CN116531107A

CN116531107A - Force sensing device, medical instrument, medical control system and master-slave medical control system

Info

Publication number: CN116531107A
Application number: CN202310584386.4A
Authority: CN
Inventors: 叶鹤松
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2023-08-04
Also published as: CN112826596A

Abstract

The application relates to a force sensing device, a medical instrument, a medical control system and a master-slave medical control system, which comprise a driving part, a force sensing module and an analysis part. The drive member is a flexible drive member. The force sensing module is connected with the driving component and used for acquiring sensing information related to acting force applied by the driving component during medical operation. The analysis component is connected with the force sensing module and is used for collecting sensing information of the force sensing module and analyzing and obtaining acting force applied to the driving component when the medical operation is performed. The force sensing module can convert acting force borne by the driving part at the far end of the medical instrument into physical variable quantity which can be identified by the analysis part, has simple structure and low cost, is easy to produce and manufacture, and the analysis part does not need to be arranged in the medical instrument body, so that the force sensing device can generate stable and reliable force feedback effect.

Description

Force sensing device, medical instrument, medical control system and master-slave medical control system

The scheme is a divisional application of a medical device, a medical control system and a master-slave medical control system, which are filed on 12 months and 29 days in 2020, and have the application number of 20201959802. X and the name of force sensing devices.

Technical Field

The application relates to the technical field of medical instruments, in particular to a force sensing device, a medical instrument, a medical control system and a master-slave medical control system.

Background

At present, in the medical equipment remotely controlled, a master-slave control mode is generally adopted for controlling, namely, a doctor remotely controls the medical equipment of the robot at a slave end in a master-slave control mode by operating the master end of the robot so as to diagnose or treat a patient.

Most medical instruments of surgical robots distributed in the market do not realize a stable and reliable force sensing function. On the one hand, the size limitation of medical instruments is very high (the diameter is usually less than 8 mm), and the types of sensors which can be arranged in a narrow and airtight space are limited. On the other hand, since the medical device is usually reused a plurality of times, it is necessary to sterilize the medical device after each use, and the sterilization method is usually performed by immersing the medical device in an alkaline liquid environment to perform a high-temperature and high-pressure treatment. Such harsh external environments can cause irreversible damage to sensors that are housed within the medical device. Therefore, the force sensing function of the medical apparatus has not been used in the market for the above reasons, and is in a research stage.

Disclosure of Invention

Based on the above, the present application provides a force sensing device, a medical apparatus, a medical control system and a master-slave medical control system.

The application provides a force sensing device comprising:

the driving component is a flexible driving component;

the force sensing module is connected with the driving component and used for acquiring sensing information related to acting force received by the driving component when the driving component performs medical operation; and

and the analysis component is connected with the force sensing module and used for collecting sensing information of the force sensing module and analyzing and obtaining acting force applied to the driving component during the medical operation.

In one embodiment, the force sensing module comprises:

the guide component is connected with the driving component and is used for guiding the driving component to guide in and out the force sensing module; and

and the sensing element is connected with the driving component and can acquire force information or displacement information related to acting force received by the driving component during medical operation.

In one embodiment, the number of the guide parts is two, the connection position of the sensing element and the driving part is located between the two guide parts, and the connection position of the sensing element and the driving part is not collinear with the connection position of the driving part and the two guide parts.

In one embodiment, the sensing element comprises a displacement sensor or a pressure sensor.

In one embodiment, the sensing element further comprises a connector connected to the driving member.

In one embodiment, the analysis component receives the force information or the displacement information acquired by the force sensing module, and obtains the acting force applied to the driving component through geometric relation operation according to the received force information or the displacement information, wherein the geometric relation comprises a geometric relation of the co-point force balance and a triangle geometric relation of the displacement.

Based on the same inventive concept, the present application provides a medical device comprising:

an execution unit for performing a medical operation; and

a force sensing device, which is the force sensing device according to any one of the above embodiments, for detecting an operation force of the executing member.

