CN117982234A

CN117982234A - Main hand control device for robot and surgical robot thereof

Info

Publication number: CN117982234A
Application number: CN202211355389.2A
Authority: CN
Inventors: 路壮壮; 翟明春; 危芳; 朱龙泉
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2024-05-07

Abstract

The embodiment of the specification provides a main hand control device for a robot, which at least comprises a puncture executing part. The puncture executing part comprises a rocker assembly, a motion assembly and a first force feedback mechanism, wherein the motion assembly is movably arranged on the rocker assembly; the first force feedback mechanism includes a first transmission assembly and a first torque control, and the first force feedback mechanism applies a movement resistance to the movement assembly based on the first force feedback information. The first transmission assembly comprises a first large reel, a first small reel and a first transmission rope; the first large reel and the first small reel are arranged at intervals along the first direction of the movement assembly, and the rotating shaft of the first large reel is coaxially connected with the output shaft of the first torque control member; the two end parts of the first driving rope are fixed on the outer circumference of the first large reel, and the first driving rope bypasses the first small reel; the motion assembly is fixedly connected with the first transmission rope; when the motion assembly moves linearly along the first direction, the first large reel is driven to rotate through the first driving rope.

Description

Main hand control device for robot and surgical robot thereof

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to a master hand control device for a robot and a surgical robot thereof.

Background

The master-slave teleoperation type robot auxiliary puncture operation mode is an operation mode. The puncture robot is guided to execute the puncture operation through the remote operation control image, so that a doctor can be effectively prevented from being irradiated by radiation. However, the master-slave teleoperation type robot can only control the end effector to move at the set speed of the system, can not simulate the puncturing process of a doctor holding a needle, and can not feed back the puncturing force. If the doctor lacks the sense of weakness, the operation risk and uncertainty are increased, the operation time is increased, the operation efficiency is reduced, and the success rate of the puncture operation is influenced. At present, in order to control the needle insertion operation of the tail end of the robot arm and feed back the needle insertion resistance of the tail end of the robot arm, a rotating wheel and a synchronous belt can be used for transmission, and the synchronous belt and the rotating wheel can generate a slipping phenomenon, so that the accuracy of force feedback is possibly poor.

Disclosure of Invention

One of the embodiments of the present specification provides a master hand manipulation device for a robot, the master hand manipulation device including a puncture performing section; the puncture executing part comprises a rocker assembly, a motion assembly and a first force feedback mechanism, wherein the motion assembly is movably arranged on the rocker assembly; the first force feedback mechanism includes a first transmission assembly and a first torque control, the first force feedback mechanism applying a movement resistance to the movement assembly based on first force feedback information; the first transmission assembly comprises a first large reel, a first small reel and a first transmission rope; the first large reel and the first small reel are arranged at intervals along the first direction of the motion assembly, and the rotating shaft of the first large reel is coaxially connected with the output shaft of the first torque control part; the two end parts of the first driving rope are fixed on the outer circumference of the first large reel, and the first driving rope bypasses the first small reel; the motion assembly is fixedly connected with the first transmission rope; when the motion assembly moves linearly along the first direction, the first large reel is driven to rotate by the first driving rope.

In some embodiments, the lancing actuator further comprises a stop assembly; the limiting assembly comprises a first limiting mechanism and a second limiting mechanism which are arranged at intervals along a first direction of movement of the linear movement assembly; the first and second spacing mechanisms are located between the first large reel and the first small reel.

In some embodiments, the first drive assembly further comprises a first guide wheel set; the first guide wheel group comprises a first guide wheel and a second guide wheel; the axes of the first guide wheel and the second guide wheel are parallel to the axis of the first large reel; the first guide wheel and the second guide wheel are positioned between the first large winding wheel and the motion assembly, and the first guide wheel and the second guide wheel are arranged at intervals in a second direction perpendicular to the first direction; the first driving rope is positioned between the first guide wheel and the second guide wheel, and the distance between the first guide wheel and the second guide wheel in the second direction is equal to the diameter of the first small reel.

In some embodiments, the circumference of the first large reel is less than the distance between the first and second stop mechanisms; the both end portions of the first transfer cord have a partial overlap in the outer circumferential direction of the first large reel.

In some embodiments, the first drive assembly further comprises a second guide wheel set; the second guide wheel group comprises a third guide wheel and a fourth guide wheel; the third guide wheel and the fourth guide wheel are used for limiting a gap between a part of the first driving rope wound into the first large reel and a part wound out of the first large reel along the axial direction of the first large reel.

In some embodiments, the first torque control comprises a hysteresis brake; the hysteresis brake is fixedly connected with the first large reel coaxially.

In some embodiments, the puncture performing section further comprises a first return component; the first zeroing assembly comprises a first zeroing motor and a first encoder; the first zero return motor is coaxially connected with the rotating shaft of the first large winding wheel.

In some embodiments, the motion assembly is provided with a master-slave control enabling key; the puncture executing part further comprises a wireless trigger assembly, and the wireless trigger assembly is fixed with the motion assembly; the wireless triggering component comprises a control key and a signal transmitting mechanism electrically connected with the control key; when the master-slave control enabling key is pressed, the master-slave control enabling key triggers the control key to enable the signal transmitting mechanism to transmit signals.

In some embodiments, the wireless trigger assembly further comprises a circuit board and a battery electrically connected to the circuit board, the circuit board connecting the control key and the signal emitting mechanism.

In some embodiments, the master hand manipulation device further comprises a gesture adjustment execution portion; the gesture adjusting executing part comprises a first rotating shaft, a first connecting part, a second rotating shaft, a second connecting part, a second force feedback mechanism and a third force feedback mechanism. One end of the first connecting component is fixedly connected with the first rotating shaft, and the other end of the first connecting component is movably connected with the rocker component of the puncture executing part; one end of the second connecting component is fixedly connected with the second rotating shaft, and the other end of the second connecting component is movably connected with the rocker component of the puncture executing part; an included angle between the axis of the first rotating shaft and the axis of the second rotating shaft is larger than 10 degrees; the second force feedback mechanism is connected with the first rotating shaft and applies gesture adjusting resistance to the first rotating shaft based on second force feedback information; the third force feedback mechanism is connected with the second rotating shaft and applies posture adjustment resistance to the second rotating shaft based on third force feedback information.

In some embodiments, the second force feedback mechanism includes a second transmission assembly and a second torque control; the second torque control member is connected with the first rotating shaft through the second transmission assembly; the third force feedback mechanism includes a third transmission assembly and a third torque control; the third torque control is coupled to the second rotary shaft via the third transmission assembly.

In some embodiments, the second torque control and the third torque control each comprise a hysteresis brake.

In some embodiments, the second drive assembly includes a second large reel, a second small reel, and a second drive line; the radius of the second largest reel is larger than the radius of the second smallest reel; two ends of the second driving rope are respectively fixed on the second large reel and the second small reel; the rotating shaft of the second large reel is coaxially connected with the first rotating shaft, and the rotating shaft of the second small reel is coaxially and fixedly connected with the output shaft of the second torque control member; the third transmission assembly comprises a third large reel, a third small reel and a third transmission rope; the radius of the third largest reel is larger than the radius of the third smallest reel; two ends of the third driving rope are respectively fixed on the third large reel and the third small reel; the rotating shaft of the third large reel is coaxially and fixedly connected with the second rotating shaft, and the rotating shaft of the third small reel is coaxially connected with the output shaft of the third torque control member.

In some embodiments, the second largest reel and the second smallest reel have a gear ratio of 1:5 to 1:15; the gear ratio of the third largest reel and the third smallest reel is 1:5 to 1:15.

In some embodiments, the second largest reel and the third largest reel are each sector-shaped; one end of each second driving rope is fixedly connected to two ends of a sector arc section of the second large reel, and the other end of each second driving rope is fixedly connected to the second small reel; one end of each third driving rope is fixedly connected with two end parts of the fan-shaped arc section of the third large winding wheel respectively, and the other end of each third driving rope is fixedly connected with the third small winding wheel.

In some embodiments, the gesture adjustment execution part further comprises a second zeroing component and a third zeroing component; the second zeroing assembly comprises a second zeroing motor and a first angle detection piece; an output shaft of the second zeroing motor is coaxially connected with a rotating shaft of the second small reel; the first angle detection piece is coaxially connected with the first rotating shaft and is used for detecting the rotating angle of the first rotating shaft; the third zeroing assembly comprises a third zeroing motor and a second angle detection piece; an output shaft of the third zeroing motor is coaxially connected with a rotating shaft of the third small winding wheel; the second angle detection piece is coaxially connected with the second rotating shaft and is used for detecting the rotating angle of the second rotating shaft; the second zero-return motor returns the rocker assembly to a zero position based on a first angle detected by the first angle detecting member and the third zero-return motor returns the rocker assembly to a zero position based on a second angle detected by the second angle detecting member.

In some embodiments, the master hand manipulation device further comprises a passive rotational joint. The passive rotary joint part comprises a first swivel, a second swivel, a first bearing and a second bearing; the first rotating ring is sleeved on the outer ring of the first bearing, and the second rotating ring is sleeved on the outer ring of the second bearing; the first bearing and the inner ring of the second bearing are sleeved on the rocker assembly; the first rotating ring is connected with the first connecting part through a first connecting straight rod; one end of the first connecting straight rod is fixedly connected to the first swivel, and the other end of the first connecting straight rod is rotationally connected with the first connecting part; the second swivel is connected with the second connecting part through a second connecting straight rod; one end of the second connecting straight rod is fixedly connected to the second swivel, and the other end of the second connecting straight rod is rotationally connected with the second connecting part.

