CN109394343B - A fully passive master operator - Google Patents

Abstract

The invention discloses a full passive main manipulator, which comprises a position part and a gesture part, wherein the position part is fixedly connected with the gesture part, and the position part comprises a base; the sliding support seat is arranged on the base and rotates around an axis R6 of the base; the sliding seat is connected with the sliding support seat and rotates around an axis R5 of the sliding support seat; the spline shaft penetrates through the sliding seat and rotates around an axis R4 of the sliding seat; the three axes R4, R5 and R6 are intersected at one point, and the whole structure layout is along the same axis through the brand new structural design of the position part, and the three axes of the position part are intersected at one point, so that the structure is concentrated, the volume is small, the working space is large, and the working space is fully utilized.

Description

A fully passive master operator

Technical Field

The present invention relates to the field of medical devices, and in particular to a fully passive main operator.

Background technique

There are often some delicate operations in surgical operations. The objects of these operations are small and complex in shape. Some operations often take a long time to complete. Doctors are easily tired, which can easily cause hand tremors and inaccurate movements. The robot operator can completely avoid these safety hazards and accurately complete some complex operations that require a long time. Therefore, it has attracted everyone's attention. The master operator is an important component of the master-slave system.

At present, the relatively successful master manipulator systems mainly include the PHANTOM series master manipulators of Sensable Company in the United States and the Omega series master manipulators of ForceDimension Company in Switzerland. For the master manipulators of the PHANTOM and Omega series, their mechanisms occupy a large volume, have a small working space, and cannot achieve gravity balance by themselves. In the prior art, gravity balance is achieved by respectively setting counterweights in the posture part and the position part of the master manipulator, but the structural design of the position part of the master manipulator is unreasonable, and the occupied volume is large, which limits the application environment of the master manipulator.

In view of the above-mentioned defects, the inventors of the present invention finally obtained the present invention after a long period of research and practice.

Summary of the invention

In order to solve the above-mentioned technical defects, the technical solution adopted by the present invention is to provide a fully passive main operator. The main operator has a brand-new structural design for the position part. The overall structural layout is along the same axis, and the three axes of the position part intersect at one point. The structure is concentrated, the volume is small, the working space is large and fully utilized.

To achieve the above object, the technical solution of the present invention is achieved as follows:

A fully passive main operator comprises a position part and a posture part, wherein the position part and the posture part are fixedly connected, the position part comprises a base; a sliding support seat is arranged on the base and rotates around the axis R6 of the base; a sliding seat is connected to the sliding support seat and rotates around the axis R5 of the sliding support seat; a spline shaft passes through the sliding seat and rotates around the axis R4 of the sliding seat; the three axes R4, R5 and R6 intersect at one point.

Preferably, it also includes a sliding rod, which is fixed to one end of the spline shaft; a traction plate is fixed to the other end of the spline shaft in a direction opposite to the sliding rod; one end of a pulley connecting plate is fixed to the sliding seat; a first pulley is arranged on the inner side of one end of the pulley connecting plate; a second pulley is arranged on the inner side of the other end of the pulley connecting plate in a direction opposite to the first pulley; a sliding counterweight block is sleeved on the spline shaft and slides along the axial direction of the spline shaft; a steel wire rope is passed around the first pulley and the second pulley, one end of the steel wire rope is fixedly connected to the traction plate, and the other end of the steel wire rope is fixedly connected to the sliding counterweight block, and the movement directions of the traction plate and the sliding counterweight block are opposite.

Preferably, it further comprises a constant force spring, one end of which is fixed on the sliding seat, and the other end of which is fixedly connected to the traction plate;

Among them, the sliding support seat, the sliding seat, the spline shaft, the sliding rod, the traction plate, the pulley connecting plate, the first pulley, the second pulley, the sliding counterweight block, the wire rope and the constant force spring constitute the position part of the main operator.

Preferably, it also includes a main hand clamp, which opens and closes along the axis R0; one end of the main clamp is fixedly connected to the first joint and rotates around the axis R1 of the first joint; one end of the first connecting rod is fixedly connected to the first joint; the first connecting rod counterweight is fixed to the other end of the first connecting rod; the second joint is fixedly arranged on the first connecting rod; one end of the second connecting rod is fixedly connected to the second joint and rotates around the axial direction R2 of the second joint; the second connecting rod counterweight is fixed to the other end of the second connecting rod; one end of the flange is arranged on the second connecting rod, the second connecting rod rotates around the rotating axis R3 of the flange, and the other end of the flange is fixedly connected to the sliding rod;

Among them, the main hand clamp, the first joint, the first connecting rod, the first connecting rod counterweight, the second joint, the second connecting rod counterweight and the flange constitute the posture part of the main operating hand.

Preferably, the axes R4 and R5 corresponding to the sliding seat and the sliding support seat are perpendicular to each other, the axes R5 and R6 corresponding to the sliding support seat and the base are perpendicular to each other, the axes R1 and R4 corresponding to the first joint and the sliding seat intersect at one point, and the axes R2 and R4 corresponding to the second joint and the sliding seat are coplanar.

