211 about its own axis and the rotation angle of the rod-like structure 111 about its own axis can be mapped 1:1, that is, the rotation angle of the puncture needle 211 about its own axis is consistent with the rotation angle of the rod-like structure 111 about its own axis. For another example, there is always an angular difference between the rotation angle of the puncture needle 211 about its own axis and the rotation angle of the rod-like structure 111 about its own axis, such as an angle difference of 5°, 10°, etc. For another example, there is always an angular ratio between the rotation angle of the puncture needle 211 about its own axis and the rotation angle of the rod-like structure 111 about its own axis, such as an angle ratio of 1:1.5, 1:2, 2:1, etc. In some embodiments, the rotation angle of the puncture needle 211 around its own axis and the rotation angle of the rod-shaped structure 111 around its own axis can be mapped 1:1, so that when the operator operates the rod-shaped structure 111 to rotate around its own axis at a preset angle, he can control the puncture needle 211 to rotate around its own axis at a preset angle, thereby improving the puncture accuracy and the success rate of the puncture operation.

[0227] In some embodiments of the present specification, the puncture needle execution component 110 of the master-hand control device 100 and the puncture needle drive component 210 of the puncture device 200 are both provided with corresponding detection components or instruments (such as angle detection components, position detection components), which are conducive to achieving closed-loop control of the puncture operation in the master-slave mode, so that the master-slave puncture motion control is more precise, thereby improving the puncture accuracy and the success rate of the puncture operation.

[0228] For the angle detection component, please refer to Figures 9-10 and the related descriptions. For the position detection component, please refer to Figures 4-5 and the related descriptions of Figure 22.

[0229] In some embodiments, the puncture device 200 further includes a first force sensor 2124, which is disposed between the puncture needle drive assembly 210 and the puncture needle 211. The first force sensor 2124 is configured to obtain puncture force feedback information during puncture by the puncture needle 211. The master hand control device 100 further includes a force feedback assembly 130, which is configured to apply puncture motion resistance to the rod-like structure 111 along the axial direction of the rod-like structure 111. The puncture motion resistance is determined based on the puncture force feedback information.

[0230] For the first force sensor 2124, please refer to the relevant description of Figures 21A to 24. For the force feedback assembly 130, please refer to the relevant description of Figures 6 to 7.

[0231] In some embodiments, the posture control assembly 220 includes a posture base 222 and a posture drive assembly 223. The posture drive assembly 223 is disposed on the posture base 222, and the puncture needle drive assembly 210 is mounted on the posture base 222 via the posture drive assembly 223. The posture drive assembly 223 adjusts the posture of the puncture needle relative to the posture base 222 in response to a posture signal from the posture actuator 120 of the master hand control device 100.

[0232] For details about the posture adjustment base 222 and the posture adjustment drive assembly 223 , please refer to FIG. 21A to FIG. 24 and related descriptions.

[0233] In some embodiments, the posture adjustment actuator 120 includes a first connecting rod 1211, a first rotating ring 1212, a second connecting rod 1221, a second rotating ring 1222, a second angle sensor 1213, a third angle sensor 1223, and a base 123. The first rotating ring 1212 and the second rotating ring 1222 are coaxial and arranged around the rod-shaped structure 111. One end of the first connecting rod 1211 is rotatably connected to the first rotating ring 1212, and the other end of the first connecting rod 1211 is rotatably connected to the base 123. The second angle sensor 1213 is also provided at the other end of the first connecting rod 1211. One end of the second connecting rod 1221 is rotatably connected to the second rotating ring 1222, and the other end of the second connecting rod 1221 is rotatably connected to the base 123. The third angle sensor 1223 is also provided at the other end of the second connecting rod 1221. The second angle sensor 1213 is configured to detect the rotation angle of the other end of the first connecting rod 1211 relative to the base 123, and the third angle sensor 1223 is configured to detect the rotation angle of the other end of the second connecting rod 1221 relative to the base 123. The posture adjustment signal includes the rotation angle of the other end of the first connecting rod 1211 relative to the base 123 and the rotation angle of the other end of the second connecting rod 1221 relative to the base 123.

[0234] In some embodiments, the posture adjustment drive assembly 223 includes a first passive ring 2231, a second passive ring 2232, a first connecting rod 2233, a second connecting rod 2234, a first posture adjustment drive mechanism 2235, and a second posture adjustment drive mechanism 2236. The first passive ring 2231 and the second passive ring 2232 are coaxial and rotatably connected to the posture adjustment base 222. The puncture needle 211 passes through the first passive ring 2231 and the second passive ring 2232 along the axis of the first passive ring 2231. The first passive ring 2231 is rotatably connected to one end of the first connecting rod 2233, the other end of which is rotatably connected to the posture adjustment base 222, and the other end of the first connecting rod 2233 is further provided with the first posture adjustment drive mechanism 2235. The second passive ring 2232 is rotatably connected to one end of the second connecting rod 2234, the other end of which is rotatably connected to the posture adjustment base 222, and the other end of the second connecting rod 2234 is further provided with the second posture adjustment drive mechanism 2236.