One of the embodiments of the present specification provides a surgical robot comprising a robot body, an end effector, a first processor, a second processor, and a master hand manipulation device according to any one of claims 1-17; the end effector is connected with the robot body; the main hand control device is electrically connected with the first processor, and the robot body and the end effector are electrically connected with the second processor.

Drawings

The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

FIG. 1 is an exemplary block diagram of a master hand-held device according to some embodiments of the present disclosure;

FIG. 2 is an exemplary block diagram of a lancing actuator according to some embodiments of the present disclosure;

FIG. 3 is an exemplary front view of a lancing actuator (the motion assembly and rocker housing not shown) according to some embodiments of the present description;

FIG. 4 is an exemplary left side view of a lancing actuator (the motion assembly and rocker housing not shown) according to some embodiments of the present description;

FIG. 5 is an exemplary block diagram of a lancing actuator (half rocker housing not shown) according to some embodiments of the present disclosure;

FIG. 6 is an enlarged schematic view of the structure at A in FIG. 5;

FIG. 7A is an exemplary partial block diagram of a first transmission assembly according to some embodiments of the present disclosure;

FIG. 7B is an exemplary partial structural front view of the first transmission assembly shown in accordance with some embodiments of the present description;

FIG. 7C is an exemplary partial structural side view of the first transmission assembly shown in accordance with some embodiments of the present description;

FIG. 8 is an exemplary partial block diagram of a lancing actuator according to some embodiments of the present disclosure;

FIG. 9 is an exemplary block diagram of a motion assembly according to some embodiments of the present description;

FIG. 10 is an exemplary partial block diagram of a motion assembly according to some embodiments of the present disclosure;

FIG. 11 is a schematic diagram illustrating the operation of a wireless trigger assembly according to some embodiments of the present disclosure;

FIG. 12 is an exemplary partial block diagram of a lancing actuator according to further embodiments of the present disclosure;

FIG. 13 is an exemplary block diagram of a gesture adjustment execution portion and a passive rotational joint portion shown in accordance with some embodiments of the present description;

FIG. 14 is another angular exemplary block diagram of a gesture adjustment actuator and passive rotary joint shown in accordance with some embodiments of the present disclosure;

FIG. 15 is an exemplary block diagram of a master hand-manipulandum according to further embodiments of the present disclosure;

FIG. 16 is an exemplary block diagram of a second transmission assembly of the primary hand-operable device in accordance with other embodiments of the present disclosure;

FIG. 17 is another angular exemplary block diagram of a master hand-manipulation device according to other embodiments of the present disclosure;

FIG. 18 is a schematic diagram illustrating the principle of operation of the master hand-operated device according to some embodiments of the present disclosure;

FIG. 19 is a schematic representation of a gesture of a master hand-operated device according to some embodiments of the present disclosure under certain gesture conditions;

FIG. 20 is an exemplary block diagram of a surgical robot shown in accordance with some embodiments of the present disclosure;

In the figure: 1000. a master hand control device; 100. a puncture executing unit; 110. a rocker assembly; 111. a rocker housing; 120. a motion assembly; 121. a master-slave control enabling key; 122. a slip ring; 123. a slide block; 124. a linear slide rail; 130. a first transmission assembly; 131. a first large reel; 132. a first small reel; 133. a first driving rope; 1331. a first driving rope fixing head A; 1332. a first driving rope fixing head B; 134. a first guide wheel set; 1341. a first guide wheel; 1342. a second guide wheel; 135. the second guide wheel set; 1351. a third guide wheel; 1352. a fourth guide wheel; 136. a driving rope fixing seat; 140. a first torque control; 150. a limit component; 151. a first limiting mechanism; 152. a second limiting mechanism; 160. a first return component; 161. a first return-to-zero motor; 162. a first encoder; 163. a coupling; 170. a wireless trigger assembly; 180. a support base; 190. an adapter; 200. a posture adjustment executing part; 210. a first rotation shaft; 220. a first connecting member; 230. a second rotation shaft; 240. a second connecting member; 250. a second force feedback mechanism; 251. a second transmission assembly; 2511. a second largest reel; 2512. a second small reel; 2513. a second driving rope; 252. a second torque control; 260. a third force feedback mechanism; 261. a third transmission assembly; 2611. a third largest reel; 2612. a third small reel; 2613. a third driving rope; 262. a third torque control; 270. a second return component; 271. a second return-to-zero motor; 272. a first angle detecting member; 280. a third return component; 281. a third return-to-zero motor; 282. a second angle detecting member; 290. a base; 300. a passive rotary joint part; 310. a first swivel; 320. a second swivel; 330. a bearing; 340. a third rotation shaft; 350. a fourth rotation shaft; 410. a first degree of freedom; 420. a second degree of freedom; 430. a third degree of freedom; 440. a fourth degree of freedom; 2000. a robot body; 3000. an end effector; 4000. a first processor; 500. a second processor.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. It should be understood that these exemplary embodiments are presented merely to enable one skilled in the relevant art to better understand and practice the present description, and are not intended to limit the scope of the present description in any way. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment".

These and other features, characteristics, and functions of related structural elements of the present application, as well as the methods of operation and combination of parts and economies of manufacture, will become more apparent upon consideration of the following description of the drawings, all of which form a part of this specification. It is to be understood, however, that the drawings are designed solely for the purposes of illustration and description and are not intended as a definition of the limits of the application. It should be understood that the figures are not drawn to scale.

In recent years, X-ray Computed Tomography (CT) has made tremendous progress, both in basic technology and in new clinical applications. Various components of CT, such as light pipes, detectors, slip rings, data acquisition systems, algorithms, and the like, have made great progress. Since spiral CT and multi-layer CT are developed, a plurality of new clinical applications are presented, and the method has the advantages of quick scanning time, clear images and the like, and can be used for checking various diseases. CT technology has evolved over thirty years and is again one of the most exciting diagnostic methods in the field of medical images. CT is no longer available today as a simple visual examination. Under the promotion of the modern medical science that the limit of each department is broken continuously, interdependence and co-exploration are carried out on various diversified modes, CT is matched with each clinical department to realize various examinations and treatments, and remarkable medical effects are obtained. Percutaneous puncture under CT guidance is a technology which has more clinical application at present, and is a technology which accurately penetrates a puncture needle connected with an end effector into a focus in a body and acquires pathological tissues under the accurate guidance of CT scanning.

The puncture operation is to insert an operation tool (such as a puncture needle, an operation scissors, a suture needle, etc.) connected to an end effector into a patient body so as to finish biopsy or excision of a focus, the traditional puncture operation is blind penetration, and a doctor finishes the puncture operation according to clinical experience without knowing the focus position exactly. The puncture under CT image guidance can judge the puncture direction in real time and make adjustment in time on the premise of CT imaging (human tissues and puncture instruments), thereby greatly improving the success rate of operation, reducing the risk of operation and improving the rehabilitation speed and life quality of patients. However, the CT devices all adopt X-rays, gamma rays, etc. to complete the operation on the CT side, which can lead the doctor to be exposed to the radiation environment for a long time, thus greatly threatening the health of the body. A master-slave teleoperated robot assisted puncture surgery system is generated.

The auxiliary puncture system (hereinafter referred to as a robot) of the master-slave teleoperation type robot can remotely operate the mechanical arm outside the CT room through the master operator to complete the puncture process, so that a doctor is prevented from being irradiated by X-ray radiation in the operation process, and meanwhile, CT images are used for guiding the puncture process, and the puncture success rate is improved. At present, some robots can intelligently control an end effector to move at a system set speed, but cannot simulate the puncturing process of a doctor holding a needle and cannot feed back the puncturing force. If the doctor lacks the sense of weakness, the operation risk and uncertainty are increased, the operation time is increased, the operation efficiency is reduced, and the success rate of the puncture operation is influenced. In some embodiments, in order to control the needle insertion operation of the tail end of the robot arm and feed back the needle insertion resistance of the tail end of the robot arm, a rotating wheel and a synchronous belt can be used for transmission, and the force feedback of the master hand control device adopts synchronous belt transmission, so that the synchronous belt is easy to slip in the use process, and the force feedback precision is poor.

For the above reasons, some embodiments of the present disclosure provide a master hand manipulation device for a robot, which includes at least a puncture performing section. The puncture executing part is used for executing a puncture process after the operator determines the gesture of the end effector, and the end effector at the tail end of the puncture mechanical arm can follow the sliding device of the puncture executing part to realize the puncture action. The puncture executing part comprises a rocker assembly, a motion assembly movably arranged on the rocker assembly and a first force feedback mechanism. The first force feedback mechanism includes a first transmission assembly and a first torque control, and the first force feedback mechanism applies a movement resistance to the movement assembly based on the first force feedback information. The first drive assembly includes a first large reel, a first small reel, and a first drive line. The first large reel and the first small reel are arranged at intervals along the movement direction of the movement assembly, and the rotating shaft of the first large reel is coaxially connected with the output shaft of the first torque control member. The two end parts of the first driving rope are fixed on the outer circumference of the first large reel, and the first driving rope bypasses the first small reel. The motion assembly is fixedly connected with the first transmission rope. When the motion assembly moves linearly, the first large reel is driven to rotate through the first driving rope. In some embodiments, the puncture actuator may be used for puncture needle insertion control. In some embodiments, the master hand manipulation device may be applied to a robot, and the master hand manipulation device may remotely control a robot arm end of the robot, so that an end effector carried by the robot arm end can penetrate a target puncture target in a patient. Moreover, the robot can be used with imaging equipment such as CT, so that remote puncture operation based on real-time imaging guidance can be realized, and the influence of the radiation of the imaging equipment on the health of medical staff is avoided. The main hand control device can simulate a clinical puncturing process between operations, so that an operator can complete puncturing operation under CT imaging real-time guidance, and the puncturing success rate is improved.