Preferably, the sliding support seat is connected to the base through a rotating shaft and a pair of bearings; the sliding seat is connected to the sliding support seat through a rotating shaft and a pair of bearings; the first pulley is connected to one end of the pulley connecting plate through a rotating shaft and a pair of bearings; the second pulley is connected to the other end of the pulley connecting plate through a rotating shaft and a pair of bearings; the main hand clamp is connected to the first joint through a rotating shaft and a pair of bearings; the second joint is connected to the first connecting rod through a rotating shaft and a pair of bearings.

Preferably, the first connecting rod is formed by connecting a first section rod, a second section rod and a third section rod in sequence as an integral unit, the first section rod, the second section rod and the third section rod are perpendicular to each other, the plane formed by the first section rod and the second section rod and the plane formed by the second section rod and the third section rod are perpendicular to each other, and the second connecting rod is L-shaped.

Preferably, the portion of the spline shaft passing through the sliding seat is sleeved with a rotating spline, and the rotating spline is fixedly arranged at the end of the sliding seat, the outer side of the sliding rod is sleeved with an outer cylinder, and the end of the outer cylinder is fixedly connected to the rotating spline.

Preferably, the first joint is fixed to one end of the first connecting rod by screws; the second joint is fixed to one end of the second connecting rod by screws; one end of the flange is fixed to one end of the sliding rod by screws; the other end of the flange is fixed to the second connecting rod by screws; the first connecting rod counterweight is fixed to one end of the first connecting rod by screws, and the second connecting rod counterweight is fixed to one end of the second connecting rod by screws.

Preferably, a wire encoder is disposed at the upper end of the sliding seat, a wire of the wire encoder is fixedly connected to the traction plate, and a rotary encoder is disposed at the lower end of the base.

Compared with the prior art, the beneficial effects of the present invention are:

1. The main operator adopts a new structural design for the position part. The overall structural layout is along the same axis, and the three axes of the position part intersect at one point. The structure is concentrated, the volume is small, the working space is large and fully utilized.

2. The main operator sets a sliding counterweight on the spline shaft, and the traction plate and the sliding counterweight move in opposite directions. When the spline shaft telescopes along the axis R4, the sliding counterweight can achieve the same proportion of reverse telescopic movement, thereby achieving dynamic gravity balance when the position part moves along the axis R4, reducing the setting of the counterweight, and thus reducing the overall weight of the main operator.

3. The main operator sets a constant force spring on the sliding seat, and one end of the constant force spring is fixed to the traction plate, so as to offset the downward component of the position part on the axis R4, so that the force of the position part on the axis R4 is balanced, and the traction plate is prevented from driving the spline shaft to slide downward, so that the position part of the main operator is stable and reliable.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

Fig. 1 is a schematic structural diagram of the present invention;

FIG2 is a schematic structural diagram of FIG1 from another viewing angle;

Fig. 3 is a cross-sectional view of the position portion of the present invention;

FIG. 4 is a schematic structural diagram of the posture part of the present invention.

Description of reference numerals:

1. Base, 2. Sliding support seat, 3. Sliding seat, 4. Spline shaft, 5. Sliding rod, 6. Traction plate, 7. Pulley connecting plate, 8. First pulley, 9. Second pulley, 10. Sliding counterweight, 11. Steel wire rope, 12. Constant force spring, 13. Main hand clamp, 14. First joint, 15. First connecting rod, 151. First section rod, 152. Second section rod, 153. Third section rod, 16. First connecting rod counterweight, 17. Second joint, 18. Second connecting rod, 19. Second connecting rod counterweight, 20. Flange, 21. Rotating spline, 22. Outer cylinder, 23. Wire encoder, 24. Rotary encoder.

Detailed ways

The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

Example 1

As shown in Figures 1-2, a fully passive main operator includes a base 1, a sliding support seat 2, a sliding seat 3, a spline shaft 4, a sliding rod 5, a traction plate 6, a pulley connecting plate 7, a first pulley 8, a second pulley 9, a sliding counterweight 10, a wire rope 11, and a constant force spring 12, wherein the sliding support seat 2, the sliding seat 3, the spline shaft 4, the sliding rod 5, the traction plate 6, the pulley connecting plate 7, the first pulley 8, the second pulley 9, the sliding counterweight 10, the wire rope 11 and the constant force spring 12 constitute the position part of the main operator.

In this embodiment, the sliding support seat 2 is connected to the base 1 through a rotating shaft and a pair of bearings, and the sliding support seat 2 rotates around the axis R6 of the base 1, thereby realizing the overall rotation movement of the main operator; the rotary encoder 24 arranged at the lower end of the base 1 can measure the overall rotation angle of the main operator, and the sliding seat 3 is connected to the sliding support seat 2 through a rotating shaft and a pair of bearings, thereby realizing the overall pitch movement of the main operator.

