CN114631894B

CN114631894B - Force feedback master hand for surgical operation or examination

Info

Publication number: CN114631894B
Application number: CN202210163422.5A
Authority: CN
Inventors: 李长乐; 于传友; 张雷锋; 刘刚峰; 张学贺; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-02-22
Filing date: 2022-02-22
Publication date: 2022-12-16
Anticipated expiration: 2042-02-22
Also published as: CN114631894A

Abstract

The invention provides a force feedback master hand for surgical operation or examination, and belongs to the field of medical instruments. The problems that the operation space of a force feedback master hand is small and the operation difficulty is high are solved. It is including supporting the base, it links to each other with indexing mechanism to support base upper portion, indexing mechanism output level sets up and links to each other with fixed plate one side, and the fixed plate opposite side is connected with primary shaft motor and secondary shaft motor, primary shaft motor output links to each other with the primary shaft connecting axle, secondary shaft motor output links to each other with the secondary shaft connecting axle, primary shaft connecting axle upper end links to each other with primary shaft A connecting rod one end, and the primary shaft A connecting rod other end links to each other with primary shaft B connecting rod, secondary shaft connecting axle upper end links to each other with secondary shaft A connecting rod one end, and the secondary shaft A connecting rod other end links to each other with the secondary shaft B connecting rod, the primary shaft B connecting rod links to each other with the secondary shaft B connecting rod. It is mainly used for surgical operation or examination.

Description

Force feedback master hand for surgical operation or examination

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to a force feedback master hand for surgical operation or examination.

Background

In recent years, medical auxiliary instruments are developed day by day, and devices for assisting a surgeon in surgical operations or examinations are becoming more abundant; while the force feedback master of the non-contact medical surgery or examination is increasingly used in clinic, developers also begin to pay attention to the development of the force feedback master of the non-contact medical surgery or examination. Currently, most medical surgical or examination devices are also using traditional manual operations, which present a major risk in cases such as infectious diseases; the current market is common in a parallel type and a series type, and the series type is relatively flexible and simple to control; the parallel connection type occupies smaller space and has high rigidity, but the motion coupling exists, the control is difficult, and the position is generally determined by a parallel connection structure, so the working space is also smaller.

Disclosure of Invention

In view of this, the present invention provides a force feedback master hand for surgical operation or examination, so as to solve the problems of small operation space and great operation difficulty of the force feedback master hand.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a force feedback owner's hand for surgery operation or inspection, it is including supporting the base, it links to each other with indexing mechanism on the support base upper portion, indexing mechanism output level sets up and links to each other with fixed plate one side, and the fixed plate opposite side is connected with primary shaft motor and secondary shaft motor, primary shaft motor output links to each other with the primary shaft connecting axle, secondary shaft motor output links to each other with the secondary shaft connecting axle, primary shaft connecting axle upper end links to each other with primary shaft A connecting rod one end, and the primary shaft A connecting rod other end links to each other with primary shaft B connecting rod, secondary shaft connecting axle upper end links to each other with secondary shaft A connecting rod one end, the secondary shaft A connecting rod other end links to each other with the secondary shaft B connecting rod, the primary shaft B connecting rod end links to each other with the third shaft motor, the third shaft motor links to each other with the third shaft connecting axle, the third shaft connecting axle links to each other with the third shaft connecting rod, the third shaft connecting axle links to each other with the third shaft connecting axle, the third shaft connecting axle is provided with the third shaft connecting axle coupling, first wrist pole front end links to each other with the first encoder one end, the first encoder one end links to each other with the first encoder one end, the wrist pole bearing is installed at the second bearing, and the second shaft bearing, and the second shaft bearing other, and the rotation axis bearing, the second shaft bearing, the rotation axis bearing is connected with the second shaft bearing, the rotation axis bearing.