According to the puncture motion and force feedback transmission of the main hand control device provided by the embodiment of the specification, a non-slipping transmission rope (e.g. a steel wire rope) transmission scheme is adopted, the transmission rigidity is high, the force feedback and the motion transmission are accurate, the problems of slipping, insufficient service life and poor force feedback precision in the current synchronous belt transmission are solved, the integral reliability of the puncture degree of freedom and the operation flexibility are greatly improved, and the force feedback precision in the use process is fully ensured.

The master hand-operated device according to the embodiments of the present application will be described in detail with reference to fig. 1 to 18. It is noted that the following examples are only for explaining the present application and are not to be construed as limiting the present application.

Fig. 1 is an exemplary block diagram of a master hand-held device according to some embodiments of the present disclosure.

Referring to fig. 1, in some embodiments, the master hand manipulation device may include a puncture performing section 100, a posture adjusting performing section 200, and a passive rotational joint section 300. The puncture executing unit 100 may be a main body structure in which the master manipulator controls the robot arm end effector to execute a puncture operation. The master manipulator can be in transmission connection with the processor of the robot, where transmission connection refers to an electrical connection or a communication connection. The puncture executing part 100 can feed back a puncture signal to the processor, so that the processor controls the tail end of the mechanical arm to prepare for a puncture action, then when the puncture executing part 100 moves, the movement of the puncture executing part 100 can be fed back to the processor in real time, and the processor can control the tail end of the mechanical arm to drive the tail end actuator to execute the puncture operation according to the movement of the puncture executing part 100.

The posture adjustment executing section 200 may be a main structure of the main hand manipulation device for adjusting the posture of the end effector. The posture adjustment executing unit 200 is connected to the bottom of the puncture executing unit 100, and is used for adjusting the posture of the puncture executing unit 100, and further adjusting the posture of the end effector of the robot arm. When the posture of the end effector is adjusted, the puncture executing part 100 can rotate relative to the posture adjusting executing part 200, the posture adjusting executing part 200 can detect the inclination angle information of the puncture executing part 100, after the posture adjusting executing part 200 feeds back the inclination angle information to the processor, the processor can adjust the posture of the tail end of the mechanical arm according to the inclination angle information of the puncture executing part 100, so that the purpose of adjusting the posture of the end effector is achieved, the end effector can be aligned to a target puncture target point, and the accuracy of puncture operation is ensured.

In some embodiments, the master hand control apparatus may further include a signal transmission part (not shown in the drawings), and the signal transmission part is electrically connected to the puncture performing part 100 and the gesture adjusting part 200. The signal transmission component can receive various signals fed back by the puncture executing part 100 and the gesture adjusting executing part 200, and output corresponding control signals according to the received signals so as to meet the use requirements of different scenes (for example, gesture adjusting scenes and puncture scenes).

In some embodiments, the signal transmission component may be electrically connected to a communication device of the robot, for establishing a transmission connection between the master hand manipulation device and the processor, so as to implement information interaction between the master hand manipulation device and the processor. That is, the information interaction between the master hand control device and the processor is realized through the signal transmission component. It will be appreciated that the information interaction between the various components of the master hand-manipulated device described below (e.g., force feedback mechanisms, wireless trigger assemblies, etc.) and the processor may be the signal transmission component communicating with the processor via the communication device. In some embodiments, the signal transmission component may include, but is not limited to, ethernet, serial port, wireless, CAN bus, etherCAT bus, and the like. In the embodiment of the present specification, the signal transmission component may implement information interaction through ethernet.

FIG. 2 is an exemplary block diagram of a lancing actuator according to some embodiments of the present disclosure; FIG. 3 is an exemplary front view of a lancing actuator (motion assembly and rocker housing) according to some embodiments of the present description; fig. 4 is an exemplary left side view of a lancing actuator (the motion assembly and rocker housing not shown) according to some embodiments of the present description.

Referring to fig. 2, in some embodiments, the lancing actuator 100 can include a rocker assembly 110, a motion assembly 120 movably disposed on the rocker assembly 110, and a first force feedback mechanism. The rocker assembly 110 may include a hollow rocker housing 111. The rocker housing 111 allows an operator to swing in any direction during posture adjustment, thereby realizing the control of the posture of the end effector. The motion assembly 120 is connected to the rocker housing 111, the motion assembly 120 is partially located in the rocker housing 111, and partially exposes the rocker housing 111, and the motion assembly 120 can move relative to the rocker housing 111, so as to realize the control of the end effector puncture. It will be appreciated that the motion assembly 120 can output a linear motion, and the processor can control the end effector to perform a puncturing operation according to the distance of the linear motion output by the motion assembly 120 after the linear motion is fed back to the processor, so that the end effector can successfully puncture a target puncture target.

In some embodiments, the bottom of the motion assembly 120 is coupled to a first force feedback mechanism that is in transmission communication with the processor through a signal transmission member. The linear motion output by the motion assembly 120 is converted into a rotational variable through the first force feedback mechanism and fed back to the processor through the signal transmission component, the processor converts the rotational variable into linear displacement, and the processor controls the tail end of the mechanical arm to move according to the linear displacement, so that the tail end of the mechanical arm drives the tail end actuator to execute the puncturing operation, and the target puncturing target point is accurately punctured. After the puncture operation is finished, the main hand control device realizes that the end effector withdraws from the patient according to the reverse movement of the needle inserting process, and the principle is substantially the same as that of the needle inserting process, and the description is omitted here.

It is understood that the linear displacement of the end effector motion and the distance of the linear motion output by the motion assembly 120 may have a proportional mapping relationship, such as 1:1, 1:1.2, 1:1.5, 1:2, 2:1, 1.5:1, etc. Preferably, the ratio of the linear displacement of the end effector motion to the distance of the linear motion output by the motion assembly 120 is 1:1. Thus, when the medical staff operates the motion assembly 120 to output the preset distance, the end effector can be controlled to move the preset distance, so that a doctor can feel the clinical puncture as much as possible, the operation experience of the medical staff is improved, and the puncture success rate is improved.

The force feedback mechanism is also a means for applying puncture resistance or posture adjustment resistance, for example, the first force feedback mechanism is a means for applying puncture resistance, and the second force feedback mechanism and the third force feedback mechanism hereinafter are means for applying posture adjustment resistance. The force feedback information is resistance information in different directions, which is received by the end effector at the tail end of the robot arm when the needle is inserted or the gesture is adjusted, and the force feedback information can comprise the resistance, the direction and the like. Referring to FIG. 3, the first force feedback mechanism may include a first transmission assembly 130 and a first torque control 140, and the first force feedback mechanism may apply a movement resistance to the movement assembly 120 based on the first force feedback information. The first force feedback information is resistance information received by the end effector of the end of the robot arm when the motion assembly 120 moves linearly along the rocker assembly 110. When the motion assembly 120 controls the end effector at the end of the robot arm to operate, the end effector encounters a puncture resistance, which is a first force feedback information, and the resistance can be obtained by detecting a sensor of the end effector at the end of the robot arm, and then is fed back to the first force feedback mechanism through the signal transmission component, and the first force feedback mechanism applies a resistance corresponding to the puncture resistance to the motion assembly 120. Thus, when the medical staff performs the puncturing operation, the puncture resistance fed back by the first force feedback mechanism can sense the needle insertion resistance of the end effector, so as to truly simulate the condition of holding the needle for puncturing.

Referring to fig. 3 and 4, the first driving assembly 130 includes a first large reel 131, a first small reel 132, and a first driving rope 133. The first large reel 131 and the first small reel 132 are spaced apart along a first direction (e.g., X-direction in fig. 7B) in which the movement assembly 120 moves, and a rotation shaft of the first large reel 131 is coaxially connected with an output shaft of the first torque control member 140. The axes of rotation of the first large reel 131 and the first small reel 132 are parallel. The both end portions of the first driving rope 133 are fixed on the outer circumference of the first large reel 131, and the first driving rope 133 bypasses the first small reel 132. It is understood that the first driving rope 133 may be partially wound around the outer circumference of the first large reel 131. The movement assembly 120 is fixedly connected to the first driving rope 133, and it is understood that the movement assembly 120 is located between the first large reel 131 and the first small reel 132. When the motion assembly 120 moves linearly along the rocker assembly 110, the first large reel 131 is driven to rotate by the first driving rope 133, and it can be understood that the first small reel 132 is a driven wheel in this embodiment. The first small reel 132 is fixedly connected within the rocker housing 111.

Referring to fig. 3, in some embodiments, the first transmission assembly 130 further includes a transmission rope holder 136, and the transmission rope holder 136 is fixedly connected to the first transmission rope 133. Referring to fig. 3, 4, and 9, in some embodiments, the motion assembly 120 may include a slip ring 122 and a slider 123 fixedly connected to the slip ring 122, wherein the slip ring 122 is sleeved outside the rocker housing 111. The slide ring 122 is a hand-held portion for the operator to perform the puncturing operation, and controls the needle advancing and retreating operation of the end effector by moving the slide ring 122 up and down. The rocker housing 111 is provided with a linear sliding rail 124, and the sliding block 123 is slidably connected with the linear sliding rail 124, so that the sliding ring 122 can slide along the rocker housing 111. The linear sliding rail 124 provides linear sliding support, so that the movement resistance is small and the bearing capacity is high; the linear slide 124 is fixedly connected in the rocker housing 111. The sliding block 123 is connected with the first transmission assembly 130, specifically, the sliding block 123 is fixedly connected with the transmission rope fixing seat 136, so that the sliding ring 122 can drive the transmission rope fixing seat 136 to move through the sliding block 123, and further drive the first transmission rope 133 to move.