Based on the same inventive concept, the present application provides a medical handling system comprising:

a robotic arm for controlling a surgical procedure;

the medical device according to the above embodiment, wherein the medical device is connected to the mechanical arm for performing a surgical operation.

Based on the same inventive concept, the present application provides a master-slave medical control system, comprising:

a robotic arm for controlling a surgical procedure;

the medical device according to the above embodiment, wherein the medical device is connected to the mechanical arm for performing a surgical operation; and

and controlling the mechanical arm and the medical instrument to execute a main manipulator of the operation.

In one embodiment, the main manipulator is provided with a force feedback device for feeding back the operation force perceived by the medical instrument to the main manipulator, so that the operation force of the execution end is perceived by the control end; the force feedback device can also transmit control information of a main manipulator to the mechanical arm and the medical instrument at the execution end, and control the mechanical arm and the medical instrument to perform operation.

The force sensing device, the medical instrument, the medical control system and the master-slave medical control system comprise a driving component, a force sensing module and an analysis component. The drive member is a flexible drive member. The force sensing module is connected with the driving component and used for acquiring sensing information related to acting force applied by the driving component during medical operation. The analysis component is connected with the force sensing module and is used for collecting sensing information of the force sensing module and analyzing and obtaining acting force applied to the driving component when the medical operation is performed. The force sensing module can convert the acting force received by the driving part at the far end of the medical instrument into the physical variable quantity which can be identified by the analysis part, the force sensing module has simple structure and low cost and is easy to manufacture, and the part of the sensing element for sensing the force information or the displacement information related to the acting force received by the driving part in the medical operation and the analysis part do not need to be arranged in the medical instrument body, so the sensing element can bear the disinfection and sterilization treatment like the medical instrument body without influencing the use performance, and the force sensing device can generate stable and reliable force feedback effect.

Drawings

In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic diagram of a force sensing device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a force sensing device according to another embodiment of the present application;

FIG. 3 is a schematic view of a medical device according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a medical control system according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a master-slave medical control system according to an embodiment of the present application.

Description of the main element reference numerals

10. A driving part; 20. a force sensing module; 21. a guide member; 22. a sensing element; 221. a connecting piece; 30. an analysis component; 40. an execution part; 50. a mechanical arm; 60. a main operator; 61. an operation member; 62. a control part; 70. a medical device.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other ways than those herein described and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not limited to the specific embodiments disclosed below.

It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first acquisition module may be referred to as a second acquisition module, and similarly, a second acquisition module may be referred to as a first acquisition module, without departing from the scope of the present application. The first acquisition module and the second acquisition module are both acquisition modules, but they are not the same acquisition module.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, and are merely for convenience and clarity in aiding in the description of embodiments of the present application. As used herein, "distal" refers to the end that is distal to the product operator and proximal to the patient, and "head end" refers to the end that is distal to the product operator and distal to the patient.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

During some medical operations (such as operations of surgery and diagnosis, etc.), there are situations that radiation, etc. may cause injury to doctors; in addition, during certain interventional procedures, it is desirable to simultaneously perform whole-body or partial scan imaging of a patient with a medical scanning imaging device, where a doctor cannot enter a medical room, and in particular, the medical scanning imaging device may be a medical device such as a general electronic computer tomography device (Computed Tomography, CT for short), a cone-beam electronic computer tomography device (Cone beam Computed Tomography, CBCT for short), or the like. In both cases, the corresponding medical procedure can generally be performed by controlling the robot in a medical room (e.g. an operating room) in a control room; aiming at the medical resource shortage condition, the clinical robot can be remotely controlled to perform medical operation even in different places.