[0235] In some embodiments, the posture adjustment drive assembly 223 adjusts the posture of the puncture needle 211 relative to the posture adjustment base 222 in response to the posture adjustment signal from the posture adjustment actuator 120 of the master-hand control device 100, including: a first posture adjustment drive mechanism 2235 drives the first connecting rod 2233 to rotate relative to the posture adjustment base 222 by a corresponding angle based on the angle at which the other end of the first connecting rod 1211 rotates relative to the base 123; and a second posture adjustment drive mechanism 2236 drives the second connecting rod 2234 to rotate relative to the posture adjustment base 222 by a corresponding angle based on the angle at which the other end of the second connecting rod 1221 rotates relative to the base 123. For more information on how the posture adjustment drive assembly 223 adjusts the puncture posture of the puncture needle 211 based on the posture adjustment signal, please refer to Figures 21A-24 and the related descriptions above.

[0236] In some embodiments, the puncture device 200 further includes a second force sensor disposed between the puncture needle 211 and the posture adjustment drive assembly 223. The second force sensor is configured to obtain posture adjustment force feedback information during posture adjustment of the puncture needle 211. The posture adjustment drive assembly 223 is configured to apply a posture adjustment resistance torque to the rod-like structure 111. The posture adjustment resistance torque is determined based on the posture adjustment force feedback information.

[0237] In some embodiments, the posture adjustment actuator 120 includes a first motor and a second motor 1228. The first motor is configured to apply posture adjustment resistance to the first connecting rod 1211, and the second motor 1228 is configured to apply posture adjustment resistance to the second connecting rod 1221. The posture adjustment resistance applied by the first motor to the first connecting rod and the posture adjustment resistance applied by the second motor to the second connecting rod are both determined based on posture adjustment force feedback information.

[0238] For details about the first motor and the second motor, please refer to FIG. 20 and related descriptions.

[0239] In some embodiments of this specification, the posture adjustment actuator 120 of the master-hand control device 100 and the posture adjustment control assembly 220 of the puncture device 200 adopt a similar structure and configuration (e.g., a parallel configuration) and have the same degrees of freedom, which facilitates master-slave posture adjustment motion control. In addition, both the posture adjustment actuator 120 and the posture adjustment control assembly 220 are equipped with corresponding angle sensors, which facilitates closed-loop control of the posture adjustment operation in master-slave mode, making the master-slave posture adjustment motion control more precise, thereby improving the accuracy of the puncture and the success rate of the puncture procedure.

[0240] In some embodiments, as shown in Figure 25 , the robot further includes a moving device 300. The moving device 300 is connected to the puncture device 200, and the moving device 300 drives the puncture device 200 to move in multiple degrees of freedom.

[0241] The mobile device 300 is a device used to support the puncture device 200 and is capable of adjusting the overall position of the puncture device 200. In some embodiments, the mobile device 300 may be a mobile cart, which includes a cart body 310, a transmission connection assembly 320, and casters 330. The casters 330 are disposed at the corners of the lower end surface of the cart body 310, and the transmission connection assembly 320 is disposed on the upper end surface of the cart body 310. The casters 330 are configured to drive the puncture device 200 to move as a whole, thereby adjusting the overall position of the puncture device 200. The transmission connection assembly 320 is configured to connect to the puncture device 200 and provide the puncture device 200 with movement in multiple degrees of freedom.

[0242] In some embodiments, as shown in Figure 25, the transmission connection assembly 320 may include a telescopic portion 321, a first connection portion 322, and a second connection portion 323. The telescopic portion 321 is arranged vertically (parallel to the direction of arrow X in the figure), and the first connection portion 322 and the second connection portion 323 are both arranged horizontally (perpendicular to the direction of arrow X in the figure). One end of the telescopic portion 321 is fixedly connected to the cart body 310, the other end of the telescopic portion 321 is rotatably connected to one end of the first connection portion 322, the other end of the first connection portion 322 is rotatably connected to one end of the second connection portion 323, and the other end of the second connection portion 323 is fixedly connected to the puncture device 200. In some embodiments, the telescopic portion 321 may include a cylinder, a piston, or the like. Transmission bearings are provided between the first connection portion 322 and the telescopic portion 321, and between the first connection portion 322 and the second connection portion 323. In some embodiments, the transmission connection assembly 320 may also be any other feasible structure, such as a robotic arm.

[0243] In some embodiments, the transmission connection assembly 320 can achieve three degrees of freedom. By way of example only, the telescopic portion 321 can move in the direction of arrow X in the figure, i.e., it has a fifth degree of freedom (as indicated by arrow M5); the first connecting portion 322 and the telescopic portion 321 can rotate with each other, i.e., it has a sixth degree of freedom (as indicated by arrow M6); and the first connecting portion 322 and the second connecting portion 323 can rotate with each other, i.e., it has a seventh degree of freedom (as indicated by arrow M7). It can be understood that the fifth degree of freedom enables vertical movement of the puncture device 200; the sixth and seventh degrees of freedom enable horizontal movement of the puncture device 200.

[0244] It should be noted that the mobile device 300 can be any other feasible structural form, as long as it can achieve the overall position adjustment requirement of the puncture device 200. As an example only, the mobile device 300 can also be a bedside robotic arm or a robotic arm of other configurations.

[0245] In some embodiments, the mobile device 300 may further include a third signal transmission component (not shown), which communicates / connects with the processor based on the third signal transmission component to achieve automated control of the mobile device 300. In some embodiments, when the operator controls the main hand control device 100 to perform a posture adjustment operation, the transmission connection component 320 of the mobile device 300 can generate a follow-up movement to keep the needle tip of the puncture needle 211 at a preset position. In some embodiments, for puncture surgery guided by medical images, when the operator controls the main hand control device 100 to perform a posture adjustment operation, the transmission connection component 320 of the mobile device 300 can generate a follow-up movement to keep the needle tip of the puncture needle 211 at a preset position in the medical image.

