CN210170165U

CN210170165U - Force feedback device and lung puncture robot

Info

Publication number: CN210170165U
Application number: CN201920102189.3U
Authority: CN
Inventors: Xingguang Duan; 段星光; tengfei Cui; 崔腾飞; Jichen Lou; 楼霁晨; Shenshen Zhou; 周珅珅; Zhe Han; 韩哲
Original assignee: Beijing Institute of Technology BIT
Current assignee: Truehealth Beijing Medical Technology Co Ltd
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2020-03-24
Anticipated expiration: 2029-01-21

Abstract

The application discloses force feedback device and lung puncture robot, through setting up: the device comprises a fixed frame, a cable tensioning device, a stress acting element, a sliding rod, a steel wire rope, a sliding wheel mechanism and a feedback force applying module; the mount includes: a top plate and a bottom plate; the sliding rod is fixedly arranged between the top plate and the bottom plate; the sliding wheel mechanism is fixedly arranged on the top plate; the slide bar is fixedly provided with a stress acting piece which is used for enabling the stress acting piece to slide up and down along the slide bar; the bottom plate is fixedly provided with the cable tensioning device and the feedback force applying module; the stress acting piece is fixedly connected with the steel wire rope, and the sliding wheel mechanism, the cable tensioning device and the feedback force applying module are all connected with the steel wire rope to form a closed loop structure. The purpose that the stress acting piece can perform long-distance linear motion is achieved, return difference can be effectively reduced, and the device has the technical effects of large motion range, quick response and high real-time performance.

Description

Force feedback device and lung puncture robot

Technical Field

The application relates to the technical field of force feedback, in particular to a force feedback device and a lung puncture robot.

Background

The force feedback device represents an innovation in the human-computer contact interaction technology, a computer user can interact with the force feedback device only through vision in the past, the touch sense is obviously not added as the most important perception mode in many application occasions, the six-degree-of-freedom force feedback device changes the situation, the display device enables the user to see images generated by the computer, the loudspeaker enables the user to hear the same sound synthesized by the computer, and the force feedback device enables the user to contact and operate virtual objects generated by the computer.

The force feedback devices currently used in the market have the disadvantages of small movement range and low precision. The requirement that the moving assembly can feel the existence of the feedback force in a large range cannot be met, the return difference is large, real-time response cannot be achieved, and the accuracy is poor.

In view of the problems in the related art, no effective solution has been proposed.

Disclosure of Invention

The present application mainly aims to provide a force feedback device with a large motion range and a lung puncturing robot, so as to solve the problems existing in the related art.

To achieve the above object, according to one aspect of the present application, a force feedback device is provided.

The force feedback device according to the present application comprises:

the device comprises a fixed frame, a cable tensioning device, a stress acting element, a sliding rod, a steel wire rope, a sliding wheel mechanism and a feedback force applying module;

the mount includes: a top plate and a bottom plate; the sliding rod is fixedly arranged between the top plate and the bottom plate;

the sliding wheel mechanism is fixedly arranged on the top plate;

the slide bar is fixedly provided with a stress acting piece which is used for enabling the stress acting piece to slide up and down along the slide bar;

the bottom plate is fixedly provided with the cable tensioning device and the feedback force applying module;

the stress acting piece is fixedly connected with the steel wire rope, and the sliding wheel mechanism, the cable tensioning device and the feedback force applying module are all connected with the steel wire rope to form a closed loop structure.

Further, in the force feedback apparatus as described above, the force receiving member includes: the force application rod, the clamping device and the sliding structure; the force application rod and the clamping device are respectively fixedly connected with the sliding structure;

the sliding structure is provided with sliding holes matched with the sliding rods in number and shape and is movably connected with the sliding rods through the sliding holes;

the force application rod is fixedly arranged at the edge of the sliding structure;

the clamping device is fixedly arranged on the inner side of the sliding structure and used for clamping the steel wire rope and keeping the relative position between the stress acting piece and the steel wire rope.

Further, as for the aforementioned force feedback device, the fixing frame further includes: two support rods; the two sliding rods are arranged, and the supporting rod and the sliding rods are respectively arranged at the same side of the fixing frame; and the sliding structure is provided with two sliding holes matched with the positions of the sliding rods.