The surgical robotic system includes a master end device and a slave end device. The master end device and the slave end device can be in communication connection in a wired or wireless mode, so that the master end device can remotely control the slave end device in a master-slave mode to perform medical operation such as diagnosis, image acquisition and operation on a patient. The slave device includes a robot arm and a medical instrument connected to the robot arm 40. The joints on the distal end of the medical device are driven by the push-pull of the string or wire. And the driving source for driving the rope or wire to move is a cylinder positioned at the near position of the instrument. The force sensing principle is that the pressure difference of the air cylinders is measured by the barometer arranged on the air path of each air cylinder, so that the force in the axial direction of the rope or wire is deduced, and finally the stress of each joint of the remote position of the medical instrument is converted. The manner of arranging the barometer on the air path of each cylinder can not realize a stable and reliable force sensing function because of narrow arrangement space and difficult bearing of a severe sterilization environment.

The application provides a force sensing device. The upper force sensing device comprises a driving part 10, a force sensing module 20 and an analyzing part 30. The drive member 10 is a flexible drive member. The force sensing module 20 is connected to the driving part 10 for acquiring sensing information related to the applied force to which the driving part 10 is subjected during the medical operation. The analysis component 30 is connected with the force sensing module 20, and is configured to collect sensing information of the force sensing module 20, and analyze and obtain acting force applied to the driving component 10 during the medical operation.

It will be appreciated that the drive member 10 and at least a portion of the force sensing module 20 are disposed within the medical instrument 70. The structure of the driving part 10 is not particularly limited. The drive member 10 may be any flexible drive member that transmits power through a guidewire, a guide belt, or a guide wire. The structure of the force sensing module 20 is not particularly limited, as long as the force applied to the driving part 10 at the distal end of the medical instrument 70 can be converted into the physical change amount recognizable by the analyzing part 30.

In one embodiment, the force sensing module 20 comprises a guiding member 21, a sensing element 22. The guide member 21 is connected to the driving member 10. The guiding member 21 is used for guiding the driving member 10 to guide in and out the force sensing module 20. The sensing element 22 is connected to the driving member. The sensing element 22 is capable of acquiring force information or displacement information related to the applied force to which the driving member 10 is subjected during a medical operation.

It will be appreciated that a base (not shown) is provided on the medical device. The guide member 21 and part of the sensing element 22 are fixed to the base. Specifically, the sensing element 22 is fixed to the base at a portion for connection with the driving part 10. The sensing element 22 is provided with a portion for sensing force information or displacement information related to the applied force to which the driving member is subjected during the medical operation, and is located outside the medical instrument. Therefore, the sensing element 22 can bear the disinfection and sterilization treatment like the medical apparatus body without affecting the use performance, and the force sensing module 20 can generate stable and reliable force feedback effect.

Alternatively, the number of the guide members 21 is two. The connection position of the sensing element 22 and the driving part 10 is located between the two guiding parts 21, and the connection position of the sensing element 22 and the driving part 10 is not collinear with the connection position of the driving part 10 and the two guiding parts 21. At this time, the connection positions of the two guide members 21 and the sensing element 22 with the driving member 10 form a V-shaped structure.

Optionally, referring to fig. 1, the sensing element 22 includes a connection 221 and a displacement sensor. The connection 221 is an elastic member. One end of the elastic element is fixed on the base, and the other end of the elastic element is connected with the driving part 10. The displacement sensor may be located external to the medical device. The elastic element converts parameter information about the forces to which the driving member 10 is subjected during the medical procedure into a displacement signal.

Specifically, for example, a single rope (driving member 10) is wound around the left driving source M to drive the rotation of one of the jaw joints at the distal position of the instrument. The string passes around the drive source M, through one of the guide members 21 on the force sensing module 20, then through the end of the elastic element, then through the other guide member 21, and finally coupled to the shaft of the instrument. At this time, the two guide members 21 and the ends of the elastic element constitute a V-shaped structure. The elastic element is exemplified by a tension spring which is stretched by the action of the rope when the rope is subjected to a large tensile force, and a displacement sensor located outside the instrument detects the stretching amount of the spring. The displacement sensor sends the measured amount of tension of the spring to the analysis component 30. The analysis unit 30 determines the change in the tension of the string by geometric calculation based on the amount of tension of the spring. Wherein the geometric relationship includes a geometric relationship of co-point force balance and a triangle geometric relationship of displacement. It will be appreciated that the analysis component 30 can be a separately provided processor. At this time, the analysis component 30 is located outside the medical instrument and is electrically connected to the displacement sensor. The analysis component 30 can also be directly integrated into a processor in the displacement sensor. Because the displacement sensor is disposed outside the medical instrument (e.g., fixed to the robotic arm 40), there is little restriction on the size of the displacement sensor. Thus, there are many options for the displacement sensor, such as eddy current distance sensor, laser distance sensor, ultrasonic distance sensor, etc. can be used as the displacement sensor. There are also various options for the resilient element used for force sensing, for example, a tension spring, torsion spring, rubber band, etc. resilient element may be used.

