# US 12,758,343 B2 · Master manipulators of robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,758,343 B2 - Document ID: US12758343B2 - Status: Granted - Kind: B2 - Application number: 18/363,687 - Filed: 2023-08-01 - Published: 2023-11-23 - Granted: 2026-10-13 - Earliest claimed: 2021-02-01 - Assignees: Wuhan United Imaging Surgical Co., Ltd. - Applicants: Wuhan United Imaging Surgical Co., Ltd. - Inventors: Zhuangzhuang Lu; Ting Ye; Saili Wang - Web page: https://patentgrep.com/patent/US12758343B2 ## CPC - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 17/3403: {Needle locating or guiding means} - A61B 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like} - A61B 2017/3405: {using mechanical guide means} - A61B 34/35: for telesurgery - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Disclosed is a master manipulator of a robot. The master manipulator may comprise a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, and the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information; and an attitude adjustment part. ## Claims ### Claim 1 A master manipulator of a robot, comprising: a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, and the puncture actuator including a sliding component, wherein the sliding component includes a slip ring and a slide block connected to the slip ring, and the slip ring sleeves an outer side of the handle housing; and an attitude adjustment part; wherein the puncture actuator further includes a puncture enabling component disposed on the sliding component, and a linear motion component disposed inside the handle housing, wherein the sliding component is slidably arranged on the handle housing and connected to the linear motion component, the puncture enabling component is electrically connected to a communication device, and the puncture enabling component feeds back a puncture enabling signal to an end of a robotic arm through the communication device. ### Claim 2 (depends on 1) The master manipulator of claim 1, wherein the puncture enabling component includes an enabling trigger key arranged on the slip ring, and when the enabling trigger key is in a triggered state, the puncture enabling signal is fed back to the end of the robotic arm through the communication device. ### Claim 3 (depends on 2) The master manipulator of claim 2, wherein the puncture actuator includes a slide rail, the slide rail is arranged on an inner wall of the handle housing, the slip ring slidably sleeves the handle housing, the puncture enabling component is arranged in the slip ring and the handle housing, and the puncture enabling component is slidably connected to the slide rail. ### Claim 4 (depends on 3) The master manipulator of claim 3, wherein the puncture enabling component further includes a transmitting part and a receiving part arranged at both ends of the puncture component, the transmitting part emits a photoelectric signal, and the receiving part receives the photoelectric signal. ### Claim 5 (depends on 4) The master manipulator of claim 4, wherein the puncture enabling component further includes a shading block and a press reset key, the slide block is slidably arranged on the slide rail, the enabling trigger key is arranged on the slip ring in a pressable manner, the shading block is connected to the enabling trigger key, and the press reset key is elastically connected to the shading block and the slide block, and when the enabling trigger key is pressed, the shading block controls the puncture enabling component to transmit the puncture enabling signal to the end of the robotic arm by blocking the photoelectric signal. ### Claim 6 (depends on 3) The master manipulator of claim 3, wherein the puncture enabling component includes a puncture trigger switch and a contact wire, one end of the puncture trigger switch is connected to the enabling trigger key, another end of the puncture trigger switch is contacted with or separated from the contact wire, the contact wire is electrically connected to the communication device; and when the enabling trigger key is pressed, the puncture trigger switch is separated from the contact wire, and the contact wire transmits the puncture enabling signal to the end of the robotic arm through the communication device. ### Claim 7 (depends on 6) The master manipulator of claim 6, wherein the puncturing trigger switch is rotatably arranged on the handle housing, the puncture trigger switch has a rotation center located in a middle of the puncture trigger switch, and the puncture trigger switch rotates around the rotation center. ### Claim 8 (depends on 7) The master manipulator of claim 7, wherein the puncture enabling component includes the press reset key configured to reset the enabling trigger key, and the press reset key is arranged on the puncture trigger switch and a support part inside the handle housing. ### Claim 9 (depends on 1) The master manipulator of claim 1, wherein the linear motion component includes a first roller, a second roller spaced apart from the first roller, and a connecting rope connecting the first