Further, as the force feedback device, the cable tension device comprises a fixed seat with a sliding groove, a rolling wheel and a set screw; the rolling wheel is connected with the steel wire rope in a sliding manner;

the rolling wheel is axially provided with a bolt, penetrates through the sliding groove and is fixed on the fixed seat through a nut; after the screw part of the set screw penetrates through the upper part of the fixing seat and enters the sliding groove, the bottom end of the screw part is movably connected with the bolt and used for controlling the rolling wheel to move downwards in the groove through the set screw so as to drive the steel wire rope to be tensioned.

Further, as in the aforementioned force feedback device, the feedback force applying module comprises: the steel wire rope winding device comprises a driving motor and a steel wire winding shaft, wherein the steel wire rope is wound on the steel wire winding shaft; the driving motor is in driving connection with the steel wire winding shaft and used for driving the steel wire winding shaft to generate corresponding feedback force according to the acting force of the stressed acting piece.

Further, as in the aforementioned force feedback device, the feedback force applying module further comprises: the first support, the second support, the first transmission gear and the second transmission gear; the first support and the second support are oppositely arranged, the steel wire winding shaft is arranged between the lower part of the first support and the second support, and the outer side of the lower part of the first support is provided with a first transmission gear connected with the steel wire winding shaft; and the two sides above the first support are respectively provided with the driving motor and the second transmission gear which are in driving connection with each other, and the first transmission gear and the second transmission gear are in meshed connection with each other.

Further, as in the aforementioned force feedback device, the sliding wheel mechanism includes: a first and second sliding wheel assembly;

the first sliding wheel assembly and the second sliding wheel assembly are respectively matched with the stress acting element and the feedback force applying module and are used for transitionally connecting a steel wire rope between the stress acting element and the feedback force applying module.

Further, as the aforementioned force feedback device, the sliding wheel mechanism further includes: a tension wheel assembly; the tensioning wheel assembly is arranged between the first sliding wheel assembly and the second sliding wheel assembly.

Further, as in the aforementioned force feedback device, the tensioner assembly comprises: the device comprises a first tensioning wheel bracket, a second tensioning wheel bracket, an adjusting bracket and a tensioning pulley; the first tensioning wheel bracket and the second tensioning wheel bracket are oppositely arranged on the top plate;

the adjusting bracket is adjustably arranged between the first tensioning wheel bracket and the second tensioning wheel bracket; the tensioning pulley is arranged below the adjusting bracket;

and the steel wire rope passes through the upper part of the pulley of the first sliding wheel assembly after going out of the stress acting element, and enters the feedback force applying module below the tensioning pulley and above the pulley of the second sliding wheel assembly.

In order to achieve the above object, according to another aspect of the present application, there is provided a lung piercing robot comprising the force feedback device according to any one of the preceding claims.

In an embodiment of the present application, a force feedback device and a lung puncturing robot are provided, in which: the device comprises a fixed frame, a cable tensioning device, a stress acting element, a sliding rod, a steel wire rope, a sliding wheel mechanism and a feedback force applying module; the mount includes: a top plate and a bottom plate; the sliding rod is fixedly arranged between the top plate and the bottom plate; the sliding wheel mechanism is fixedly arranged on the top plate; the slide bar is fixedly provided with a stress acting piece which is used for enabling the stress acting piece to slide up and down along the slide bar; the bottom plate is fixedly provided with the cable tensioning device and the feedback force applying module; the stress acting piece is fixedly connected with the steel wire rope, and the sliding wheel mechanism, the cable tensioning device and the feedback force applying module are all connected with the steel wire rope to form a closed loop structure. The purpose that the stress acting piece can perform long-distance linear motion is achieved, return difference can be effectively reduced, and the device has the technical effects of large motion range, quick response and high real-time performance.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

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

FIG. 2 is a schematic structural view of a cable tensioner according to one embodiment of the present application;

FIG. 3 is a schematic structural diagram of a feedback force application module according to one embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, the present application relates to a force feedback device comprising:

the device comprises a fixed frame 7, a cable tensioning device 1, a stress acting element 2, a sliding rod 3, a steel wire rope 4, a sliding wheel mechanism 5 and a feedback force applying module 6;

the fixing frame 7 includes: a top plate 71 and a bottom plate 72; the slide rod 3 is fixedly arranged between the top plate 71 and the bottom plate 72;

specifically, the top plate 71 and the bottom plate 72 may be rectangular or rectangular-like, and the fixing frame may support the whole frame by the sliding rods 3 and other supporting members, and generally, in order to achieve good stability of the fixing frame 7, the total number of the sliding rods 3 and other supporting members needs to be at least 3, and preferably, not on the same straight line;