[0246] In some embodiments of this specification, a moving device is provided to adjust the overall position of the puncture device, so that the puncture device can be placed in the optimal position, so that the operator can further adjust the puncture needle, thereby improving the puncture accuracy.

[0247] In some embodiments, the robot further includes a processor (not shown) configured to process data related to the master hand control device 100 and the puncture device 200. By way of example only, the processor can control the puncture needle drive assembly 210 of the puncture device 200 to drive the puncture needle 211 to move in response to a puncture execution signal from the puncture needle actuator 110 of the master hand control device 100. In some embodiments, the processor can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processor can be local or remote. In some embodiments, the processor can be implemented on a cloud platform. By way of example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, or the like, or any combination thereof.

[0248] To more clearly illustrate the working principle of the robot, Figure 11 shows a schematic diagram of the working principle of the master-hand control device 100. In conjunction with Figures 1B and 11, the master-hand control device 100 provided in some embodiments of this specification is a four-degree-of-freedom force feedback master operating device with incremental posture mapping. Specifically, the operator's movements in the master-hand control device 100 are mapped to the puncture needle 211 mounted on the puncture device 200, thereby controlling the puncture needle 211. The rod-like structure 111 can move along its own axis relative to the posture adjustment actuator 120 (in the direction of arrow X in Figure 1B), i.e., it has a first degree of freedom (as indicated by arrow M1). The distance D that the rod-like structure 111 moves in the first degree of freedom is puncture needle 211, and the puncture needle drive assembly 210 drives the puncture needle 211 along its own axis. For example, in the embodiment shown in Figure 12, from left to right, the rod-like structure 111 performs puncture relative to the posture adjustment actuator 120 along the first degree of freedom, with the puncture depth being D. In the embodiment shown in FIG26 , the sequence from left to right is that the puncture needle 211 punctures relative to the posture control assembly 220 along the first degree of freedom, with the puncture depth being D. The rod-like structure 111 can rotate about its own axis via a passive degree of freedom mounting seat (passive degree of freedom mounting seat 1261 in FIG5 ), i.e., it has a second degree of freedom (as indicated by arrow M2 in FIG15 ). The rod-like structure 111 can rotate relative to the posture actuator assembly 120 within a plane (e.g., a vertical plane) containing the first rotation axis O1 and the fourth rotation axis O4, i.e., it has a third degree of freedom (as indicated by arrow M3). The rod-like structure 111 can swing relative to the posture actuator assembly 120 within a plane (e.g., a vertical plane) containing the second rotation axis O2 and the third rotation axis O3, i.e., it has a fourth degree of freedom (as indicated by arrow M4). For example, in the embodiment shown in FIG14 , the sequence from left to right is that the rod-like structure 111 swings relative to the posture actuator assembly 120 along the fourth degree of freedom. In the embodiment shown in FIG. 27 , the sequence from left to right is that the puncture needle 211 swings along the fourth degree of freedom relative to the posture control assembly 220 .

[0249] To more clearly illustrate the robot's workflow, a schematic diagram of the robot's workflow is shown in FIG28 . As shown in FIG28 , when the operator controls the master-hand control device 100 to perform a puncture operation or a posture adjustment operation (corresponding to the puncture mode and the posture adjustment mode, respectively), corresponding motion information is generated, such as the movement distance information of the rod-like structure 111 along its own axis relative to the posture adjustment actuator 120 (i.e., the puncture depth) and the rotation angle information of the rod-like structure 111 relative to the posture adjustment actuator 120 (i.e., the posture adjustment angle). The puncture depth and the posture adjustment angle can be obtained based on the first position detection component 112 and the posture adjustment angle sensor (e.g., the second angle sensor 1213 and the third angle sensor 1223), respectively, and transmitted to the processor via the first signal transmission component. The processor controls the puncture device 200 to perform the corresponding operation based on the corresponding motion information. When the master hand control device 100 is in the puncture mode, the transmission connection component 320 of the mobile device 300 remains stationary, and the puncture needle drive component 210 of the puncture device 200 (such as the rotation drive mechanism 212 and the advance and retreat drive mechanism 213) will drive the puncture needle 211 to perform the corresponding puncture operation, and the second position detection component 2139 can detect the axial position of the puncture needle 211 in real time, so that the puncture depth of the puncture needle 211 is consistent with the movement distance of the rod-like structure 111 along its own axial direction. When the main hand control device 100 is in the posture adjustment mode, the transmission connection component 320 of the mobile device 300 will produce follow-up movement, so that the needle tip of the puncture needle 211 remains stationary at the preset position in the medical image, and the posture adjustment control component 220 of the puncture device 200 (such as the first posture adjustment drive mechanism 2235 and the second posture adjustment drive mechanism 2236) will drive the first connecting rod 2233 and the second connecting rod 2234 to rotate accordingly to adjust the posture of the puncture needle 211; moreover, the sixth angle sensor and the seventh angle sensor 22364 can detect the rotation angle of the first connecting rod 2233 and the second connecting rod 2234 in real time, so that the posture adjustment angle of the puncture needle 211 is consistent with the rotation angle of the rod-like structure 111 relative to the posture adjustment execution component 120. In addition, when the puncture device 200 is performing a puncture operation, the first force sensor 2124 arranged on the puncture needle 211 can obtain puncture force feedback information and feed it back to the force feedback component 130 through a signal transmission component (such as a first signal transmission component and a second signal transmission component). The force feedback component 130 then outputs a resistance equivalent to the puncture resistance to the rod-shaped structure 111 through the resistance transmission component 113, so as to realize the master-slave puncture force feedback function.