It will be appreciated that the displacement sensors in sensing element 22 need not be paired and may be used alone to measure the force applied to the rope. In addition, the arrangement method of the elastic element of the force sensing module 20 is not limited to the above-mentioned manner, and various arrangement positions are possible, and the arrangement method can fall into the scope of this variation as long as the tension applied to the rope can be converted into displacement deformation of the elastic element.

Optionally, referring to fig. 2, the sensing element 22 includes a connector 221 and a pressure sensor. The connection 221 is a rigid element. One end of the rigid element is connected to the pressure sensor and the other end of the rigid element is connected to the drive member 10. The pressure sensor may be located external to the medical device. The rigid element converts parameter information about the forces to which the driving member 10 is subjected during the medical procedure into a pressure signal.

Specifically, for example, a single rope (driving member 10) is wound around the left driving source M to drive the rotation of one of the jaw joints at the distal position of the instrument. The ropes bypass the drive source M, pass through one guide member 21 on the force sensing module 20, then through the end of the rigid element, then through the other guide member 21, and finally couple to the shaft of the instrument. At this point, the two guide members 21 and the ends of the rigid element form a V-shaped structure. This embodiment differs from the above-described embodiments in that a rigid element is arranged in the radial direction of the rope, which rigid element is compressed by the force of the rope when the rope is subjected to a greater tensile force, at which time a pressure sensor located outside the instrument will measure the pressure information of the rigid element. The pressure sensor sends the measured pressure information of the rigid element to the analysis component 30. The analysis unit 30 determines the change in tension of the string by geometric calculation based on the pressure information of the rigid element. Wherein the geometric relationship includes a geometric relationship of co-point force balance and a triangle geometric relationship of displacement. It will be appreciated that the analysis component 30 can be a separately provided processor. At this time, the analysis component 30 is located outside the medical instrument and is electrically connected to the pressure sensor. The analysis component 30 can also be a processor directly integrated into the pressure shift sensor.

In this embodiment, the force sensing module 20 can convert the acting force received by the driving component 10 at the distal end of the medical apparatus into the physical variable quantity identifiable by the analysis component 30, and the force sensing module 20 has simple structure, low cost and easy production and manufacture, and the analysis component 30 does not need to be disposed inside the medical apparatus body, so that the force sensing device can generate a stable and reliable force feedback effect.

Referring to fig. 3, the present application provides a medical device 70 based on the same inventive concept. The medical instrument 70 includes an implement 40 and a force sensing device.

The execution unit 40 is used for performing medical operations. The force sensing device is a force sensing device according to any one of the above embodiments, and is configured to detect an operation force of the executing member 40. The actuator 40 is driven by pushing and pulling of the driving member 10. The implement 40 may be a distal joint. The analysis unit 30 determines the change of the tension of the driving unit 10 by geometric operation according to the tensile amount of the spring or the pressure information of the rigid element, and then deduces the stress value of the execution unit 40.

When the driven distal joint (the actuator 40) moves in an idle state, the distance parameters detected by the 2 sensors located at the proximal position have a difference, which is caused by friction of the rope, inertia moment of the medical instrument, and the like, and the influence of the difference on the test accuracy can be reduced to a low level by reducing harmful friction force from the design of the mechanical structure and compensating the inertia moment of the medical instrument.