Furthermore, indexing mechanism includes base, bearing stationary blade, first bearing, second bearing, stopper and rotation axis, the base bottom links to each other with supporting the base top, first bearing and second bearing are installed respectively to the inside both sides of base, first bearing outer lane passes through the bearing stationary blade and links to each other with the base, the second bearing outer lane passes through solid fixed ring and links to each other with the base, the both ends of rotation axis are connected respectively to the inner circle of first bearing and second bearing, the output of rotation axis links to each other with the fixed plate, the stopper is located the base rear side, and one end links to each other with the rotation axis, and the other end links to each other with the fixed plate, the both sides and the top that the base is located the middle part have seted up threaded hole respectively, the rotation axis middle part is square structure, and both ends are cylindrical structure.

Furthermore, the rotating shafts of the first wrist rod, the second wrist rod and the main manipulator are intersected at one point.

Furthermore, the first shaft motor, the second shaft motor, the third shaft motor, the first encoder, the second encoder and the third encoder are respectively in communication connection with the lower computer and the remote equipment.

Furthermore, the fixed plate is kept away from indexing mechanism side upper portion and is linked to each other with the bearing support fixed plate, and the lower part links to each other with the motor fixed plate, primary shaft motor and secondary shaft motor all link to each other with the motor fixed plate, be connected with primary shaft bearing support and secondary shaft bearing support on the bearing support fixed plate, equally divide in primary shaft bearing support and the secondary shaft bearing support and do not install two bearings, bearing inner race in primary shaft bearing support and the secondary shaft bearing support is passed respectively to primary shaft connecting axle and secondary shaft connecting axle.

Furthermore, the output end of the first shaft motor is connected with the first shaft connecting shaft through a first shaft coupler, and the output end of the second shaft motor is connected with the second shaft connecting shaft through a second shaft coupler.

Furthermore, the first shaft A connecting rod and the first shaft B connecting rod, the second shaft A connecting rod and the second shaft B connecting rod, and the first shaft B connecting rod and the second shaft B connecting rod are respectively connected through bearings.

Furthermore, the third shaft motor is connected with a third shaft connecting shaft through a third shaft coupler, the tail end of the first shaft B connecting rod is connected with a third shaft bearing support, and the inside of the third shaft bearing support is connected with the third shaft connecting shaft.

Furthermore, two bearings are arranged inside the front end of the third shaft connecting rod, the inner ring of each bearing is connected with the first wrist rod connecting shaft, and the first wrist rod coupler is arranged in the third shaft connecting rod.

Furthermore, third axle connecting rod rear end is provided with fourth axle connecting rod counter weight, first wrist pole is L type structure, first wrist pole is close to third axle connecting rod one end and is provided with first wrist pole counter weight, and the other end links to each other with second wrist pole, second wrist pole is L type structure, the one end that second wrist pole is close to first wrist pole is provided with second wrist pole counter weight, and the other end links to each other with main operative hand.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the force feedback master hand for the surgical operation or examination, the two-degree-of-freedom plane five-bar mechanism is selected as the main body of the master hand position adjusting mechanism, and the master hand adopts a three-axis orthogonal structure, so that the operation or examination can be performed when a patient is in a supine position or a standing position, and the operation space of the master hand is greatly increased;

2. according to the force feedback master hand for the surgical operation or the examination, a more optimized method is used for realizing force feedback, and high-precision encoders and servo motors are arranged at some key positions in the master hand, so that the precision of the force feedback master hand is greatly improved;

3. the force feedback master hand for the surgical operation or examination has the advantages of small overall occupied space, short force arm, small bending moment and high rigidity;

4. the force feedback master hand for the surgical operation or examination has a simple overall structure, adopts common materials in the market, ensures that the whole device has stable performance, has strong reliability of force feedback, simple structure and high reliability, is convenient to maintain, and can also reduce the workload of doctors.

The whole force feedback master hand structurally ensures the matching of a working space and the human body outline, and is provided with a transposition mechanism so as to be suitable for the examination of patients with different postures; the first shaft and the second shaft of the whole force feedback master hand are designed into a plane parallel mechanism, so that the force feedback efficiency of the motor is improved, and most of the gravity of the force feedback master hand is borne by the structure; the whole force feedback master hand has the characteristics of short force arm, high rigidity, high efficiency and high precision.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a schematic side view of a force feedback master hand for use in surgery or examination according to the present invention;

FIG. 2 is a rear view of a force feedback master hand for use in surgery or examination according to the present invention;

FIG. 3 is a schematic view of an internal structure of the indexing mechanism according to the present invention;

FIG. 4 is a schematic top view of a force feedback master hand for use in surgery or examination according to the present invention;

fig. 5 is a perspective view of a force feedback master hand for surgery or examination according to the present invention.