[0250] The beneficial effects of the robot provided in this specification may include but are not limited to: (1) the puncture needle actuator of the robot's master hand control device and the puncture needle drive component of the puncture device are both provided with corresponding detection components or instruments (such as angle detection components, position detection components), which are conducive to realizing closed-loop control of the puncture operation in the master-slave mode, so that the master-slave puncture motion control is more accurate, thereby improving the puncture accuracy and puncture success rate; (2) the posture adjustment actuator of the robot's master hand control device and the posture adjustment control component of the puncture device adopt similar structures and configurations (such as some structures are parallel configurations) and have the same degree of freedom, which is conducive to realizing master-slave posture adjustment motion control. In addition, the posture adjustment actuator and the posture adjustment control component are both provided with corresponding angle sensors, which are conducive to realizing closed-loop control of the posture adjustment operation in the master-slave mode, so that the master-slave posture adjustment motion control is more accurate, thereby improving the puncture accuracy and the success rate of the puncture operation.

[0251] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A master hand control device (100) for a robot, characterized in that, Comprising: A puncture needle execution component (110), the puncture needle execution component (110) includes a rod-shaped structure (111); An attitude adjustment execution component (120), the attitude adjustment execution component (120) is configured to obtain the attitude of the rod-shaped structure (111); wherein, the rod-shaped structure can move axially relative to the attitude adjustment execution component along its own axis.

2. The master hand control device (100) according to claim 1, characterized in that, The master manipulator device (100) further includes a force feedback component (130), the force feedback component (130) is configured to apply a puncture movement resistance along the axis of the rod-shaped structure (111) to the rod-shaped structure (111).

3. The master hand manipulation device (100) according to claim 2, characterized in that, The puncture needle execution component (110) further includes a resistance transmission member (113) disposed on the rod-shaped structure (111), and the force feedback component (130) applies the puncture movement resistance to the rod-shaped structure (11) through the resistance transmission member (113).

4. The master manipulator device (100) according to claim 3, characterized in that, The force feedback component (130) includes a force output part (131) and a force transmission part (132), the force transmission part (132) is in transmission connection with the resistance transmission member (113), and the force output part (131) outputs the puncture movement resistance based on the puncture force feedback information during the puncture of the puncture needle (211).

5. The master hand control device (100) according to claim 4, characterized in that, The resistance transmission member (113) is fixedly connected to the rod-shaped structure (111); the force feedback component (130) further includes a first brake (1324), the first brake (1324) is fixedly connected to the attitude adjustment execution component (120), and the first brake (1324) is in transmission connection with the force transmission part (132), and the first brake (1324) is configured to limit the relative axial movement of the rod-shaped structure (111) by controlling the force transmission part (132) to be fixed relative to the resistance transmission member (113).

6. The master hand control device (100) according to claim 4, characterized in that, The force output part (131) includes a force feedback motor (1311), the force transmission part (132) includes a gear (1322) connected to the output end of the force feedback motor (1311), the resistance transmission member (113) includes a rack (1131) meshing with the gear, the rack (1131) is disposed on the rod-shaped structure (111) and the setting direction of the rack (1131) is parallel to the axis of the rod-shaped structure (111).

7. The master manipulator device (100) according to claim 4, characterized in that, The force output part (131) includes a force feedback motor (1311), the force transmission part (132) includes a rope pulley (1326) connected to the output end of the force feedback motor (1311), the resistance transmission member (113) includes a mounting seat (1132), a first connecting rope (1133) and a second connecting rope (1134), the mounting seat (1132) is provided with two mounting parts, and the two mounting parts are spaced along a direction parallel to the axis of the rod-shaped structure (111); One end of the first connecting rope (1133) is connected to one of the mounting parts. The first connecting rope (1133) is wound around the rope pulley (1326), and the other end of the first connecting rope (1133) is fixed to the rope pulley (1326); one end of the second connecting rope (1134) is connected to the other mounting part. The second connecting rope (1134) is wound around the rope pulley (1326), and the other end of the second connecting rope (1134) is fixed to the rope pulley (1326); the winding directions of the first connecting rope (1133) and the second connecting rope (1134) around the rope pulley (1326) are opposite.

8. The master hand control device (100) according to claim 6 or 7, characterized in that, The force feedback assembly (130) further includes a first angle sensor (1323), and the first angle sensor (1323) is configured to detect the rotation angle of the output shaft of the force feedback motor (1311).

9. The master manipulator device (100) according to any one of claims 1-8, characterized in that, The puncture needle execution assembly (110) further includes a first position detection assembly (112), and the first position detection assembly (112) is configured to obtain the position of the rod-shaped structure (111) in its own axial direction.

10. The master hand control device (100) according to claim 9, characterized in that, The first position detection assembly (112) includes a first grating ruler (1121) and a first grating ruler reading component (1122). The first grating ruler (1121) is arranged on the rod-shaped structure (111) along the axial direction of the rod-shaped structure (111), and the first grating ruler reading component (1122) is arranged on the posture adjustment execution assembly (120).

11. The master manipulator device (100) according to any one of claims 1-10, characterized in that, The rod-shaped structure (111) can rotate around its own axial direction.

12. According to the master hand control device (100) described in claim 11, the rotation of the rod-shaped structure (111) around its own axial direction is configured to control the puncture needle of the puncture device to rotate correspondingly around the axis of the puncture needle (211).