When the distal joint of the medical instrument is subjected to external forces transmitted by internal tissues during operation, the distance parameters detected by the 2 sensors positioned at the proximal position have a larger difference than that in the idle state, and the difference comprises the friction of the rope and the inertia moment of the instrument, and the force transmitted to the instrument by the actual external load. The result of the external force applied to the distal joint can be obtained by compensating for this difference by only internal calculation of the analysis unit 30.

In this embodiment, a force sensing module 20 is disposed at the proximal end of the medical device 70, and the force sensing module 20 can convert the external force information received by the driving component 10 at the distal end of the medical device 70 into the physical change amount recognizable by the analyzing component 30. The force sensing module 20 is simple in structure, low in cost and easy to produce. And the force sensing module 20 can withstand the sterilization process as the medical instrument 70 body without affecting the use performance, and the analyzing part 30 does not need to be disposed inside the medical instrument 70 body, so that the medical instrument 70 can generate a stable and reliable force feedback effect.

Referring to fig. 4, the present application provides a medical control system based on the same inventive concept. The medical handling system comprises a robotic arm 50 for controlling a surgical operation and a medical instrument 70 as described in the above embodiments. The medical instrument 70 is coupled to the robotic arm 50 for performing a surgical procedure.

It will be appreciated that the robotic arm 50 controls the surgical operation of the medical device 70. A displacement sensor, pressure sensor or analysis component 30 of the medical instrument 70 may be disposed on the robotic arm 50. Since the displacement sensor, the pressure sensor, or the analyzing member 30 is provided at a portion other than the medical instrument, the limitation on the size of the displacement sensor, the pressure sensor, and the analyzing member 30 is small. Thus, there are many options for the displacement sensor, the pressure sensor and the analysis component 30. And the force sensing module 20 can withstand the sterilization process as the medical instrument 70 body without affecting the use performance, and the analyzing part 30 does not need to be disposed inside the medical instrument 70 body, so that the medical instrument 70 can generate a stable and reliable force feedback effect.

Referring to fig. 5, based on the same inventive concept, the present application provides a master-slave medical control system. The master-slave medical control system includes a robot arm 50 for controlling a surgical operation, a medical instrument 70 according to the above embodiment, and a master manipulator 60 for controlling the robot arm 50 and the medical instrument 70 to perform the surgical operation. The medical instrument 70 is coupled to the robotic arm 50 for performing a surgical procedure.

In one embodiment, the main manipulator 60 has a force feedback device for feeding back the operation force sensed by the medical instrument 70 to the main manipulator 60, so that the operation force of the execution end is sensed by the control end; the force feedback device can also transmit the control information of the main manipulator 60 to the mechanical arm 50 and the medical instrument 70 at the execution end, and control the mechanical arm 50 and the medical instrument 70 to perform the operation.

Optionally, the force feedback device comprises an operating member 61 and a control member 62. The operating member 61 may comprise a knob, a control handle. The operation member 61 performs a simulation presentation of the operation force sensed by the medical instrument 70 at the master end device so that feedback presented when the medical instrument 70 is operated by the master manipulator 60 is synchronized and identical with feedback received when the mechanical arm 50 operates the medical instrument 70. The real-time feedback parameter information may include various resistances (e.g., pressure, friction, etc.) experienced by the medical instrument 70 during the medical procedure, among others.

The control unit 62 is electrically connected to the mechanical arm 50 and the operation unit 61, and the operation unit 61 controls the mechanical arm 50 and the medical device 70 to perform a surgical operation by the control unit 62. The control component 62 is also communicatively coupled to the analysis component 30 for fusion processing of the perceived operating force of the medical instrument 70. The operating part 61 may provide haptic feedback according to the parameter information outputted from the fusion process of the control part 62. And the control part 62 can also transmit the control information of the main manipulator 60 to the mechanical arm 50 and the medical instrument 70 at the execution end, and control the mechanical arm 50 and the medical instrument 70 to perform the operation.