In the above embodiment, the puncture executing unit 100 is fixedly connected with the first large reel 131 by the first driving rope 133, which solves the problem of transmission slip in the use of the current synchronous belt compared with the synchronous belt transmission used in the prior art, so that the accuracy of the motion transmission of the puncture action is improved, and the force feedback accuracy in the use process is fully ensured.

In some embodiments, the first driving rope 133 may adopt a steel wire rope, the puncture motion and the force feedback transmission adopt a non-skid steel wire rope transmission scheme, the transmission rigidity is high, the force feedback precision is high and the motion transmission is accurate, and the problems that the rigidity is greatly weakened, the service life is insufficient, the force feedback precision is poor and the original driving rope is slippery due to the creep of the current synchronous belt are solved.

FIG. 5 is an exemplary block diagram of a lancing actuator (half rocker housing not shown) according to some embodiments of the present disclosure; fig. 6 is an enlarged schematic view of the structure at a in fig. 5.

Referring to fig. 5 and 6, in some embodiments, the lancing actuator 100 further includes a stop assembly 150 and a rocker assembly 110. The limiting assembly 150 includes a first limiting mechanism 151 and a second limiting mechanism 152 arranged at intervals along a first direction (e.g., X direction in fig. 7B) of the linear motion of the moving assembly 120; the first limiting mechanism 151 and the second limiting mechanism 152 are located between the first large reel 131 and the first small reel 132, and are used for limiting the movement stroke of the movement assembly 120, so as to perform a limiting protection function. The first spacing mechanism 151 may be disposed proximate to the first small reel 132 and the second spacing mechanism 152 may be disposed proximate to the first large reel 131. The first direction refers to a direction in which the moving assembly 120 moves linearly along the linear rail 124, i.e. the first direction is parallel to the extending direction of the linear rail 124. Optionally, the first limiting mechanism 151 and the second limiting mechanism 152 are limit switches. The first limiting mechanism 151 and the second limiting mechanism 152 are limiting point positions of mechanical movement limitation, and the electric limiting operation is ensured before mechanical limiting.

The first limiting mechanism 151 and the second limiting mechanism 152 are extreme positions of the linear motion of the motion assembly 120, so that the motion assembly 120 can be prevented from over-travel operation, the motion track of the end effector is ensured to be accurate, the puncture of the end effector is ensured not to be over-travel, and accidents are avoided. When the moving assembly 120 drives the slider 123 to move to the second limiting mechanism 152, the second limiting mechanism 152 detects the slip ring 123, which indicates that the slider 123 moves to the limit position, and the end effector stops needle insertion, at this time, the end of the end effector is located at the target puncture target point. When the sliding ring 122 drives the sliding block 123 to the first limiting mechanism 151, the first limiting mechanism 151 detects the sliding block 123, which indicates that the sliding ring 122 moves to the limit position, and at this time, the end effector finishes the needle withdrawing operation.

In some embodiments, the first and second spacing mechanisms 151, 152 are electrically connected to the signal transmission component. The first and second limiting mechanisms 151 and 152 automatically recognize the limit position of the slider 123 and feed back to the signal transmission part. When the slider 123 moves to any of the extreme positions, the signal transmission member can control the first large reel 131 to stop moving, limiting the continued movement of the slip ring 123.

The distance between the first and second limiting mechanisms 151, 152 is the movement stroke of the movement assembly 120. When the movement assembly 120 moves to rotate the first large reel 131, a part of the first driving rope 133 fixed on the first large reel 131 is wound out from the first large reel 131, and another part of the first driving rope 133 is wound on the first large reel 131 synchronously, and the length of the first driving rope 133 wound on the first large reel 131 is at least equal to the maximum puncture stroke (i.e. the distance between the first limiting mechanism 151 and the second limiting mechanism 152). In some embodiments, the circumference of the first large reel 131 is equal to the distance between the first and second stop mechanisms 151, 152. In this embodiment, the length of the first driving rope 133 wound on the first large reel 131 is just one circle on the outer circumference of the first large reel 131, so that the two ends of the first driving rope 133 will not overlap and wind on the first large reel 131, and the phenomenon that the moving assembly 120 is blocked due to overlapping and winding of the first driving rope 133 is effectively avoided.

In some embodiments, the circumference of the first large reel 131 is greater than the distance between the first and second stop mechanisms 151, 152. In this embodiment, when the movement assembly 120 moves from the first limiting mechanism 151 to the second limiting mechanism 152, the first large reel 131 rotates less than one revolution, so that the length of the first driving rope 133 wound around the first large reel 131 is less than one outer circumference, and thus the overlapping winding problem of the two ends of the first driving rope 133 on the first large reel 131 does not occur. In some embodiments, the circumference of the first large reel 131 is 10% -15% greater than the distance between the first and second stop mechanisms 151, 152.

FIG. 7A is an exemplary partial block diagram of a first transmission assembly according to some embodiments of the present disclosure; FIG. 7B is an exemplary partial structural front view of the first transmission assembly shown in accordance with some embodiments of the present description; fig. 7C is an exemplary partial structural right side view of the first transmission assembly shown in accordance with some embodiments of the present description.

Referring to fig. 7A, in some embodiments, the first drive assembly 130 further includes a first guide wheel set 134; the first guide wheel set 134 includes a first guide wheel 1341 and a second guide wheel 1342; the axes of the first guide wheel 1341 and the second guide wheel 1342 are parallel to the axis of the first large reel 131; the first and second guide wheels 1341 and 1342 are located at a position between the first large reel 131 and the moving assembly 120, and the first and second guide wheels 1341 and 1342 are spaced apart in a second direction (e.g., the Y direction in fig. 7B) perpendicular to the first direction (e.g., the X direction in fig. 7B). Preferably, the first and second guide wheels 1341 and 1342 are provided near the top of the first large reel 131. The first drive line 133 is located between the first guide wheel 1341 and the second guide wheel 1342, and the distance between the first guide wheel 1341 and the second guide wheel 1342 in the second direction (e.g., distance L in fig. 7B) is substantially equal to the diameter of the first small reel 132. In this embodiment, the first guide pulley group 134 increases the wrap angle of the first driving rope 133 over the first large reel 131, so that the overall space of the driving part of the first driving rope 133 can be reduced, and also the first driving rope 133 can be kept equal in distance between the first driving ropes 133 on both sides as it goes down from the first small reel 132 to the first guide pulley 1341 and the second guide pulley 1342.

Since the length of the first driving rope 133 wound around the first large reel 131 is at least equal to the distance between the first limiting mechanism 151 and the second limiting mechanism 152, if the first driving rope 133 is wound around the first large reel 131 in a single turn, this results in a larger diameter of the first large reel 131, which further results in a linearly increased torque output requirement for the first torque control 140 and the return motor assembly (e.g., the first return motor 161 hereinafter). Based on this, the size of the first large reel 131 is further improved. In some embodiments, the circumference of the first large reel 131 is less than the distance between the first and second stop mechanisms 151, 152. The both end portions of the first transfer cord 133 have a partial overlap in the outer circumferential direction of the first large reel 131.

In some embodiments, referring to fig. 7A, the first transmission rope 133 has the first transmission rope fixing head a1331 and the first transmission rope fixing head B1332 integrated at both end portions thereof, and the first transmission rope 133 and the first large reel 131 may be locked in position so as not to slide relatively by placing the first transmission rope fixing head a1331 and the first transmission rope fixing head B1332 in a positioning groove (not shown) of the first large reel 131. When the circumference of the first large reel 131 is smaller than the stroke of the moving assembly 120, the length of the first transfer rope 133 wound around the first large reel 131 is longer than one turn, i.e., both end portions of the first transfer rope 133 have partial overlap in the outer circumferential direction of the first large reel 131.

In some embodiments, to avoid stacking the first transfer ropes 133 on each other while being wound on the first large reel 131, the first transfer rope fixing head a1331 and the first transfer rope fixing head B1332 have a gap in an axial direction of the first large reel 131.

In some embodiments, referring to fig. 7A and 7C, the first drive assembly 130 further includes a second guide wheel set 135. The second guide wheel set 135 includes a third guide wheel 1351 and a fourth guide wheel 1352. The third guide wheel 1351 and the fourth guide wheel 1352 are configured to define a gap between a portion of the first driving rope 133 wound into the first large reel 131 and a portion wound out of the first large reel 131 in an axial direction of the first large reel 131. The second guiding wheel set 135 is provided to make translational adjustment of the position of the first driving rope 133 to be wound on the first large reel 131 in the axial direction of the first large reel 131, so as to avoid stacking of the first driving rope 133 on the first large reel 131.

Fig. 8 is an exemplary partial structure view of a puncture executing section according to some embodiments of the present specification.

In some embodiments, the first torque control 140 may be a hysteresis brake. The hysteresis brake is fixedly connected coaxially with the first large reel 131. In some embodiments, the first torque control 140 is fixedly coupled to the rotational axis of the first large reel 131 by a set screw. The first driving rope 133 is connected to the first torque control member 140, the hysteresis brake, through the first large reel 131, and the operator can feel the movement resistance transmitted from the first driving rope 133 when sliding the slip ring 122, i.e. force feedback when penetrating the needle is achieved. The braking torque and the control current of the hysteresis brake are in a strong linear proportional relation, and the torque-braking torque-control device belongs to non-contact torque transmission, has long service life and high stability, and can convert needle insertion resistance at the tail end of the mechanical arm into the control current of the hysteresis brake, so that master-slave force feedback transmission is realized.