13. The master hand control device (100) according to any one of claims 1-10, characterized in that, The master hand control device includes a rotation control control, and the rotation control control is used to control the puncture needle of the puncture device to rotate around its own axial direction.

14. The master manipulator device (100) according to claim 12, characterized in that, The puncture needle execution assembly (110) includes an angle detection assembly (114), and the angle detection assembly (114) is configured to obtain the rotation angle of the rod-shaped structure (111) rotating around its own axial direction.

15. The master hand control device (100) according to claim 14, characterized in that, The angle detection assembly (114) includes an encoder (1141) and an encoder reading component (1142); The encoder (1141) is arranged on the rod-shaped structure (111) and rotates synchronously with the rod-shaped structure (111), and the encoder reading component (1142) is arranged on the posture adjustment execution assembly (120).

16. The master manipulator device (100) according to any one of claims 1-15, characterized in that, The rod-shaped structure (111) is arranged on the posture adjustment execution assembly (120). The rod-shaped structure (111) has a puncture degree of freedom and a posture adjustment degree of freedom relative to the posture adjustment execution assembly (120); the puncture degree of freedom is the degree of freedom that allows the rod-shaped structure (111) to change its position along the axial direction of the rod-shaped structure (111), and the posture adjustment degree of freedom is the degree of freedom that allows the axial direction of the rod-shaped structure (111) to change.

17. The master hand control device (100) according to claim 16, characterized in that, The posture adjustment execution component (120) is configured to apply a posture adjustment resistance in the posture adjustment degree of freedom to the rod-shaped structure (111) based on the posture force feedback information when the puncture needle (211) adjusts its posture.

18. The master hand control device (100) according to claim 16 or 17, characterized in that, The posture adjustment execution component (120) includes a first connecting rod (1211), a first rotating ring (1212), a second connecting rod (1221), a second rotating ring (1222), a second angle sensor (1213), a third angle sensor (1223), and a base (123); The first rotating ring (1212) and the second rotating ring (1222) are coaxial and arranged around the rod-shaped structure (111). One end of the first connecting rod (1211) is rotatably connected to the first rotating ring (1212), and the other end is rotatably connected to the base (123). The second angle sensor (1213) is further provided at the other end of the first connecting rod (1211). One end of the second connecting rod (1221) is rotatably connected to the second rotating ring (1222), and the other end is rotatably connected to the base (123). The third angle sensor (1223) is further provided at the other end of the second connecting rod (1221); The second angle sensor (1213) is configured to detect the angle of the other end of the first connecting rod (1211) rotating relative to the base (123), and the third angle sensor (1223) is configured to detect the angle of the other end of the second connecting rod (1221) rotating relative to the base (123).

19. The master hand control device (100) according to claim 18, characterized in that, The posture adjustment execution component (120) includes a first motor and a second motor (1228). The first motor is configured to apply a torque to the first connecting rod (1211), and the second motor (1228) is configured to apply a torque to the second connecting rod (1221).

20. The master hand control device (100) according to claim 19, characterized in that, The first motor is configured to apply a posture adjustment resistance torque to the first connecting rod (1211) based on the posture force feedback information when the puncture needle adjusts its posture; the second motor (1228) is configured to apply a posture adjustment resistance torque to the second connecting rod (1221) based on the posture force feedback information when the puncture needle adjusts its posture.

21. The master manipulator device (100) according to claim 19, characterized in that, The posture adjustment execution component (120) further includes a first damper and a second damper (125); the first damper is configured to provide a motion resistance that hinders the first connecting rod (1211) from rotating relative to the base (123) based on the position of the rod-shaped structure (111) in its own axial direction, and the second damper (125) is configured to provide a motion resistance that hinders the second connecting rod (1221) from rotating relative to the base (123) based on the position of the rod-shaped structure (111) in its own axial direction.

22. The master manipulator device (100) according to claim 21, wherein When the stroke of the rod-shaped structure (111) in the first direction increases, the lever arm of the deflection force applied by the operator on the rod-shaped structure (111) decreases; When the stroke of the rod-shaped structure (111) along the second direction increases, the force arm of the deflection force applied by the operator to the rod-shaped structure (111) increases; the first direction is opposite to the second direction; The movement resistance provided by the first damper and / or the second damper (125) decreases as the stroke of the rod-shaped structure (111) along the first direction increases; The movement resistance provided by the first damper and / or the second damper (125) increases as the stroke of the rod-like structure (111) along the second direction increases.

23. The master hand control device (100) according to claim 21, characterized in that, The posture adjustment execution component (20) further comprises a first reducer and a second reducer (229); The first motor is connected to the first damper via the first reducer, and the second motor (1228) is connected to the second damper (125) via the second reducer (1229); the first motor is configured to output a torque that overcomes the output damping of the first damper, the second motor (1228) is configured to output a torque that overcomes the output damping of the second damper (125), the first reducer is configured to increase the output torque of the first damper, and the second reducer (1229) is configured to increase the output torque of the second damper (125).

24. The master hand control device (100) according to claim 21, characterized in that, The posture adjustment actuator component (120) also includes a second brake and a third brake (1227), wherein the output shaft of the second brake is transmission-connected to the first connecting rod (1211) via the first damper, and the second brake is configured to limit the first connecting rod (1211) from rotating relative to the base (123); the output shaft of the third brake (1227) is transmission-connected to the second connecting rod (1221) via the second damper (125), and the third brake (1227) is configured to limit the second connecting rod (1221) from rotating relative to the base (123).