1-supporting base, 2-base, 3-bearing fixing plate, 4-first bearing, 5-second bearing, 6-limiting block, 7-rotating shaft, 8-fixing plate, 9-motor fixing plate, 10-first shaft motor, 11-first shaft coupler, 12-first shaft connecting shaft, 13-second shaft motor, 14-second shaft coupler, 15-second shaft connecting shaft, 16-bearing support fixing plate, 17-first shaft bearing support, 18-second shaft bearing support, 19-first shaft A connecting rod, 20-first shaft B connecting rod, 21-second shaft A connecting rod, 22-second shaft B connecting rod, 23-third shaft motor, 24-third shaft coupler, 25-third shaft bearing support, 26-third shaft connecting shaft, 27-third shaft connecting rod, 28-first wrist rod coupler, 29-fourth shaft connecting rod counterweight, 30-first encoder, 31-first wrist rod, 32-first wrist rod, 33-second encoder, 34-second wrist rod, 35-second wrist rod, 36-third wrist rod counterweight, 37-main operating hand encoder.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.

Referring to fig. 1 to 5 for explaining the present embodiment, as shown in fig. 1 and 2, a support base 1 is used to support and keep stable the entire master hand; the bottom of the base 2 is arranged at the top of the supporting base 1 by screws, a first bearing 4 and a second bearing 5 are arranged in the base, two sides of the bottom close to the limiting block 6 are slightly longer than the upper part of the bottom to limit the moving range of the limiting block 6, and three screw holes are formed in the middle of the base and are respectively arranged at two sides and the top of the base and used for fixing a rotating shaft 7; the bearing fixing sheet 3 is arranged on the front side of the base 2 and used for fixing the first bearing 4; the first bearing 4 is positioned at the front position inside the base 2, the outer ring of the first bearing is fixed with the base 2 by the bearing fixing sheet 3, and the inner ring is arranged at the front end of the rotating shaft 7 so as to facilitate the rotating of the rotating shaft 7; the outer ring of the second bearing 5 is fixed with the base 2 by a fixing ring, and the inner ring of the second bearing is arranged at the rear end of the rotating shaft 7 so as to facilitate the rotation of the rotating shaft 7; the limiting block 6 is positioned at the rear end of the base 2, one end of the limiting block is arranged on the rotating shaft 7, and the other end of the limiting block is arranged on the fixing plate 8 and used for limiting the moving range of the rotating shaft 7; the rotating shaft 7 is positioned in the base 2, the front end of the rotating shaft is fixed with the inner ring of the first bearing 4, the rear end of the rotating shaft is fixed with the inner ring of the second bearing 5 and the limiting block 6 respectively, and the middle of the rotating shaft is a square cylinder with two ends so that the bolt can fix the rotating shaft.