the top plate 71 is fixedly provided with the sliding wheel mechanism 5;

a stress acting element 2 is fixedly arranged on the slide bar 3 and used for enabling the stress acting element 2 to slide up and down along the slide bar 3;

that is, when the operator operates the force-applying member 2, it can slide up and down along the slide bar 3; because the force acting element 2 is fixedly connected with the steel wire rope 4, the steel wire rope 4 also moves along with the sliding of the force acting element 2; when the device is used in a lung puncturing robot, an operator operates the stress acting piece 2 to realize indirect control on a target operation object, so that when the object stress acting piece 2 moves, the target operation object moves along with the object stress acting piece, and when the device is applied to the lung puncturing robot, the target operation object is a needle body;

the bottom plate 72 is fixedly provided with the cable tensioning device 1 and the feedback force applying module 6;

the stress acting element 2 is fixedly connected with the steel wire rope 4, and the sliding wheel mechanism 5, the cable tensioning device 1 and the feedback force applying module 6 are all connected with the steel wire rope 4 to form a closed loop structure.

Specifically, the movable connection between the sliding wheel mechanism 5 and the steel wire rope 4 is mainly used for enabling the steel wire rope 4 to be smoothly transited from the feedback force applying module 6 to the stress acting element 2; preferably, the cable tensioning device 1, the stress acting element 2 and the sliding wheel mechanism 5 are matched in position, so that the steel wire ropes 4 between the three are on the same straight line;

when the target operation object is a needle body, and the needle body is inserted into human organs such as skin, the system can detect a corresponding inserted signal, and after processing and calculation of processing equipment such as a single chip microcomputer, the corresponding feedback force of the feedback force application module 6 is given, so that the purpose of providing the corresponding feedback force for the user can be achieved, and the user can feel the real feedback force.

In some embodiments, as shown in fig. 1, the force-receiving member 2 comprises, as in the force feedback device described above: the force application rod 21, the clamping device 22 and the sliding structure 23; the force application rod 21 and the clamping device 22 are respectively fixedly connected with the sliding structure 23;

the sliding structure 23 is provided with sliding holes matched with the sliding rods 3 in number and shape, and is movably connected with the sliding rods 3 through the sliding holes;

the force application rod 21 is fixedly arranged at the edge of the sliding structure 23;

the clamping device 22 is fixedly arranged on the inner side of the sliding structure 23 and used for clamping the steel wire rope 4 and keeping the relative position between the stress acting element 2 and the steel wire rope 4.

Specifically, the force application rod 21 may be a cone, a cylinder, or the like, which is adapted to the hand-held operation of the user; the force application rod 21, the clamping device 22 and the sliding structure 23 can be fixedly connected through screw welding and the like, and only after the force application rod 21 runs for a certain stroke, the sliding structure 23 and the steel wire rope 4 clamped by the clamping device 22 also run for corresponding strokes; for convenience of operation, the force application rod 21 is arranged on the outer side of the top plate 71; the clamping device 22 is preferably disposed above the sliding structure 23 on the perpendicular line, and the clamping device 22 can clamp the steel cable 4 by elastic engagement, bolt fastening, and the like, and the clamping manner is not particularly limited herein.

As shown in fig. 1, in some embodiments, the fixing frame 7 further includes, as the aforementioned force feedback device: two support rods 73; the number of the slide bars 3 is two, and the support rods 73 and the slide bars 3 are respectively arranged on the same side of the fixed frame 7; and two sliding holes matched with the positions of the sliding rods 3 are formed in the sliding structure 23.

Specifically, as shown in fig. 1, a slide bar 3 is respectively arranged at the front left and right of the fixing frame 7, and a support bar 73 is respectively arranged at the rear left and right, preferably, the support bar 73 and the slide bar 3 are both perpendicular to the top plate 71 and the bottom plate 72; and, the left and right sides of the sliding structure 23 are also provided with a sliding hole respectively. The overall structural stability of the fixed frame 7 can be ensured while allowing the sliding structure 23 to move smoothly up and down on the sliding rod 3, and the top plate 71 and the bottom plate 72 can be maintained in a horizontal state all the time when they are horizontally disposed.