25. The master hand control device (100) according to claim 18, characterized in that, The posture adjustment execution component (120) further comprises a passive degree of freedom connection component (126), wherein the passive degree of freedom connection component (126) is rotationally connected to the first rotating ring (1212) and the second rotating ring (1222), and the passive degree of freedom connection component (126) is slidingly connected to the rod-like structure (111).

26. The master hand manipulation device (100) according to any one of claims 1-25, characterized in that, The master hand control device includes at least one of a mode selection control, a degree of freedom selection control, and a fast switching control; The mode selection control is used to select the master hand control device (100) to be in a puncture mode or a posture adjustment mode; in the puncture mode, the degree of freedom of the rod-shaped structure (111) relative to the posture adjustment execution component (120) is the puncture degree of freedom, and in the posture adjustment mode, the degree of freedom of the rod-shaped structure (111) relative to the posture adjustment execution component (120) is the posture adjustment degree of freedom; The posture adjustment degree of freedom includes a first degree of freedom and / or a second degree of freedom; The degree of freedom selection control controls the degree of freedom of posture adjustment of the puncture needle (211) relative to the puncture device (200) to be the first degree of freedom and / or the second degree of freedom; The quick-switching control is used to control the master hand manipulation device (100) to switch from the posture adjustment mode to the puncture mode, and / or to control the master hand manipulation device (100) to switch back from the puncture mode to the posture adjustment mode.

27. The master manipulator device (100) according to any one of claims 2, characterized in that, The master hand manipulation device includes a release control, and the release control is used to control the force feedback component (130) and the posture adjustment execution component (120) to release the acting force on the rod-shaped structure (111).

28. The master manipulator (100) according to any one of claims 1-27, characterized in that, The rod-shaped structure (111) includes an operation part (1111) and a sliding part (1112). The operation part (1111) is configured to receive user operations, and the sliding part (1112) is configured to move axially relative to the posture adjustment execution component (120). The operation part (1111) is located at the upper end of the rod-shaped structure (111).

29. The master hand control device (100) according to claim 28, characterized in that, The operation part (1111) includes a plurality of operation areas (11111) and at least one enabling button.

30. The master hand control device (100) according to claim 29, characterized in that, The plurality of operation areas (11111) includes a first manipulation area (11112) and at least one second manipulation area (11114), and the first manipulation area (11112) and the second manipulation area (11114) are arranged opposite to each other.

31. The master hand control device (100) according to claim 30, characterized in that, The at least one enabling button includes a first enabling button (11113) arranged in the first manipulation area (11112); and / or, the at least one enabling button further includes at least one second enabling button (11115) arranged in the second manipulation area (11114).

32. The master manipulator device (100) according to claim 29, characterized in that, The at least one enabling button further includes a third enabling button (11116) arranged at the top of the operation part (1111).

33. The master hand control device (100) according to claim 28, characterized in that, A first limiting structure (1113) and a second limiting structure (1114) are respectively provided at the end of the sliding part (1112) close to and far from the operation part (1111). The first limiting structure (1113) and the second limiting structure (1114) are configured to limit the stroke range of the rod-shaped structure (111) moving axially along itself.

34. A puncture device (200) for a robot, characterized in that, Comprising: A puncture needle driving component (210), including a forward and backward driving mechanism (213), and the forward and backward driving mechanism (213) is connected to a puncture needle (211); A posture adjustment control component (220), on which the forward and backward driving mechanism (213) is provided, and the forward and backward driving mechanism (213) is configured to drive the puncture needle (211) to move axially relative to the posture adjustment control component (220) along the axial direction of the puncture needle (211).

35. The puncture device (200) according to claim 34, characterized in that, The puncture needle driving component (210) includes a rotation driving mechanism (212), and the rotation driving mechanism (212) is used to be connected to the puncture needle (211), and the rotation driving mechanism (212) is in transmission connection with the forward and backward driving mechanism (213); The rotation driving mechanism (212) is arranged on the posture adjustment control component (220), and the rotation driving mechanism (212) is configured to drive the puncture needle (211) to rotate relative to the posture adjustment control component (220) around the axial direction of the puncture needle (211).

36. The puncture device (200) according to claim 35, characterized in that, The rotation driving mechanism (212) includes a rotation driving motor (2121), a fourth angle sensor (2122), and a fourth brake (2123). The rotation driving motor (2121) is configured to drive the puncture needle (211) to rotate around its own axis. The fourth angle sensor (2122) is configured to detect the rotation angle of the output shaft of the rotation driving motor (2121). The fourth brake (2123) is disposed between the puncture needle (211) and the rotation driving motor (2121), and the fourth brake (2123) is configured to restrict the puncture needle (211) from rotating around its own axis.

37. The puncturing device (200) according to claim 34, characterized in that, The advancing and retreating driving mechanism (213) includes an advancing and retreating driving motor (2131), a fifth angle sensor (2132), and a fifth brake (2133). The advancing and retreating driving motor (2131) is configured to drive the puncture needle (211) to move along its own axis. The fifth angle sensor (2132) is configured to detect the rotation angle of the output shaft of the advancing and retreating driving motor (2131). The fifth brake (2133) is disposed between the puncture needle (211) and the advancing and retreating driving motor (2131), and the fifth brake (2133) is configured to restrict the puncture needle (211) from moving along its own axis.