The main hand control device adopts the transmission rope transmission and hysteresis force feedback mode, can simulate the linear motion generated when a doctor holds a needle for puncturing in the puncturing operation process, and the moving distance can realize the 1:1 mapping relation with the moving distance of the end effector.

Referring to fig. 8, in some embodiments, the lancing actuator 100 further includes a first return assembly 160. The first return-to-zero assembly 160 includes at least a first return-to-zero motor 161 and a first encoder 162. The first return-to-zero motor 160 is coaxially coupled to the rotational shaft of the first large reel 131, for example, the first return-to-zero motor 160 is coaxially coupled to the rotational shaft of the first large reel 131 through a coupling 163. In some embodiments, the first return-to-zero motor 160 may be configured as a low-stage reducer. The first encoder 162 is a multi-turn absolute value encoder. The first encoder 162 is used for detecting the moving distance of the slip ring 122, the first zeroing motor 160 drives the slip ring 122 to return to the zero position based on the moving distance detected by the first encoder 162, and the information is transmitted to the tail end of the mechanical arm through the control center of the main manipulator, so that the end effector moves synchronously. In some embodiments, slip ring 122 may be set to a zero position at an extreme position near first limiting mechanism 151.

In some embodiments, the master hand-operated device further includes a slip ring zeroing button, and triggering the slip ring zeroing button triggers the zeroing action of the first zeroing assembly 160. For example, the operator may perform a zeroing action prior to surgery to ensure the zero position of the slip ring 122 is accurate, and the page may perform a zeroing action after the surgery is completed to ensure the slip ring 122 returns to the zero position for the next surgical use.

In some embodiments, the lancing actuator 100 further includes a support stand 180. The support base 180 is mainly used for supporting the puncture executing section 10. In some embodiments, referring to fig. 3 and 8, the first guide wheel set 134, the second guide wheel set 135, the first torque control 140, and the first return-to-zero motor 160 may all be mounted on a support base 180.

The puncture motion of the main hand control device adopts a hysteresis brake to realize force feedback, and simultaneously adopts a small motor to cooperate with a speed reducer to realize the zeroing action of the motion assembly. In some embodiments, the lancing actuator 100 can also be configured to return to zero directly, without the need for the return-to-zero motor assembly 160.

The main hand control device of the embodiment can not only realize the demands of force feedback and slip ring position locking by adopting the force feedback and zero return modes, but also avoid the problems of complex control, power redundancy and difficult balancing in the single-motor force feedback occasion. Because when the single motor executes force feedback, in order to reduce the motor volume, a brushless torque motor is often selected, the motor is complex to control, the motor position enables to cause the shake of the slip ring when the slip ring is locked, and the motor is not suitable for precise man-machine interaction occasions.

FIG. 9 is an exemplary block diagram of a motion assembly according to some embodiments of the present description; FIG. 10 is an exemplary partial block diagram of a motion assembly according to some embodiments of the present disclosure; FIG. 11 is a schematic diagram illustrating the operation of a wireless trigger assembly according to some embodiments of the present disclosure; fig. 12 is an exemplary partial configuration view of a puncture executing section according to other embodiments of the present specification.

Referring to fig. 9, in some embodiments, a master-slave control enabling key 121 is provided on the motion assembly 120. The master-slave control enabling key 121 is used for controlling master-slave motion enabling, and only after the key is triggered, the master manipulator side can control the tail end of the mechanical arm. The master-slave control enabling key 121 is partially exposed from the surface of the slip ring 122, is convenient for an operator to trigger, and is partially arranged inside the slip ring 122.

Since the slip ring 122 needs to slide in the first direction (X direction in fig. 7B), and the internal space of the slip ring 122 is small, the master-slave control enabling key 121 is inconvenient to use a conventional mechanical key with a wire. In some embodiments, the lancing actuator 100 further includes a wireless trigger assembly 170, the wireless trigger assembly 170 being fixedly coupled to the movement assembly 120. Referring to fig. 9, 10, and 12, in some embodiments, the wireless trigger assembly 170 is mounted on a slider 123 that can slide along with the slip ring 122.

Referring to fig. 11, in some embodiments, the wireless trigger assembly 170 includes a control key 171 and a signal emitting mechanism 172 electrically connected to the control key 171. The lower end of the master-slave control enable key 121 is in contact with the control key 171. When the master-slave control enable key 121 is pressed, the master-slave control enable key 121 triggers the control key 171 to control the signal transmitting mechanism 172 to transmit a signal. In some embodiments, control keys 171 are silicone keys.

In some embodiments, wireless trigger assembly 170 further includes a circuit board 173 and a battery 174 electrically connected to circuit board 173. The circuit board 173 connects the control key 171 and the signal emitting mechanism 172. In some embodiments, the circuit board 173 is a wireless module PCB circuit board. The battery 174 is the power supply portion of the overall wireless trigger assembly 170, and is preferably a button cell. When the operator presses the master-slave control enabling key 121, the control key 171 is triggered, and the wireless module PCB 173 processes the trigger signal of the control key 171 and transmits the trigger signal to the receiving end of the master control unit of the master operator through the signal transmitting mechanism 172 (e.g. antenna), thereby implementing the enabling control of master-slave movement.

The master-slave control enabling key 121 adopts the above wireless triggering mode, no cable is required to be connected, no motion resistance can be generated in the process of sliding up and down along with the sliding ring 122, and the device has the advantages of simple structure, convenience in installation, easiness in signal processing, accuracy in detection, high reliability, easiness in maintenance and capability of only periodically replacing a battery in the service life.

The motion assembly 120 is provided with a master-slave control enabling key 121 for master-slave motion enabling control, the key adopts a wireless triggering detection mode in a full stroke, a motion cable is not required to be arranged, the wireless triggering assembly 170 positioned in the slip ring 122 only needs button battery power supply, the volume is small, the triggering is simple, the detection is accurate, and the reliability is high.

FIG. 13 is an exemplary block diagram of a gesture adjustment execution portion and a passive rotational joint portion shown in accordance with some embodiments of the present description; FIG. 14 is another angular exemplary block diagram of a gesture adjustment actuator and passive rotary joint shown in accordance with some embodiments of the present disclosure; fig. 15 is an exemplary structural view of a master hand-operated device according to other embodiments of the present disclosure.

Referring to fig. 13 to 15, the master hand manipulation device further includes a posture adjustment executing section 200. The posture adjustment executing part 200 is mainly used for realizing the posture adjustment function requirement of the puncture executing part 100, and is also used for adjusting the posture of the end effector at the tail end of the mechanical arm.

In some embodiments, referring to fig. 13 and 14, the posture adjustment executing part 200 includes a first rotation shaft 210, a first connection member 220, a second rotation shaft 230, a second connection member 240, a second force feedback mechanism 250, and a third force feedback mechanism 260. One end of the first connecting member 220 is fixedly connected to the first rotating shaft 210, and the other end of the first connecting member 220 is movably connected to the rocker assembly 110 of the puncture executing unit 100 (e.g., movably connected to the rocker assembly 110 of the puncture executing unit 100 through a passive rotary joint unit 300 described below). One end of the second connecting member 240 is fixedly connected with the second rotating shaft 230, and the other end of the second connecting member 240 is movably connected with the rocker assembly 110 of the puncture executing section 100 (e.g., movably connected with the rocker assembly 100 of the puncture executing section through a passive rotary joint section 300 described below). The motion (e.g., gesture-adjusting motion) of the rocker assembly 110 can be transmitted to the first connecting component 220 and the second connecting component 240, the first connecting component 220 and the second connecting component 240 respectively drive the first rotating shaft 210 and the second rotating shaft 230 to rotate, and then the rotating angle information of the first rotating shaft 210 and the second rotating shaft 230 is collected (such as angle information collection through a first angle detecting component 272 and a second angle detecting component 282 below), the rotating angle information is transmitted to the tail end of the mechanical arm through the signal transmission component, and the tail end of the mechanical arm outputs corresponding control signals according to the received signals to control the gesture adjustment of the end effector, so as to meet the use requirements of different gesture-adjusting scenes.

The angle between the axis of the first rotating shaft 210 (axis B in fig. 13) and the axis of the second rotating shaft 230 (axis C in fig. 13) is greater than 10 °. For example, any angle within 10-180 (e.g., 30, 60, 135, etc.) may be provided. In some embodiments, the angle between the axis of the first rotational shaft 210 and the axis of the second rotational shaft 230 is 85 °. For example, the angle between the axis of the first rotating shaft 210 and the axis of the second rotating shaft 230 may be 90 °, as shown in fig. 13 and 14, so that the second force feedback mechanism 250 and the third force feedback mechanism 260 can obtain a larger operation space.

The second force feedback mechanism 250 is connected to the first rotation shaft 210, applies a posture adjustment resistance to the first rotation shaft 210 based on the second force feedback information, and applies a posture adjustment resistance to the puncture executing section 100 through the passive rotary joint section 300. The second force feedback information refers to resistance information received by the end effector at the end of the robot arm when the rocker assembly 110 performs the posture adjustment motion in the second degree of freedom. The third force feedback mechanism 260 is connected to the second rotation shaft 230, applies a posture adjustment resistance to the second rotation shaft 230 based on the third force feedback information, and applies a posture adjustment resistance to the puncture executing section 100 through the passive rotary joint section 300. The third force feedback information is resistance information received by the end effector at the end of the robotic arm when the rocker assembly 110 performs the posture adjustment motion in the third degree of freedom. The second and third degrees of freedom are described in detail herein below in the working principle section of the master hand-held device.