In some embodiments, as shown in fig. 2, the cable tensioner 1 comprises a fixed seat 11 with a sliding groove, a rolling wheel 12 and a set screw 13; the rolling wheel 12 is connected with the steel wire rope 4 in a sliding way;

the rolling wheel 12 is axially provided with a bolt, penetrates through the sliding groove and is fixed on the fixed seat 11 through a nut; after the screw part of the set screw 13 passes through the upper part of the fixed seat 11 and enters the sliding groove, the bottom end of the screw part is movably connected with the bolt and is used for controlling the rolling wheel 12 to move downwards in the groove through the set screw 13, so that the steel wire rope 4 is tensioned.

Specifically, the screw portion of the set screw 13 may be movably connected to the bolt by a slot, so that the set screw 13 is not separated from the bolt when rotating; when the set screw 13 is in threaded connection with the fixed seat 11, when the set screw 13 is rotated, the screw portion of the set screw 13 moves up and down in the sliding groove, so as to drive the vertical height of the bolt and the rolling wheel 12, and further achieve the purpose of changing the length of the steel wire rope 4 between the sliding wheel mechanism 5 and the cable tensioning device 1 and between the feedback force applying module 6 and the cable tensioning device 1, so as to drive the tensioning of the steel wire rope 4.

As shown in fig. 1 and 3, in some embodiments, as the aforementioned force feedback device, the feedback force applying module 6 includes: a driving motor 61 and a wire spool 62, wherein the wire spool 62 is wound with the steel wire rope 4; the driving motor 61 is in driving connection with the wire spool 62, and is configured to drive the wire spool 62 to generate a corresponding feedback force according to the acting force of the force acting member 2.

Specifically, the steel wire spool 62 adopts a bidirectional winding arrangement, and the structure that the driving motor 61 is in driving connection with the steel wire spool 62 enables the steel wire spool 62 to achieve the purposes of winding up a rope in one direction and unwinding the rope in the other direction, and the purpose of applying feedback force to the stress acting element 2 is achieved by pulling the steel wire rope 4. The device has simple structure, the characteristics of easily realizing, and the subassembly is less, can effectively reduce the fault rate, ensures the reliable stable operation of system.

As shown in fig. 3, in some embodiments, the feedback force application module 6 further comprises, as the aforementioned force feedback device: a first bracket 63, a second bracket 64, a first transmission gear 65 and a second transmission gear 66; the first bracket 63 and the second bracket 64 are oppositely arranged, the steel wire winding shaft 62 is arranged between the lower part of the first bracket 63 and the second bracket 64, and the outer side of the lower part of the first bracket 63 is provided with a first transmission gear 65 which is connected with the steel wire winding shaft 62 through a shaft; the driving motor 61 and the second transmission gear 66 which are in driving connection with each other are respectively arranged on two sides above the first bracket 63; the first transmission gear 65 and the second transmission gear 66 are meshed with each other.

Specifically, circular holes for realizing the mutual shaft connection between the driving motor 61 and the second transmission gear 66 and the shaft connection between the steel wire winding shaft 62 and the first transmission gear 65 are respectively and adaptively arranged above and below the first bracket 63; and the connection part of the second bracket 64 and the wire winding shaft 62 is also provided with a matched rotary connection mechanism so as to reduce the abrasion to the wire winding shaft 62. The device has simple structure, the characteristics of easily realizing, and the subassembly is less, can effectively reduce the fault rate, ensures the reliable stable operation of system.

As shown in fig. 1, in some embodiments, the sliding wheel mechanism 5 comprises, as the aforementioned force feedback device: a first and second sliding

wheel assemblies

51 and 52;

the first sliding wheel assembly 51 and the second sliding wheel assembly 52 are respectively matched with the force receiving acting element 2 and the feedback force applying module 6, and are used for transitionally connecting the steel wire rope 4 between the force receiving acting element 2 and the feedback force applying module 6.

Specifically, the position relationship between the first sliding wheel assembly 51 and the force-receiving acting member 2 satisfies that the steel wire rope 4 between the first sliding wheel assembly and the force-receiving acting member is vertically arranged, and the position relationship between the second sliding wheel assembly 52 and the feedback force applying module 6 also satisfies that the steel wire rope 4 between the first sliding wheel assembly and the force-receiving acting member is vertically arranged; when the steel wire rope 4 needs to penetrate through the top plate 71, a hole matched with the steel wire rope is formed in the top plate 71. Therefore, the steel wire rope 4 can move vertically, the stress of the first sliding wheel assembly 51 and the second sliding wheel assembly 52 can be matched with the fixed positions of the first sliding wheel assembly and the second sliding wheel assembly, and the stability and the durability of the device can be effectively enhanced.