38. The puncture device (200) according to claim 37, characterized in that, The advancing and retreating driving mechanism (213) further includes a linear guide rail (2134), a slider (2135), and a mounting seat (2136); The linear guide rail (2134) is arranged in parallel with the puncture needle (211); the slider (2135) is in transmission connection with the advancing and retreating driving motor (2131), and the slider (2135) is slidably connected to the linear guide rail (2134); The mounting seat (2136) is fixedly connected to the slider (2135), and the puncture needle (211) is mounted on the mounting seat (2136).

39. The puncture device (200) according to claim 38, characterized in that, The advancing and retreating driving mechanism (213) further includes a second position detection component (2139), and the second position detection component (2139) is configured to obtain the position of the puncture needle (211) in its own axial direction; the second position detection component (2139) includes a second grating ruler (21391) and a second grating ruler reading component (21392). The second grating ruler (21391) is arranged along the axial direction of the linear guide rail (2134) on the linear guide rail (2134), and the second grating ruler reading component (21392) is arranged on the slider (2135).

40. The puncture device (200) according to claim 34, characterized in that, The puncture device (200) further includes a first force sensor (2124). The first force sensor (2124) is disposed between the puncture needle (211) and the puncture needle driving assembly (210), and the first force sensor (2124) is configured to obtain the puncture force feedback information when the puncture needle (211) punctures; The puncture force feedback information is used to determine the puncture movement resistance output by the master manipulator (100) that controls the puncture device (200).

41. The puncture device (200) according to claim 34, characterized in that, The posture adjustment control component (220) includes a posture adjustment base (222) and a posture adjustment driving component (223). The posture adjustment driving component (223) is arranged on the posture adjustment base (222), and the puncture needle driving component (210) is installed on the posture adjustment base (222) through the posture adjustment driving component (223); the posture adjustment driving component (223) drives the puncture needle (211) to adjust the posture of the puncture needle (211) relative to the posture adjustment base (222).

42. The puncture device (200) according to claim 41, characterized in that, The posture adjustment driving component (223) includes a first passive ring (2231), a second passive ring (2232), a first connecting rod (2233), a second connecting rod (2234), a first posture adjustment driving mechanism (2235) and a second posture adjustment driving mechanism (2236). The first passive ring (2231) and the second passive ring (2232) are coaxial and rotatably connected to the posture adjustment base (222); the puncture needle (211) axially penetrates through the first passive ring (2231) and the second passive ring (2232) along the axis of the first passive ring (2231). The first passive ring (2231) is rotatably connected to one end of the first connecting rod (2233), and the other end of the first connecting rod (2233) is rotatably connected to the posture adjustment base (222), and the first posture adjustment driving mechanism (2235) is further arranged at the other end of the first connecting rod (2233); the second passive ring (2232) is rotatably connected to one end of the second connecting rod (2234), and the other end of the second connecting rod (2234) is rotatably connected to the posture adjustment base (222), and the second posture adjustment driving mechanism (2236) is further arranged at the other end of the second connecting rod (2234).

43. The puncturing device (200) according to claim 42, wherein, The first posture adjustment driving mechanism (2235) includes a sixth brake, a first reducer, a first posture adjustment driving motor and a sixth angle sensor. The sixth brake, the first reducer, the first posture adjustment driving motor and the sixth angle sensor are arranged at the other end of the first connecting rod (2233), and the sixth angle sensor is configured to detect the rotation angle of the output shaft of the first posture adjustment driving motor. and / or The second posture adjustment driving mechanism (2236) includes a seventh brake (22361), a second reducer (22362), a second posture adjustment driving motor (22363) and a seventh angle sensor (22364). The seventh brake (22361), the second reducer (22362), the second posture adjustment driving motor (22363) and the seventh angle sensor (22364) are arranged at the other end of the second connecting rod (2234), and the seventh angle sensor (22364) is configured to detect the rotation angle of the output shaft of the second posture adjustment driving motor (22363).

44. The puncturing device (200) according to claim 41, characterized in that, The puncture device (200) further includes a second force sensor disposed between the puncture needle (211) and the posture adjustment drive assembly (223), and the second force sensor is configured to obtain posture force feedback information when the puncture needle (211) adjusts its posture; The posture force feedback information is used to determine the posture resistance output by the control master manipulator (100).

45. The puncture device (200) according to any one of claims 34-44, characterized in that, A guiding structure (221) is provided on the posture control assembly (220), and the puncture needle (211) passes through the guiding structure (221).

46. The puncturing device (200) according to any one of claims 34-45, characterized in that, The puncture device (200) further includes at least one of an instrument confirmation control and a manual switching control; The instrument confirmation control is configured to control the puncture device (200) after clamping the puncture needle (211) to enter a posture adjustment state or a puncture state; The manual switching control is configured to control the puncture needle (211) to be manually released from the puncture device.

47. A robot, characterized in that, Including the master manipulator (100) described in claim 1 and the puncture device (200) described in claim 34, the puncture needle drive assembly (210) of the puncture device (200) responds to the puncture execution signal of the puncture needle execution assembly (110) of the master manipulator (100) to drive the puncture needle (211) to move.

48. The robot according to claim 47, wherein, The puncture needle execution assembly (110) includes a first position detection component (112), and the first position detection component (112) is configured to obtain the position of the rod-shaped structure (111) in its own axial direction; the puncture execution signal includes the position of the rod-shaped structure (111) in its own axial direction; The advancing and retracting drive mechanism (213) includes an advancing and retracting drive motor (2131), and the advancing and retracting drive motor (2131) is configured to drive the puncture needle (211) to move a corresponding distance along its own axial direction based on the position of the rod-shaped structure (111) in its own axial direction.