The front end of the fixing plate 8 is fixed with the limiting block 6, the upper part of the rear end of the fixing plate is provided with a bearing support fixing plate 16, and the lower part of the fixing plate is provided with a motor fixing plate 9; the motor fixing plate 9 is arranged at the lower part of the fixing plate 8 and is used for installing and fixing a first shaft motor 10 and a second shaft motor 13; the first shaft motor 10 is positioned at the lower part of a fixing plate 8 at the rear part of the support base 1, is arranged at the left side of the motor fixing plate 9, and drives a first shaft connecting shaft 12 to drive a first shaft A connecting rod 19 and a first shaft B connecting rod 20 to act so as to realize control of a master hand; the first shaft coupling 11 is positioned above the first shaft motor 10, is installed between the first shaft motor 10 and the first shaft bearing support 17, and has a lower end connected with the first shaft motor 10 and an upper end connected with the first shaft connecting shaft 12, so that the first shaft motor 10 can drive the first shaft connecting shaft 12; the lower end of the first shaft connecting shaft 12 is connected with the upper part of the first shaft coupler 11, the whole body penetrates through the first shaft bearing support 17, and the upper end of the first shaft connecting shaft is connected with the first shaft A connecting rod 19 to drive the first shaft A connecting rod 19 to rotate; the second shaft motor 13 is positioned at the lower part of the fixing plate 8 at the rear part of the support base 1, is arranged on the right side of the motor fixing plate 9, and drives a second shaft A connecting rod 21 and a second shaft B connecting rod 22 to act by driving a second shaft connecting shaft 15 so as to control the main hand; the second shaft coupling 14 is positioned above the second shaft motor 13, is arranged between the second shaft motor 13 and the second shaft bearing support 18, and is connected with the second shaft motor 13 at the lower end and connected with the second shaft connecting shaft 15 at the upper end so that the second shaft motor 13 can drive the second shaft connecting shaft 15; the lower end of a second shaft connecting shaft 15 is connected with the upper part of a second shaft coupler 14, the whole body penetrates through a second shaft bearing support 18, and the upper end of the second shaft connecting shaft is connected with a second shaft A connecting rod 21 and used for driving the second shaft A connecting rod 21 to rotate; a bearing support fixing plate 16 is arranged at the upper part of the rear side of the fixing plate 8 and is used for installing and fixing a first shaft bearing support 17 and a second shaft bearing support 18; the first shaft bearing support 17 is arranged on the left side of the bearing support fixing plate 16, two bearings are arranged in the first shaft bearing support, and inner rings of the two bearings are arranged on the first shaft connecting shaft 12 to ensure that the first shaft connecting shaft 12 can rotate; and a second shaft bearing support 18 is arranged on the right side of the bearing support fixing plate 16, the inner structure of the second shaft bearing support is the same as that of the first shaft bearing support 17, namely, two bearings are arranged inside the second shaft bearing support, and the inner rings of the two bearings are arranged on the second shaft connecting shaft 15 so as to ensure that the second shaft connecting shaft 15 can rotate.

As shown in fig. 3, one end of the first shaft a connecting rod 19 is installed at the upper end of the first shaft connecting shaft 12, and the other end is connected with the first shaft B connecting rod 20 through two bearings, and a connecting rod structure is formed between the first shaft a connecting rod 19 and the first shaft B connecting rod 20; one end of the first shaft B connecting rod 20 is connected with the first shaft A connecting rod 19, the other end of the first shaft B connecting rod is connected with the second shaft B connecting rod 22, and the joint of the first shaft B connecting rod and the second shaft B connecting rod 22 is connected into a connecting rod structure through a bearing; one end of a second shaft A connecting rod 21 is arranged at the tail end of the upper part of the second shaft connecting shaft 15, the other end of the second shaft A connecting rod 21 is connected with a second shaft B connecting rod 22 through two bearings, and a connecting rod structure is arranged between the second shaft A connecting rod 21 and the second shaft B connecting rod 22; one end of a second shaft B connecting rod 22 is connected with a second shaft A connecting rod 21, the other end of the second shaft B connecting rod 22 is connected with a first shaft B connecting rod 20, the joint of the second shaft B connecting rod 22 and the first shaft B connecting rod 20 is connected into a connecting rod structure through a bearing, and the first shaft A connecting rod 19, the first shaft B connecting rod 20, the second shaft A connecting rod 21 and the second shaft B connecting rod 22 form a two-dimensional five-connecting-rod structure; the third shaft motor 23 is arranged at the tail end of the first shaft B connecting rod 20, and drives the third shaft connecting shaft 26 to rotate through the third shaft coupler 24 so as to control the master hand; the third shaft coupling 24 is installed above the joint of the second shaft A connecting rod 21 and the second shaft B connecting rod 22, one end of the third shaft coupling is connected with the third shaft motor 23, and the other end of the third shaft coupling is connected with the third shaft connecting shaft 26 to drive the third shaft connecting shaft 26 to rotate; the third shaft bearing support 25 is arranged at the tail end of the first shaft B connecting rod 20, and is internally connected with a third shaft connecting shaft 26 so as to facilitate the rotation of the third shaft connecting shaft 26; the third shaft connecting shaft 26 is arranged between the third shaft connecting rod 27 and the third shaft bearing support 25 and is used for driving the main hand to rotate; the third shaft connecting rod 27 is arranged at the tail end of the third shaft connecting shaft 26, two bearings are arranged in the front end of the third shaft connecting shaft, the inner rings of the bearings are arranged on the connecting shaft of the first wrist rod 31 so that the first wrist rod 31 can rotate, a fourth shaft connecting rod counterweight 29 is fixed at the rear end of the third shaft connecting rod so as to keep the whole balance of the third shaft connecting rod, the power load of the third shaft motor 23 can be reduced, and the third shaft connecting rod 27 is used for fixing and installing the first wrist rod coupler 28, the fourth shaft connecting rod counterweight 29, the first encoder 30 and the first wrist rod 31; the first wrist rod coupler 28 is positioned at the joint of the third shaft connecting shaft 26 and the third shaft connecting rod 27, is installed in the third shaft connecting rod 27, and is connected with the shaft of the first wrist rod 31 at the front end and connected with the first encoder 30 at the rear end, so that the first encoder 30 can record and detect the rotating position of the first wrist rod 31; a fourth shaft link counterweight 29 is mounted at the rear of the third shaft link 27 to balance the third shaft link 27 to relieve the power load of the third shaft motor 23, thereby making it easier for the master hand to operate; the first encoder 30 is located between the first wrist coupling 28 and the fourth shaft connecting rod counterweight 29, is connected to the rear end of the first wrist coupling 28, and records and detects the rotation position of the first wrist 31.