Referring to fig. 15, in some embodiments, a second force feedback mechanism 250 includes a second transmission assembly 251 and a second torque control 252. The second torque control 252 is coupled to the first rotational shaft 210 by a second transmission assembly 251. The third force feedback mechanism 260 includes a third transmission assembly 261 and a third torque control 262. The third torque control member 262 is coupled to the second rotational shaft 230 via a third transmission assembly 261.

In some embodiments, the second torque control 252 and the third torque control 262 are both hysteresis brakes. When the end effector at the distal end of the manipulator enters the human tissue and the posture of the end effector is adjusted, the end effector receives resistance from the human tissue, and hysteresis brakes are also used in the second force feedback mechanism 250 and the third force feedback mechanism 260, so that the movement resistance can be reflected at the puncture executing section 100. The method solves the problems of large motor volume, power redundancy and complex control when the current motor realizes large-value force feedback. Meanwhile, when the puncture action is executed, the degree of freedom of posture adjustment is required to be locked, the hysteresis brake can realize stepless adjustment of 5% -100% of rated braking torque, and the motion locking of the degree of freedom of posture adjustment can be realized through proper selection, so that two purposes of one device are realized.

The second transmission assembly 251 and the third transmission assembly 261 are transmission mechanisms of the posture adjustment executing section 200, and four arrows in fig. 15 are four revolute pairs necessary for the posture adjustment executing section 200. The primary function of the second transmission assembly 251 and the third transmission assembly 261 is to transmit the driving torque of the zero-returning motor (the second zero-returning motor 271 and the third zero-returning motor 281 described below) against the gravity and the motion friction of the whole machine, so that the rocker assembly 110 returns to the zero position; and secondly, the braking torque of the second torque control part 252 and the third torque control part 262 is transmitted, so that the posture-adjusting degree-of-freedom force feedback function is realized.

The main hand control device realizes force feedback in gesture adjustment movement and puncture movement, provides real-time force feedback for operators in the main-slave teleoperation process, ensures safer and more efficient operation process, and can improve operation precision.

Referring to fig. 15, in some embodiments, the second drive assembly 251 includes a second large reel 2511, a second small reel 2512, and a second drive line 2513. The radius of the second largest reel 2511 is larger than the radius of the second smallest reel 2512. Both ends of the second driving rope 2513 are fixed to the second large reel 2511 and the second small reel 2512, respectively. The shaft of the second large reel 2511 is coaxially coupled to the first rotating shaft 210, and the shaft of the second small reel 2512 is coaxially fixedly coupled to the output shaft of the second torque control member 252. The third drive assembly 261 includes a third large reel 2611, a third small reel 2612 and a third drive cord 2613. The radius of the third largest reel 2611 is larger than the radius of the third smallest reel 2612. Both ends of the third driving rope 2613 are respectively fixed to the third large reel 2611 and the third small reel 2612. The rotation shaft of the third large reel 2611 is coaxially and fixedly connected with the second rotation shaft 230, and the rotation shaft of the third small reel 2613 is coaxially connected with the output shaft of the third torque control member 262.

In some embodiments, a larger reduction ratio may be provided between second small reel 2512 and second large reel 2511, and between third small reel 2612 and third large reel 2611, thereby amplifying the braking torque of the corresponding hysteresis brake, realizing small-device large torque output, so that the overall structure is compact and occupies smaller space.

In some embodiments, the gear ratio of second large reel 2511 and second small reel 2512 is 1:5 to 1:15; the gear ratio of the third large reel 2611 and the third small reel 2612 is 1:5 to 1:15.

In some embodiments, the gear ratio of second large reel 2511 and second small reel 2512 is 1:10; the gear ratio of the third large reel 2611 and the third small reel 2612 is 1:10.

In some embodiments, the gear ratio of second large reel 2511 and second small reel 2512 is 1:5, a step of; the gear ratio of the third large reel 2611 and the third small reel 2612 is 1:5.

In some embodiments, the gear ratio of second large reel 2511 and second small reel 2512 is 1:15; the gear ratio of the third large reel 2611 and the third small reel 2612 is 1:15.

In some embodiments, because the reduction ratio between the second small reel 2512 and the second large reel 2511, and between the third small reel 2612 and the third large reel 2611 is set large, the radius of the second large reel 2511 and the third large reel 2611 is large, which would result in a large overall machine of the master hand control device if made in an overall round shape. And the second and third large reels 2511 and 2611 are small in rotation angle at the time of use, the structures of the second and third large reels 2511 and 2611 can be improved to reduce the volume. The second large reel 2511 and the third large reel 2611 are each in a sector shape, which is a part of a circle, as shown in fig. 16. The number of the second driving ropes 2513 is two. One end of each of the two second driving ropes 2513 is fixedly connected to two ends of a sector arc segment of the second large reel 2511, and the other end of each of the two second driving ropes is fixedly connected to the second small reel 2512. When the second large reel 2511 rotates, the second small reel 2512 is driven to rotate by the two second driving ropes 2513. When the second small reel 2512 rotates, one of the second driving ropes 2513 may wind on the second small reel 2512 and the other second driving rope 2513 may wind off the second small reel 2512.

In some embodiments, one end of the second drive line 2513 is fixedly attached to the second largest reel 2511 by a set screw. As shown in fig. 16, two fastening screws 2514 are provided on two straight line segments of the second large reel 2511, and the two fastening screws 2514 are near both ends of the sector arc segment of the second large reel 2511. The second largest reel 2511 has a transition fillet between the end portions of the fan-shaped arc segment and the straight line segments on both sides. One end of each second driving rope 2513 bypasses the transition round angle of the end of the fan-shaped arc section of the second large reel 2511 and is fixedly connected to the fastening screw 2514.

Similarly, there are two third driving ropes 2613. One end of each of the two third driving ropes 2613 is fixedly connected to two end parts of the fan-shaped arc section of the third large reel 2611, and the other end of each of the two third driving ropes is fixedly connected to the third small reel 2612. When the third large reel 2611 rotates, the third small reel 2612 is driven to rotate by the two third driving ropes 2613. As the third small reel 2612 rotates, one of the second drive lines 2513 may wind on the third small reel 2612 and the other second drive line 2513 may wind off the third small reel 2612.

In some embodiments, the second drive line 2513 and the third drive line 2613 may be steel wire ropes, with high drive stiffness, zero clearance, long life, no friction, accurate motion transfer and high force feedback accuracy.

Referring to fig. 17, in some embodiments, the gesture adjustment execution portion 200 further includes a second zero-return assembly 270 and a third zero-return assembly 280. The second return component 270 and the third return component 280 are used for returning the posture adjustment executing part 100 to a zero position after the main hand operation device completes the operation. The zero position can be automatically defined according to the requirement, for example, the zero position is defined when the rocker assembly 110 forms a preset angle with the vertical direction. In some embodiments, the zero position is defined as the position at which the rocker assembly 110 is in the vertical state, i.e., the preset angle is 0. The second return-to-zero assembly 270 includes a second return-to-zero motor 271 and a first angle detector 272. The output shaft of the second return element 270 is coaxially coupled to the rotational axis of the second small reel 2512. The first angle detecting member 272 is coaxially connected to the first rotating shaft 210, and is configured to detect a rotating angle of the first rotating shaft 210. The third return-to-zero assembly 280 includes a third return-to-zero motor 281 and a second angle detection 282. An output shaft of the third return-to-zero motor 281 is coaxially connected to a rotation shaft of the third small reel 2612. The second angle detecting member 282 is coaxially coupled to the second rotation shaft 230 for detecting a rotation angle of the second rotation shaft 230. The second zeroing motor 271 is based on the first angle detected by the first angle detecting element 272, and the third zeroing motor 281 is based on the second angle detected by the second angle detecting element 282 (as shown by two arrows in fig. 17), and transmits the second angle to the mechanical arm, so as to control the posture of the end effector, realize the posture control from the master end to the slave end, and realize the control of returning the rocker assembly 110 to the zero position.

In some embodiments, the first angle detector 272 and the second angle detector 282 are absolute value encoders, and the zero position of the rocker assembly 110 may be set, for example, with the rocker assembly 110 in a vertical state set to the zero position of the rocker assembly 110.

The second return-to-zero motor 271 and the third return-to-zero motor 281 can adopt stepping or brush motors, and meanwhile, a reduction gearbox is arranged, so that the large torque output of a small motor can be realized, the control is simple, the whole size is small, and the cost is low.

In some embodiments, the pose adjustment actuator 200 further comprises a base 290. The base 290 is used to support the posture adjustment executing section 200. The second force feedback mechanism 250, the third force feedback mechanism 260, the second return assembly 270, and the third return assembly 280 described above may all be mounted on the base 290.

In some embodiments, the lancing actuator 100 further includes an adaptor 190. In some embodiments, the adaptor 190 is mounted to the lower end of the rocker assembly 110 and is mounted to the support base 180, as shown in FIG. 5. The adaptor 190 provides support for the rocker assembly 110 on the one hand and connects the rocker assembly 110 to the passive rotary joint 300 on the other hand, enabling free rotation of the rocker assembly 110 along its central axis.