49. The robot according to claim 47 or 48, characterized in that, The rod-shaped structure (111) can rotate around the axial direction of the rod-shaped structure (111) itself; The puncture needle execution assembly (110) includes an angle detection component (114), and the angle detection component (114) is configured to obtain the rotation angle of the rod-shaped structure (111) rotating around its own axial direction; the puncture execution signal includes the rotation angle; The rotation drive mechanism (212) includes a rotation drive motor (2121), and the rotation drive motor (2121) is configured to drive the puncture needle (211) to rotate a corresponding angle around its own axial direction based on the rotation angle.

50. The robot according to any one of claims 47-49, characterized in that, The puncture device further includes a first force sensor (2124), the first force sensor (2124) is disposed between the puncture needle drive assembly (210) and the puncture needle, and the first force sensor (2124) is configured to obtain puncture force feedback information when the puncture needle (211) punctures; The master manipulator (100) further includes a force feedback component (130), and the force feedback component (130) is configured to apply a puncture movement resistance along the axial direction of the rod-shaped structure (111) to the rod-shaped structure (111); The puncture movement resistance is determined based on the puncture force feedback information.

51. The robot according to any one of claims 47 - 50, characterized in that, The posture adjustment control component (220) includes a posture adjustment base (222) and a posture adjustment drive component (223). The posture adjustment drive component (223) is disposed on the posture adjustment base (222), and the puncture needle drive component (210) is mounted on the posture adjustment base (222) through the posture adjustment drive component (223). The posture adjustment drive component (223) adjusts the posture of the puncture needle (211) relative to the posture adjustment base (222) in response to the posture adjustment signal of the posture adjustment execution component (120) of the master manipulator device (100).

52. The robot according to claim 51, wherein The posture adjustment execution component (120) includes a first connecting rod (1211), a first rotating ring (1212), a second connecting rod (1221), a second rotating ring (1222), a base (123), a second angle sensor (1213), and a third angle sensor (1223). The first rotating ring (1212) and the second rotating ring (1222) are coaxial and arranged around the rod-shaped structure (111). One end of the first connecting rod (1211) is rotatably connected to the first rotating ring (1212), and the other end is rotatably connected to the base (123). The other end of the first connecting rod (1211) is also provided with the second angle sensor (1213). One end of the second connecting rod (1221) is rotatably connected to the second rotating ring (1222), and the other end is rotatably connected to the base (123). The other end of the second connecting rod (1221) is also provided with the third angle sensor (1223).

53. The robot according to claim 52, characterized in that, The puncture device (200) further includes a second force sensor configured to obtain the posture adjustment force feedback information when the puncture needle (211) is adjusted in posture. The posture adjustment drive component (223) is configured to apply a posture adjustment resistance to the rod-shaped structure (11), and the posture adjustment resistance is determined based on the posture adjustment force feedback information.

54. The robot according to claim 53, wherein The posture adjustment execution component (120) includes a first motor and a second motor (1228). The first motor is configured to apply a posture adjustment resistance to the first connecting rod (1211), and the second motor (1228) is configured to apply a posture adjustment resistance to the second connecting rod (1221). The posture adjustment resistance applied by the first motor to the first connecting rod (1211) and the posture adjustment resistance applied by the second motor (1228) to the second connecting rod (1221) are both determined based on the posture adjustment force feedback information.

55. The robot according to claim 52, characterized in that, The posture adjustment driving assembly (223) includes a first passive ring (2231), a second passive ring (2232), a first connecting rod (2233), a second connecting rod (2234), a first posture adjustment driving mechanism (2235) and a second posture adjustment driving mechanism (2236). The first passive ring (2231) and the second passive ring (2232) are coaxial and rotatably connected to the posture adjustment base (222). The puncture needle (211) axially passes through the first passive ring (2231) and the second passive ring (2232) along the axis of the first passive ring (2231). The first passive ring (2231) is rotatably connected to one end of the first connecting rod (2233). The other end of the first connecting rod (2233) is rotatably connected to the posture adjustment base (222), and the first posture adjustment driving mechanism (2235) is further provided at the other end of the first connecting rod (2233). The second passive ring (2232) is rotatably connected to one end of the second connecting rod (2234). The other end of the second connecting rod (2234) is rotatably connected to the posture adjustment base (222), and the second posture adjustment driving mechanism (2236) is further provided at the other end of the second connecting rod (2234). The posture adjustment driving assembly (223) responds to the posture adjustment signal of the posture adjustment execution assembly (120) of the master hand control device (100) to adjust the posture of the puncture needle (211) relative to the posture adjustment base (222), including: The first posture adjustment driving mechanism (2235) drives the first connecting rod (2233) to rotate a corresponding angle relative to the posture adjustment base (222) based on the angle of rotation of the other end of the first connecting rod (1211) relative to the base (1241); and The second posture adjustment driving mechanism (2236) drives the second connecting rod (2234) to rotate a corresponding angle relative to the posture adjustment base (222) based on the angle of rotation of the other end of the second connecting rod (1231) relative to the base (1241) of the base.

56. The robot according to any one of claims 46 - 55, characterized in that, It further includes a moving device (300). The moving device (300) is connected to the puncture device (200), and the moving device (300) drives the puncture device (200) to move in multiple degrees of freedom.

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