As shown in fig. 1 and 4, a first wrist lever 31 is installed at the front end of the third shaft link 27, the rotation shaft thereof is connected with a bearing at the front end of the third shaft link 27, the first wrist lever 31 is L-shaped, one end near the third shaft link 27 is provided with a first wrist lever counterweight 32, the other end is internally provided with two bearings, the bearings are installed on the connecting shaft of a second wrist lever 34, and the other side of the bearings is provided with a second encoder 33 for fixing and supporting the second wrist lever 34; a first wrist weight 32 is installed at one end of the first wrist bar 31 near the third shaft link 27 to keep the first wrist bar 31 balanced, making the master hand easier to operate; the second encoder 33 is located on one side of the first wrist rod 31 close to the second wrist rod 34, fixed on the outer side of the first wrist rod 31, connected with the rotating shaft of the second wrist rod 34, and used for recording and detecting the rotating position of the second wrist rod 34; the second wrist rod 34 is installed at one side of the second encoder 33, and is L-shaped, one end close to the first wrist rod 31 is installed with a second wrist rod counterweight 35, the tail of the other end is installed with two bearings, the bearings are installed on the rotating shaft of the main manipulator 37, and the other side of the bearings is provided with a third encoder 36 for installing and fixing the main manipulator 37; a second wrist weight 35 is installed at an end of the second wrist 34 near the second encoder 33 to keep the second wrist 34 balanced, making the master hand easier to operate; the third encoder 36 is installed at one end of the second wrist rod 34 close to the main operating hand 37, fixed at the outer side of the second wrist rod 34, connected with the rotating shaft of the main operating hand 37, and used for recording and detecting the rotating position of the main operating hand 37; the main operator 37 is located inside the third encoder 36, and its rotation shaft is connected to the third encoder 36 for operation. The rotation axes of the first wrist lever 31, the second wrist lever 34, and the main operating hand 37 meet at a point.