As shown in fig. 1, in some embodiments, the sliding wheel mechanism 5 further includes, as the aforementioned force feedback device: a tensioner assembly 53; the tension pulley assembly 53 is provided between the first sheave assembly 51 and the second sheave assembly 52. Because the length of the steel wire rope 4 may be increased along with the increase of the using degree, the tightness degree of the whole steel wire rope 4 can be adjusted at the upper part of the device by arranging the tension pulley component 53 without cutting the steel wire rope 4; thereby having the advantage of convenient operation.

As shown in fig. 1, in some embodiments, such as the aforementioned force feedback device, the tensioning wheel assembly 53 comprises: a first tensioning wheel bracket 531, a second tensioning wheel bracket 532, an adjusting bracket 533 and a tensioning pulley 534; the first tensioning wheel bracket 531 and the second tensioning wheel bracket 532 are oppositely arranged on the top plate 71;

the adjusting bracket 533 is adjustably disposed between the first tensioning wheel bracket 531 and the second tensioning wheel bracket 532; the tensioning pulley 534 is arranged below the adjusting bracket 533;

the steel wire rope 4 goes out of the force acting member 2 and then sequentially passes through the upper part of the pulley of the first sliding wheel assembly 51, the lower part of the tensioning pulley 534 and the upper part of the pulley of the second sliding wheel assembly 52 to enter the feedback force applying module 6.

That is, the shape of the wire rope 4 in the sheave mechanism 5 is a straight line or M-shaped, and when the tightness is not required to be adjusted, the wire rope is straight, and since the length of the straight line between the first sheave assembly 51 and the second sheave assembly 52 is a constant value, when the wire rope is M-shaped, the total length of the wire rope between the first sheave assembly 51 and the second sheave assembly 52 is increased based on the principle that the sum of the two sides of the triangle is greater than the third side, and thus the purpose of tensioning the wire rope 4 in the entire apparatus is achieved. The structure in this embodiment is ingenious, can effectively adjust the elasticity degree, and simple structure easily realizes, can effectively reduce the spare part quantity of device, reduces whole fault rate, changes in manufacturing use and increase of service life.

According to another embodiment of the application, there is also provided a lung puncturing robot comprising a force feedback device as described in any of the previous embodiments.

The working principle of the device is as follows:

when the lung puncture robot is applied, and an operator operates the force acting piece 2, the force acting piece 2 can slide up and down along the slide bar 3; along with the transmission of the cable tensioning device 1, the stress acting element 2, the sliding wheel mechanism 5 and the feedback force applying module 6, the steel wire rope 4 also moves along with the sliding of the stress acting element 2; the target manipulator is a needle body due to the application in the lung puncture robot; after the needle body is inserted into the lung, the system can detect the magnitude signal of the force corresponding to the needle insertion through a force detection sensor and other devices arranged on the needle body, the full output angle of the driving motor 61 in the feedback force application module 6 required to rotate is given after the processing calculation of a single chip microcomputer and other processing equipment, the steel wire winding shaft 62 is driven to move, the feedback force corresponding to the needle insertion force is realized through the retraction and release of the steel wire rope 4, the purpose of providing the corresponding feedback force of a user can be realized, and the user can feel the real feedback force.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A force feedback device, comprising: the device comprises a fixed frame (7), a cable tensioning device (1), a stress acting element (2), a sliding rod (3), a steel wire rope (4), a sliding wheel mechanism (5) and a feedback force applying module (6);

the fixing frame (7) comprises: a top plate (71) and a bottom plate (72); the sliding rod (3) is fixedly arranged between the top plate (71) and the bottom plate (72);

the sliding wheel mechanism (5) is fixedly arranged on the top plate (71);

the sliding rod (3) is fixedly provided with a stress acting piece (2) which is used for enabling the stress acting piece (2) to slide up and down along the sliding rod (3);

the bottom plate (72) is fixedly provided with the cable tensioning device (1) and the feedback force applying module (6);

the stress acting piece (2) is fixedly connected with the steel wire rope (4), and the sliding wheel mechanism (5), the cable tensioning device (1) and the feedback force applying module (6) are all connected with the steel wire rope (4) to form a closed loop structure.