In some embodiments, the master hand manipulation device further comprises a passive rotational joint 300, the primary function of the passive rotational joint 300 being to enable free rotation of the rocker assembly 110 about its central axis. Referring to fig. 13, 14, in some embodiments, the passive rotary joint 300 includes a first swivel 310, a second swivel 320, and first and second bearings 330, 340. In some embodiments, the first bearing 330 and the second bearing 340 are rolling bearings.

The first swivel 310 is sleeved on the outer ring of the first bearing 330, the second swivel 320 is sleeved on the outer ring of the second bearing 340, and the first bearing 330 and the inner ring of the second bearing 340 are sleeved on the adaptor 190 at the lower end of the rocker assembly 110. The first swivel 310 is connected to the first connection part 220 through a first connection straight rod 350. One end of the first connection straight rod 350 is fixedly connected to the first swivel 310, and the other end of the first connection straight rod 350 is rotatably connected to the first connection part 220. The second swivel 320 is connected to the second connection part 240 through a second connection straight rod 360. One end of the second connecting straight rod 360 is fixedly connected to the second swivel 310, and the other end of the second connecting straight rod 360 is rotatably connected to the second connecting member 240. Specifically, the first and second connection bars 350 and 360 may be disposed along a radial direction of the rocker assembly 110. The first and second connection members 220 and 240 may be disposed along a circumferential direction of the outside of the rocker assembly 110. The first rotating ring 310 and the second rotating ring 320 can rotate along the circumference of the rocker assembly 110 through the first bearing 330 and the second bearing 340, and further can drive the first connecting straight rod 350 and the second connecting straight rod 360 to rotate along the circumference of the rocker assembly 110, and further, the first connecting straight rod 350 and the second connecting straight rod 360 drive the first connecting component 220 and the second connecting component 240 to rotate along the circumference of the rocker assembly 110.

The adaptor 190 of the lancing actuator 100 forms two revolute pairs with the first swivel 310, and the second bearing 340 and the second swivel 320 through the first bearing 330, as shown by the two large arrows M in fig. 13. Two revolute pairs are also required to be arranged between the first rotating ring 310 and the second rotating ring 320 and between the first connecting part 220 and the second connecting part 240, so that the rocker can rotate along two directions when the posture is adjusted, as shown by two small arrows N in fig. 13.

Fig. 18 is a schematic diagram illustrating the operation of the master manipulator according to some embodiments of the present disclosure.

The master hand control device provided by the embodiment of the specification is a master-slave posture increment mapping type four-degree-of-freedom force feedback master manipulator. Specifically, referring to FIG. 18, the kinematic assembly 120 may slide linearly along the rocker assembly 110 with a first degree of freedom 410; the second force feedback mechanism 250 is rotatable about its axis of rotation B with a second degree of freedom 420; the third force feedback mechanism 260 is rotatable about its axis of rotation C with a third degree of freedom 430; the rocker assembly 110 is rotatable about its central axis with a fourth degree of freedom 440.

The main hand control device provided in this embodiment of the present disclosure has a parallel configuration of the degrees of freedom of the posture adjustment, two degrees of freedom of rotation of the second force feedback mechanism 250 and the third force feedback mechanism 260 are both fixed to the base 290, the movement of the rocker assembly 110 is the posture adjustment movement, the posture adjustment movement is converted into the rotational movement of the second force feedback mechanism 250 and the third force feedback mechanism 260, that is, the second degree of freedom 420 and the third degree of freedom 430 in fig. 18, the detection of the rotational angles of the second force feedback mechanism 250 and the third force feedback mechanism 260 can be achieved through the angle detection device (that is, the first angle detection element 272 and the second angle detection element 282), and the posture adjustment of the end effector is achieved through the control of the mechanical arm end after the decoupling by the processor. The puncture executing part 100 controls the puncture action of the end effector by the movement assembly 120 making a linear movement along the rocker assembly 110. By the provision of the passive rotary joint 300, a fourth degree of freedom 440 is achieved such that the rocker assembly 110 as a whole can rotate relative to the base 290. Therefore, the overall configuration of the master hand manipulation device provided in the embodiment of the present disclosure is that the second degree of freedom 420 and the third degree of freedom 430 of the posture adjusting section are rotated in parallel and connected in series with the first degree of freedom 410 and the fourth degree of freedom 440 of the puncture executing section 100.

According to the gesture-adjusting movement (namely, the rotation of the second degree of freedom and the third degree of freedom) of the main hand control device provided by the embodiment of the specification, the parallel configuration is adopted, the movement control of the tail end of the mechanical arm can be completed through decoupling calculation of the rotation angle of the main hand control device, the force feedback of the gesture-adjusting movement is realized by adopting a hysteresis brake, the method is simple in control, good in linearity and small in size, the zero-returning control of the gesture-adjusting movement is realized by adopting a small motor matched with a speed reducer, and the problems of power redundancy, large size, large space required by movement, complex control and the like of the current large motor are solved.

The second force feedback mechanism 250 and the third force feedback mechanism 260 are respectively connected with the puncture executing unit 100 through the passive rotary joint unit 300, so that the puncture executing unit 100 drives the second force feedback mechanism 250 to move without influencing the third force feedback mechanism 260, and the tail end of the mechanical arm drives the third force feedback mechanism 260 to also have no influence on the second force feedback mechanism 250. The second force feedback mechanism 250 and the third force feedback mechanism 260 may each independently move (e.g., rotate about their axes of rotation, etc.). In some embodiments, second force feedback mechanism 250 and third force feedback mechanism 260 may be the same or similar structures. In some embodiments, second force feedback mechanism 250 and third force feedback mechanism 260 may be used to convert at least a portion of the motion (e.g., oscillation) of lancing implement 100 into corresponding motion (e.g., rotation about an axis of rotation) of second force feedback mechanism 250 and third force feedback mechanism 260. The second force feedback mechanism 250 can be driven to rotate around the rotation axis B of the second force feedback mechanism 100 by swinging the puncture executing portion 100, the third force feedback mechanism 260 can be driven to rotate around the rotation axis C of the third force feedback mechanism 260 by swinging the puncture executing portion 100, and the actual gesture adjusting motion amount of the puncture executing portion 100 is the vector sum of the rotation superposition of the second force feedback mechanism 250 and the third force feedback mechanism 260.

FIG. 19 is a schematic representation of a gesture of a master hand-operated device according to some embodiments of the disclosure. Referring to fig. 19, the master hand control device for a robot provided in the present disclosure can satisfy the control of the needle advancing and retracting and the gesture of the end effector of the mechanical arm under the master-slave teleoperation, so as to further realize the puncture operation under the guidance of CT images. The master hand control device has great technical changes in master-slave enabling triggering in the sliding process of the motion assembly, motion transmission in the puncturing process, puncturing freedom degree force feedback realization method and motion transmission and force feedback realization method of the gesture adjusting execution part, the performance of the whole machine is greatly improved, and the improvement is vital to the master hand control device in the man-machine interaction occasion.

Some embodiments of the present disclosure provide a surgical robot for medical procedures that includes a master hand manipulator for manipulating an end effector of the robot, which may employ the master hand manipulator of any of the embodiments described above.

Fig. 20 is an application scenario diagram of a surgical robot shown according to some embodiments of the present description. As shown in fig. 20, the robot may include a robot body 2000, an end effector 3000, a main hand manipulation device 1000, a first processor 4000, and a second processor 5000. The end effector 3000 is connected to the robot body 2000 (for example, provided at the end of the arm of the robot body 2000). The main hand-manipulating device 1000 is electrically connected to the first processor 4000, and the robot body 2000 and the end effector 3000 are electrically connected to the second processor 5000. The processors described above include a first processor 4000 and a second processor 5000.

In actual use, the robot body 2000 is located in the scan room. Optionally, the robot body 2000 includes a mechanical arm capable of moving an end effector 3000 mounted at the end of the mechanical arm to adjust the posture of the functional part at the end of the mechanical arm. The end effector 3000 is disposed on the robot body 2000 for performing a synchronized motion (e.g., lancing, suturing, etc.). A second processor 5000 is also located within the scan room. The control room is arranged adjacent to the scanning room or at intervals, an operation table of the imaging device is arranged in the control room, a first processor 4000 is arranged on the operation table, and a concrete wall is arranged between the first processor 4000 and the scanning room so as to shield rays. And, a master hand control device 1000 is also arranged in the control room, and a doctor realizes the control of the robot body 2000 in the scanning room by operating the master hand control device 1000 in the control room, thereby completing master-slave teleoperation type operation. Specifically, the control signal generated by the doctor manipulating the main hand manipulating device 1000 is transmitted to the first processor 4000, the first processor 4000 receives the control signal and transmits the control signal to the second processor 5000, the second processor 5000 receives the control signal and controls the robot body 2000 and the end effector 3000 to perform corresponding actions, meanwhile, the resistance information detected by the end effector 3000 is fed back to the second processor 5000 and then transmitted to the first processor 4000 through the second processor 5000, and the first processor 4000 applies corresponding resistance to the puncture executing part 100 through the force feedback mechanism.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure does not imply that the subject matter of the present description requires more features than are set forth in the claims. Indeed, less than all of the features of a single embodiment disclosed above.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.