When non-contact surgery or examination is carried out, the main operating hand 37 is held by a hand to move, at the moment, the main operating hand 37 rotates together with the first wrist rod 31 and the second wrist rod 34, the second encoder 33 and the third encoder 36 detect the positions of the second wrist rod 34 and the main operating hand 37 and send the positions to a lower computer and remote equipment, and the first wrist rod 31 drives the first wrist rod coupler 28 to move the first encoder 30 to detect the position information rotating with the first wrist rod 31 when rotating, and sends information to the lower computer and the remote equipment; if the master hand moves in a small range in the vertical direction, the third shaft connecting rod 27 rotates, meanwhile, the third shaft coupler 24 moves along with the third shaft connecting rod 27, so that the third shaft motor 23 is driven to rotate, and the third shaft motor 23 can send position information of the master hand to a lower computer and remote equipment when rotating; if the master hand needs to move on the horizontal plane, because the first shaft a connecting rod 19, the first shaft B connecting rod 20, the second shaft a connecting rod 21 and the second shaft B connecting rod 22 form a two-dimensional five-connecting-rod structure, the first shaft a connecting rod 19, the first shaft B connecting rod 20, the second shaft a connecting rod 21 and the second shaft B connecting rod 15, in addition to the first wrist rod 31, the second wrist rod 34, the master hand 37, the third shaft connecting rod 27 and the four related components, also move during the plane movement, at this time, the first shaft a connecting rod 19, the first shaft B connecting rod 20, the second shaft a connecting rod 21 and the second shaft B connecting rod 22 rotate due to the movement of the first shaft a connecting rod 19 and the second shaft a connecting rod 21, and the first shaft coupler 11 and the second shaft coupler 14 drive the first shaft motor 10 and the second shaft motor 13 to rotate respectively, and when the first shaft motor 10 and the second shaft motor 13 rotate, the position information is also sent to the lower computer and the remote device; the force feedback master hand sends related position information to a lower computer and remote equipment when in operation, the remote equipment acts along with the force feedback master hand, meanwhile, the remote equipment sends real-time operation state information back to the force feedback master hand, the first shaft motor 10, the second shaft motor 13 and the third shaft motor 23 generate corresponding rotation after receiving the feedback, and then the first shaft coupler 11, the second shaft coupler 14 and the third shaft coupler 24 are driven to rotate, and the first shaft coupler 11 and the second shaft coupler 14 respectively drive the second shaft connecting shaft 15 and the second shaft connecting shaft 15 to rotate, so that the first shaft A connecting rod 19, the first shaft B connecting rod 20 act, and the second shaft A connecting rod 21 and the second shaft B connecting rod 22 act together to feed back resultant force in two directions of a horizontal plane to the master hand; meanwhile, the third shaft coupling 24 drives the third shaft connecting shaft 26 to rotate, so that the third shaft connecting rod 27 rotates to feed back the force in the vertical direction to the master hand; eventually allowing the master hand to perceive the force transmitted from the remote device. If the force feedback of the invention is needed to be fed back to the operation of the master hand in the same vertical direction as the horizontal direction, the rotating shaft 7 of the indexing mechanism is only required to be rotated by 90 degrees.

The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention.

Claims

1. A force feedback master hand for use in surgery or examination, comprising: it includes supporting pedestal (1), supporting pedestal (1) upper portion links to each other with indexing mechanism, indexing mechanism output level sets up and links to each other with fixed plate (8) one side, and fixed plate (8) opposite side is connected with primary shaft motor (10) and secondary shaft motor (13), primary shaft motor (10) output links to each other with primary shaft connecting axle (12), secondary shaft motor (13) output links to each other with secondary shaft connecting axle (15), primary shaft connecting axle (12) upper end links to each other with primary shaft A connecting rod (19) one end, and primary shaft A connecting rod (19) other end links to each other with primary shaft B connecting rod (20), secondary shaft connecting axle (15) upper end links to each other with secondary shaft A connecting rod (21) one end, and secondary shaft A connecting rod (21) other end links to each other with secondary shaft B connecting rod (22), primary shaft B connecting rod (20) link to each other with secondary shaft B connecting rod (22), primary shaft B connecting rod (20) end links to each other with third shaft motor (23), third shaft motor (23) links to each other with third connecting axle (26), third connecting axle connecting rod (26) links to each other with third connecting rod (27), wrist connecting axle connecting rod (27) and wrist coupling (27) connecting axle (27), the utility model discloses a wrist joint, including first wrist pole shaft coupling (28), rear end and first encoder (30), first wrist pole (31) one end internally mounted has two bearings, and the bearing is installed on the connecting axle of second wrist pole (34), and the bearing other end links to each other with second encoder (33), second wrist pole (34) one end internally mounted has two bearings, and the bearing is installed on the rotation axis of main operating hand (37), and the bearing other end links to each other with third encoder (36), indexing mechanism includes base (2), bearing stationary blade (3), first bearing (4), second bearing (5), stopper (6) and rotation axis (7), base (2) bottom links to each other with supporting base (1) top, first bearing (4) and second bearing (5) are installed respectively to base (2) inside both sides, first bearing (4) outer lane passes through bearing stationary blade (3) and links to each other with base (2), second bearing (5) links to each other with base (2) through solid fixed ring, first bearing (4) and bearing (5) inner circle (7) are connected with base (6) inner circle (7) respectively, the output of rotation axis (7) is located the second bearing stationary blade (6) side fixed plate (8), the base (7) output end is located the fixed plate (8), one end is connected with the rotating shaft (7), the other end is connected with the fixing plate (8), threaded holes are respectively formed in the two sides and the top of the base (2) located in the middle of the base, the middle of the rotating shaft (7) is of a square structure, and the two ends of the rotating shaft are of cylindrical structures.