roller and the second roller, the slide block being connected to the connecting rope. ### Claim 10 (depends on 9) The master manipulator of claim 9, wherein the force feedback mechanism includes a mounting component and a force feedback component, the force feedback component is connected to the linear motion component, the mounting component is installed on a bottom of the handle housing and configured to install the force feedback component, the linear motion component is arranged on the handle housing and connected to the slide block, and the force feedback component applies resistance to the linear motion component. ### Claim 11 (depends on 10) The master manipulator of claim 10, wherein the first roller is rotatably arranged on an end of the handle housing away from the mounting component, the second roller is rotatably arranged on the mounting component, the puncture enabling component further includes a mounting base and a fixing part, the mounting base connects the slide block and the slip ring, and the connecting rope is fixed to the mounting base through the fixing part. ### Claim 12 (depends on 11) The master manipulator of claim 11, wherein the force feedback component includes an actuator motor and a position detection unit, the actuator motor and the position detection unit are respectively arranged on an axial end of the second roller, the position detection unit detects a movement of the slip ring and transmits the movement of the slip ring to the communication device, the actuator motor converts a puncture force fed back from the end of the robotic arm into a torque, and the torque is applied to the connecting rope. ### Claim 13 (depends on 1) The master manipulator of claim 1, wherein the puncture component includes a push rod slidably located in the handle housing and fixedly connected to the slide block. ### Claim 14 (depends on 13) The master manipulator of claim 13, wherein the force feedback mechanism includes an air cylinder located at a bottom of a base, the push rod penetrates through the base to be connected to the air cylinder, and the air cylinder converts puncture force at the end of the robotic arm into a change of an air pressure value. ### Claim 15 (depends on 13) The master manipulator of claim 13, wherein the puncture component includes a displacement sensor located at an end of the puncture component, and the displacement sensor detects a sliding distance of the slide block sliding along the handle housing and transmits the sliding distance of the slide block to the communication device. ### Claim 16 (depends on 1) The master manipulator of claim 1, wherein the puncture component is a hollow columnar structure, the puncture component rotates along a spindle of the hollow columnar structure, and the puncture component is rotatably connected to the attitude adjustment part. ### Claim 17 (depends on 16) The master manipulator of claim 16, wherein the master manipulator includes a handle rotation component including a rotation bracket and a rotation bearing mounted between the rotation bracket and the puncture component, the rotation bracket is mounted on the attitude adjustment part, and the rotation bearing sleeves an end of the puncture component relatively close to the attitude adjustment part. ### Claim 18 A robot, comprising a puncture needle at an end of the robot and a master manipulator wherein the puncture needle is arranged at an end of a robotic arm of the robot, the robot is electrically connected to a communication device, and the master manipulator is electrically connected to the communication device and the puncture needle, and the master manipulator includes: a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, and the puncture actuator including a sliding component, wherein the sliding component includes a slip ring and a slide block connected to the slip ring, and the slip ring sleeves an outer side of the handle housing; and an attitude adjustment part; wherein the puncture actuator further includes a puncture enabling component disposed on the sliding component, and a linear motion component disposed inside the handle housing, wherein the sliding component is slidably arranged on the handle housing and connected to the linear motion component, the puncture enabling component is electrically connected to a communication device, and the puncture enabling component feeds back a puncture enabling signal to an end of a robotic arm through the communication device. ### Claim 19 A master manipulator of a robot, comprising: a puncture component including a handle housing, a puncture actuator movably arranged on the handle housing, and a force feedback mechanism arranged at a bottom of the handle housing, the force feedback mechanism and the puncture actuator being connected, the force feedback mechanism applying resistance to the puncture component based on puncture force feedback information, the puncture component being a hollow columnar structure, and the puncture component rotating along a spindle of the hollow columnar structure; and an attitude adjustment part.