Claims

1. A master hand manipulation device for a robot, characterized in that the master hand manipulation device (1000) comprises a puncture performing section (100); the puncture executing part (100) comprises a rocker assembly (110), a motion assembly (120) movably arranged on the rocker assembly (110) and a first force feedback mechanism; the first force feedback mechanism includes a first transmission assembly (130) and a first torque control member (140), the first force feedback mechanism applying a movement resistance to the movement assembly (120) based on first force feedback information;

The first transmission assembly (130) comprises a first large reel (131), a first small reel (132) and a first transmission rope (133); the first large reel (131) and the first small reel (132) are arranged at intervals along a first direction of movement of the movement assembly (120), and a rotating shaft of the first large reel (131) is coaxially connected with an output shaft of the first torque control member (140); both end portions of the first driving rope (133) are fixed on the outer circumference of the first large reel (131), and the first driving rope (133) bypasses the first small reel (132); the motion assembly (120) is fixedly connected with the first transmission rope (133); when the motion assembly (120) moves linearly along the first direction, the first large reel (131) is driven to rotate by the first driving rope (133).

2. The master hand manipulation device according to claim 1, wherein the puncture performing section (100) further comprises a limiting assembly (150); the limiting assembly (150) comprises a first limiting mechanism (151) and a second limiting mechanism (152) which are arranged at intervals along a first direction of linear motion of the motion assembly (120); the first and second spacing mechanisms (151, 152) are located between the first large reel (131) and the first small reel (132).

3. The master hand-piece device according to claim 1, wherein the first transmission assembly (130) further comprises a first guiding wheel set (134); the first guide wheel set (134) comprises a first guide wheel (1341) and a second guide wheel (1342); the axes of the first (1341) and second (1342) guide wheels are parallel to the axis of the first large reel (131); the first guide wheel (1341) and the second guide wheel (1342) are located at a position between the first large reel (131) and the moving assembly (120), the first guide wheel (1341) and the second guide wheel (1342) being arranged at intervals in a second direction perpendicular to the first direction;

the first driving rope (133) is located between the first guiding wheel (1341) and the second guiding wheel (1342), and the distance between the first guiding wheel (1341) and the second guiding wheel (1342) in the second direction is equal to the diameter of the first small reel (132).

4. Master hand-operated device according to claim 2, characterized in that the circumference of the first large reel (131) is smaller than the distance between the first limit mechanism (151) and the second limit mechanism (152); both end portions of the first transfer rope (133) have partial overlap in the outer circumferential direction of the first large reel (131).

5. The master hand-piece device according to claim 4, wherein the first transmission assembly (130) further comprises a second guiding wheel set (135); the second guiding wheel set (135) comprises a third guiding wheel (1351) and a fourth guiding wheel (1352); the third guide wheel (1351) and the fourth guide wheel (1352) are configured to define a gap between a portion of the first driving rope (133) wound into the first large reel (131) and a portion wound out of the first large reel (131) in an axial direction of the first large reel (131).

6. Master hand-operated device according to claim 1, characterized in that the first torque control (140) comprises a hysteresis brake; the hysteresis brake is fixedly connected coaxially with the first large reel (131).

7. The master hand-operated device according to claim 1, wherein the puncture performing section (100) further comprises a first return component (160); the first zeroing assembly (160) comprises a first zeroing motor (161) and a first encoder (162); the first return-to-zero motor (160) is coaxially connected with the rotating shaft of the first large reel (131).

8. The master hand control apparatus according to claim 1, wherein the motion assembly (120) is provided with a master-slave control enabling key (121); the puncture executing part (100) further comprises a wireless triggering component (170), and the wireless triggering component (170) is fixed with the moving component (120); the wireless triggering assembly (170) comprises a control key (171) and a signal transmitting mechanism (172) electrically connected with the control key (171); when the master-slave control enable key (121) is pressed, the master-slave control enable key (121) triggers the control key (171) to cause the signal transmitting mechanism (172) to transmit a signal.

9. The master hand-held device according to claim 8, wherein the wireless trigger assembly (170) further comprises a circuit board (173) and a battery (174) electrically connected to the circuit board (173), the circuit board (173) connecting the control key (171) and the signal emitting mechanism (172).

10. The master hand control apparatus according to claim 1, further comprising a posture adjustment executing section (200); the gesture adjustment executing part (200) comprises a first rotating shaft (210), a first connecting component (220), a second rotating shaft (230), a second connecting component (240), a second force feedback mechanism (250) and a third force feedback mechanism (260);

One end of the first connecting component (220) is fixedly connected with the first rotating shaft (210), and the other end of the first connecting component (220) is movably connected with the rocker assembly (110) of the puncture executing part (100); one end of the second connecting component (240) is fixedly connected with the second rotating shaft (230), and the other end of the second connecting component (240) is movably connected with the rocker assembly (110) of the puncture executing part (100); an included angle between an axis of the first rotating shaft (210) and an axis of the second rotating shaft (230) is greater than 10 degrees;

The second force feedback mechanism (250) is connected with the first rotating shaft (210) and applies gesture adjusting resistance to the first rotating shaft (210) based on second force feedback information; the third force feedback mechanism (260) is connected with the second rotating shaft (230) and applies posture adjustment resistance to the second rotating shaft (230) based on third force feedback information.

11. The master hand-operated device of claim 1, wherein the second force feedback mechanism (250) comprises a second transmission assembly (251) and a second torque control (252); the second torque control (252) is connected with the first rotating shaft (210) through the second transmission assembly (251); the third force feedback mechanism (260) includes a third transmission assembly (261) and a third torque control (262); the third torque control (262) is connected to the second rotational shaft (230) through the third transmission assembly (261).

12. The master hand-operated device of claim 11, wherein the second torque control (252) and the third torque control (262) each comprise a hysteresis brake.

13. The master hand-operated device of claim 11, wherein the second transmission assembly (251) comprises a second large reel (2511), a second small reel (2512) and a second transmission rope (2513); the radius of the second largest reel (2511) is larger than the radius of the second smallest reel (2512); both ends of the second driving rope (2513) are respectively fixed on the second large reel (2511) and the second small reel (2512); the rotating shaft of the second large reel (2511) is coaxially connected with the first rotating shaft (210), and the rotating shaft of the second small reel (2512) is coaxially and fixedly connected with the output shaft of the second torque control member (252);

The third transmission assembly (261) includes a third large reel (2611), a third small reel (2612) and a third transmission rope (2613); the radius of the third largest reel (2611) is larger than the radius of the third smallest reel (2612); both ends of the third driving rope (2613) are respectively fixed on the third big reel (2611) and the third small reel (2612); the rotating shaft of the third large reel (2611) is coaxially and fixedly connected with the second rotating shaft (230), and the rotating shaft of the third small reel (2613) is coaxially connected with the output shaft of the third torque control member (262).

14. The master hand-piece device according to claim 13, wherein the gear ratio of the second large reel (2511) and the second small reel (2512) is 1:5 to 1:15; -the transmission ratio of the third largest reel (2611) and the third small reel (2612) is 1:5 to 1:15.

15. The master hand-operated device of claim 13, wherein the second large reel (2511) and the third large reel (2611) are both sector-shaped; one end of each second driving rope (2513) is fixedly connected to two ends of a sector arc section of the second large reel (2511), and the other end of each second driving rope (2513) is fixedly connected to the second small reel (2512); the number of the third driving ropes (2613) is two, one ends of the two third driving ropes (2613) are respectively and fixedly connected with two ends of a sector arc section of the third large reel (2611), and the other ends of the two third driving ropes are fixedly connected with the third small reel (2612).

16. The master hand manipulation device according to claim 11, wherein the posture adjustment executing section (200) further comprises a second zeroing assembly (270) and a third zeroing assembly (280);

The second zeroing assembly (270) comprises a second zeroing motor (271) and a first angle detection member (272); an output shaft of the second return-to-zero motor (271) is coaxially connected with a rotating shaft of the second small reel (2512); the first angle detection piece (272) is coaxially connected with the first rotating shaft (210) and is used for detecting the rotating angle of the first rotating shaft (210);

The third zeroing assembly (280) comprises a third zeroing motor (281) and a second angle detection piece (282); an output shaft of the third return-to-zero motor (281) is coaxially connected with a rotating shaft of the third small reel (2612); the second angle detection piece (282) is coaxially connected with the second rotating shaft (230) and is used for detecting the rotating angle of the second rotating shaft (230);

The second return-to-zero motor (271) returns the rocker assembly (110) to a zero position based on a first angle detected by the first angle detector (272), and the third return-to-zero motor (281) returns the rocker assembly (110) to a zero position based on a second angle detected by the second angle detector (282).

17. The master hand manipulation device of claim 10, further comprising a passive rotary joint (300), the passive rotary joint (300) comprising a first swivel (310), a second swivel (320), and a first bearing (330), a second bearing (340); the first rotating ring (310) is sleeved on the outer ring of the first bearing (330), and the second rotating ring (320) is sleeved on the outer ring of the second bearing (340); the inner rings of the first bearing (330) and the second bearing (340) are sleeved on the rocker assembly (110);

The first swivel (310) is connected with the first connecting part (220) through a first connecting straight rod (350); one end of the first connecting straight rod (350) is fixedly connected to the first swivel (310), and the other end of the first connecting straight rod (350) is rotationally connected with the first connecting component (220);

The second swivel (320) is connected with the second connecting part (240) through a second connecting straight rod (360); one end of the second connecting straight rod (360) is fixedly connected to the second swivel (320), and the other end of the second connecting straight rod (360) is rotatably connected with the second connecting component (240).

18. A surgical robot, characterized by: comprising a robot body (2000), an end effector (3000), a first processor (4000), a second processor (5000), a master hand-manipulation device (1000) according to any of claims 1-17; the end effector (3000) is connected with the robot body (2000); the main hand control device (1000) is electrically connected with the first processor (4000), and the robot body (2000) and the end effector (3000) are electrically connected with the second processor (5000).