2. A force feedback master hand for use in surgery or examination according to claim 1, wherein: the rotating shafts of the first wrist rod (31), the second wrist rod (34) and the main operating hand (37) are intersected at one point.

3. A force feedback master hand for use in surgery or examination according to claim 1, wherein: the first shaft motor (10), the second shaft motor (13), the third shaft motor (23), the first encoder (30), the second encoder (33) and the third encoder (36) are in communication connection with the lower computer and the remote equipment respectively.

4. A force-feedback master hand for surgery or examination according to claim 1, wherein: fixed plate (8) are kept away from indexing mechanism side upper portion and are linked to each other with bearing support fixed plate (16), and the lower part links to each other with motor fixed plate (9), first shaft motor (10) and second shaft motor (13) all link to each other with motor fixed plate (9), be connected with first shaft bearing support (17) and second shaft bearing support (18) on bearing support fixed plate (16), equally divide in first shaft bearing support (17) and second shaft bearing support (18) and do not install two bearings, bearing inner race in first shaft bearing support (17) and second shaft bearing support (18) is passed respectively in first shaft connecting axle (12) and second shaft connecting axle (15).

5. A force feedback master hand for use in surgery or examination according to claim 1, wherein: the output end of the first shaft motor (10) is connected with the first shaft connecting shaft (12) through a first shaft coupler (11), and the output end of the second shaft motor (13) is connected with the second shaft connecting shaft (15) through a second shaft coupler (14).

6. A force feedback master hand for use in surgery or examination according to claim 1, wherein: and the first shaft A connecting rod (19) and the first shaft B connecting rod (20), the second shaft A connecting rod (21) and the second shaft B connecting rod (22) and the first shaft B connecting rod (20) and the second shaft B connecting rod (22) are respectively connected through bearings.

7. A force feedback master hand for use in surgery or examination according to claim 1, wherein: the third shaft motor (23) is connected with a third shaft connecting shaft (26) through a third shaft coupler (24), the tail end of the first shaft B connecting rod (20) is connected with a third shaft bearing support (25), and the inside of the third shaft bearing support (25) is connected with the third shaft connecting shaft (26).

8. A force feedback master hand for use in surgery or examination according to claim 1, wherein: the bearing connecting structure is characterized in that two bearings are arranged inside the front end of the third shaft connecting rod (27), the inner rings of the bearings are connected with the first wrist rod (31) connecting shaft, and the first wrist rod coupler (28) is arranged in the third shaft connecting rod (27).

9. A force feedback master hand for use in surgery or examination according to claim 1, wherein: third shaft connecting rod (27) rear end is provided with fourth shaft connecting rod counter weight (29), first wrist pole (31) are L type structure, first wrist pole (31) are close to third shaft connecting rod (27) one end and are provided with first wrist pole counter weight (32), and the other end links to each other with second wrist pole (34), second wrist pole (34) are L type structure, the one end that second wrist pole (34) are close to first wrist pole (31) is provided with second wrist pole counter weight (35), and the other end links to each other with main operative hand (37).