2. Force feedback device according to claim 1, wherein the force-receiving acting element (2) comprises: a force application rod (21), a clamping device (22) and a sliding structure (23); the force application rod (21) and the clamping device (22) are respectively fixedly connected with the sliding structure (23);

the sliding structure (23) is provided with sliding holes which are matched with the sliding rods (3) in number and shape and is movably connected with the sliding rods (3) through the sliding holes;

the force application rod (21) is fixedly arranged at the edge of the sliding structure (23);

the clamping device (22) is fixedly arranged on the inner side of the sliding structure (23) and used for clamping the steel wire rope (4) and keeping the relative position between the stress acting element (2) and the steel wire rope (4).

3. Force feedback device according to claim 2, wherein the fixture (7) further comprises: two support rods (73); the two sliding rods (3) are arranged, and the supporting rods (73) and the sliding rods (3) are respectively arranged at the same side of the fixed frame (7); and two sliding holes matched with the positions of the sliding rods (3) are formed in the sliding structure (23).

4. Force feedback device according to claim 1, wherein the cable tensioning device (1) comprises a fixed seat (11) with a sliding groove, a rolling wheel (12) and a set screw (13); the rolling wheel (12) is connected with the steel wire rope (4) in a sliding manner;

the rolling wheel (12) is axially provided with a bolt, penetrates through the sliding groove and is fixed on the fixed seat (11) through a nut; after the screw part of the set screw (13) penetrates through the upper part of the fixed seat (11) and enters the sliding groove, the bottom end of the screw part is movably connected with the bolt and used for controlling the rolling wheel (12) to move downwards in the groove through the set screw (13), so that the steel wire rope (4) is tensioned.

5. The force feedback device of claim 1, wherein the feedback force application module (6) comprises: the steel wire rope winding device comprises a driving motor (61) and a steel wire winding shaft (62), wherein the steel wire rope (4) is wound on the steel wire winding shaft (62); the driving motor (61) is in driving connection with the steel wire winding shaft (62) and used for driving the steel wire winding shaft (62) to generate corresponding feedback force according to the acting force of the stress acting piece (2).

6. The force feedback device of claim 5, wherein the feedback force application module (6) further comprises: a first bracket (63), a second bracket (64), a first transmission gear (65) and a second transmission gear (66); the first bracket (63) and the second bracket (64) are oppositely arranged, the steel wire winding shaft (62) is arranged between the lower part of the first bracket (63) and the second bracket (64), and a first transmission gear (65) which is in shaft connection with the steel wire winding shaft (62) is arranged on the outer side of the lower part of the first bracket (63); the two sides above the first support (63) are respectively provided with the driving motor (61) and the second transmission gear (66) which are in driving connection with each other, and the first transmission gear (65) and the second transmission gear (66) are in meshed connection with each other.

7. Force feedback device according to claim 1, wherein the sliding wheel mechanism (5) comprises: a first sliding wheel assembly (51) and a second sliding wheel assembly (52);

the first sliding wheel assembly (51) and the second sliding wheel assembly (52) are respectively matched with the stress acting element (2) and the feedback force applying module (6) and are used for being in transition connection with the steel wire rope (4) between the stress acting element (2) and the feedback force applying module (6).

8. Force feedback device according to claim 7, wherein the sliding wheel mechanism (5) further comprises: a tension wheel assembly (53); the tension wheel assembly (53) is arranged between the first sliding wheel assembly (51) and the second sliding wheel assembly (52).

9. Force feedback device according to claim 8, wherein the tension wheel assembly (53) comprises: a first tensioning wheel bracket (531), a second tensioning wheel bracket (532), an adjusting bracket (533) and a tensioning pulley (534); the first tensioning wheel bracket (531) and the second tensioning wheel bracket (532) are oppositely arranged on the top plate (71);

the adjusting bracket (533) is adjustably arranged between the first tensioning wheel bracket (531) and the second tensioning wheel bracket (532); the tensioning pulley (534) is arranged below the adjusting bracket (533);

the steel wire rope (4) goes out of the stress acting element (2) and then sequentially passes through the upper part of the pulley of the first sliding wheel assembly (51), and the lower part of the tensioning pulley (534) and the upper part of the pulley of the second sliding wheel assembly (52) enter the feedback force applying module (6).

10. A lung piercing robot comprising a force feedback device as claimed in any one of claims 1 to 9.