The control unit 62 may be connected to a host (which may be the driving source in the embodiment of the present application) of the mechanical arm 50 by a cable or an optical fiber based on PCIe, TCP/IP or other protocols, or may be connected to a wireless communication network established based on TCP/IP or 5G or the like.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A force sensing device, comprising:

the driving component is a flexible driving component;

the two force sensing modules are connected with the driving component and are used for acquiring sensing information related to acting force received by the driving component when the driving component performs medical operation; and

the analysis component is connected with the force sensing module and used for collecting sensing information of the force sensing module and analyzing and obtaining acting force applied to the driving component when the medical operation is performed;

the analysis component comprises a compensation module, wherein the compensation module is used for compensating the difference value of the sensing information acquired by the two force sensing modules.

2. The force sensing device according to claim 1, wherein, in the case that the sensing information is a distance parameter, the compensation module is further configured to obtain a difference value of the sensing information obtained by the two force sensing modules when the execution unit driven by the driving unit moves in an idle state, and obtain a difference value of the sensing information obtained by the two force sensing modules when the execution unit is stressed;

the compensation module is also used for compensating the difference value of the sensing information acquired by the two force sensing modules when the execution part is stressed through the difference value of the sensing information acquired by the two force sensing modules when the execution part is in idle movement.

3. The force sensing device of claim 1, wherein the force sensing module comprises:

the sensing element is connected with the driving component and is used for acquiring force information or displacement information related to acting force received by the driving component when in medical operation;

and the guide component is connected with the driving component and is used for guiding the driving component to guide in and out the force sensing module.

4. A force sensing device according to claim 2, wherein there are two guide members, the connection location of the sensing element to the driving member being located between the two guide members, the connection location of the sensing element to the driving member being non-collinear with the connection location of the driving member to the two guide members.

5. The force sensing device of claim 4, wherein the sensing element comprises a displacement sensor or a pressure sensor.

6. The force sensing device of claim 5, wherein the sensing element further comprises a connector coupled to the drive member.

7. A force sensing device according to claim 6, wherein the drive member is a flexible drive member transmitting power through a guide wire, a guide belt or a guide wire.

8. The force sensing device of claim 7, wherein said connector is a resilient element, and for any one of said force sensing modules, said drive member passes through one of said guide members, through an end of said resilient member, and through the other of said guide members;

the elastic element converts sensing information related to acting force received by the driving part during medical operation into a displacement signal;

when the tensile force of the driving part is increased, the elastic element is stretched by the acting force of the driving part, the displacement sensor obtains the stretching amount of the elastic element, and the displacement sensor sends the stretching amount of the elastic element to the analysis part.

9. A force sensing device according to claim 7, wherein said connection is a rigid element, one end of said rigid element being connected to said pressure sensor for any one of said force sensing modules, the other end of said rigid element being connected to said driving means, said driving means passing through one of said guiding means, through the end of said rigid element, and through the other of said guiding means;

the rigid element converts sensing information related to acting force received by the driving component during medical operation into a pressure signal;

when the tensile force of the driving part is increased, the rigid element is compressed by the acting force of the driving part, the pressure sensor obtains the pressure information of the rigid element, and the pressure sensor sends the pressure information of the rigid element to the analysis part.

10. A medical device, comprising:

an execution unit for performing a medical operation; and

force sensing device according to any one of claims 1-9 for detecting an operating force of the actuator.

11. A medical steering system, comprising:

a robotic arm for controlling a surgical procedure;

the medical device of claim 10, connected to the robotic arm for performing a surgical procedure.

12. A master-slave medical control system, comprising:

a robotic arm for controlling a surgical procedure;

the medical device of claim 10, connected to the robotic arm for performing a surgical procedure; and

13. The master-slave medical handling system of claim 12, wherein the master manipulator has force feedback means for feeding back the operating force perceived by the medical instrument to the master manipulator such that the operating force of the execution end is perceived by the control end; the force feedback device can also transmit control information of a main manipulator to the mechanical arm and the medical instrument at the execution end, and control the mechanical arm and the medical instrument to perform operation.