In this embodiment, as shown in FIG. 3 , the sliding support seat 2 is a U-shaped member, and the sliding support seat 2 can be integrally cast and formed, which is convenient for production and processing, and is sturdy and durable. The sliding seat 2 is arranged on the U-shaped member, and has a large rotation space, which is convenient for adjusting the pitch posture of the main operator to meet the needs of the operation. The sliding seat 3 is installed at the opening of the U-shaped member through a rotating shaft, and the sliding seat 3 rotates around the axis R5 of the sliding support seat 2. The sliding seat 3 realizes the pitch action of the main operator by rotating in the U-shaped member. The sliding seat 3 is a rectangular parallelepiped structure as a whole, and the interior of the sliding seat 3 is a cavity structure, which further reduces the overall weight of the main operator and is convenient for configuration. Parts, a rotating spline 21 is installed at one end of the sliding seat 3, and the rotating spline 21 is composed of a spline and a bearing sleeved on the outside of the spline. The bearing part of the rotating spline 21 is fixedly connected to the sliding seat 3, and the spline part of the rotating spline 21 and the spline shaft are interlocked. Since the spline shaft and the rotating spline are matched with keyways, the rotation accuracy of the rotating spline is high, which is conducive to the precise adjustment of the position of the posture part, and the end face of the bearing part of the rotating spline 21 is also welded to the end of the outer cylinder 22, and the outer cylinder 22 is sleeved on the outside of the sliding rod to avoid the connection part of the sliding rod 5 and the spline shaft 4 from being exposed to the outside, thereby avoiding damage to its internal parts.

In this embodiment, as shown in Figure 3, the other end of the sliding seat 3 is an opening, and the constant force spring 12 is installed at the opening through a rotating shaft. One end of the constant force spring 12 is fixedly connected to the traction plate 6. The elastic force of the constant force spring 12 is constant and has nothing to do with the telescopic length of its spring sheet. The elastic force of the constant force spring 12 is equal to the downward component of the gravity of the main operator along the axis R4, so that the force of the main operator on the axis R4 is balanced, and after the sliding rod 5 is telescopically adjusted, its position remains stable.

In this embodiment, the spline shaft 4 passes through the sliding seat 3 and rotates around the axis R4 of the sliding seat 3; thereby adjusting the overall rotation angle of the posture part of the main operator to adapt to surgical operations at different positions, the sliding rod 5 is fixed at one end of the spline shaft 4; the traction plate 6 is fixed at the other end of the spline shaft 4 in the opposite direction of the sliding rod 5; the spline shaft 4 is connected to the traction plate 6 through a bearing, the spline shaft 4 and the traction plate 6 can rotate relative to each other, and the position state of the traction plate 6 will not be affected when the spline shaft 4 rotates by itself, and the spline shaft 4 and the traction plate 6 cannot move relative to each other in the axial direction of the spline shaft 4. When the spline shaft 4 moves axially, the traction plate 6 will be driven to move at the same time, and then the sliding counterweight block 10 will be driven to move through the wire rope 11, so as to realize the dynamic gravity balance when the main operator moves linearly along the axis R4, and the pulley connection The connecting plate 7 is fixed on the sliding seat 3; the first pulley 8 is connected to the inner side of one end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings, and the second pulley 9 is connected to the inner side of the other end of the pulley connecting plate 7 through a rotating shaft and a pair of bearings; the sliding counterweight 10 is sleeved on the spline shaft 4 and slides along the axial direction of the spline shaft 4; the sliding counterweight 10 is connected to the spline shaft 4 through a bearing, and the spline shaft 4 and the sliding counterweight 10 can rotate relative to each other, and the wire rope 11 passes around the first pulley 8 and the second pulley 9, one end of the wire rope 11 is fixedly connected to the traction plate 6, and the other end of the wire rope 11 passes through the lower end of the traction plate and is fixedly connected to the sliding counterweight 10, and the wire rope 11 forms a closed wire loop, and the movement directions of the traction plate 6 and the sliding counterweight 10 are opposite.

The person grasps the sliding rod 5 and rotates it around the axis R4, thereby adjusting the rotation angle of the posture part to meet the needs of the operation. The rotation of the sliding rod 5 drives the spline shaft 4 to rotate, and the rotation of the spline shaft 4 does not affect the movement of other components of the position part. Since the sliding rod 5 is fixedly connected to the posture part through the flange 20, the rotation of the sliding rod 5 drives the posture part to rotate as a whole; when the person grasps the sliding rod 5 and extends it along the axis R4, the sliding rod 5 drives the spline shaft 4 to extend and retract, and the spline shaft 4 drives the traction plate 6 to extend and retract, and the position movement of the traction plate 6 pulls the wire rope 11, and the sliding counterweight at the other end of the wire rope 11 10 moves on the spline shaft 4. Since the traction plate 6 and the upper end of the wire ring are fixedly connected, and the sliding counterweight 10 and the lower end of the wire ring are fixedly connected, the movement directions of the traction plate 6 and the sliding counterweight 10 are opposite. When the sliding rod 5 retracts, the spline shaft 4 extends to the rear end, and the spline shaft 4 drives the traction plate 6 to move backward. At the same time, the sliding counterweight 10 moves forward in the opposite direction to the traction plate 6, thereby offsetting the tendency of the center of gravity to move backward caused by the backward movement of the spline shaft 4, maintaining the gravity balance of the main operator in the axial direction R4, and vice versa, thereby realizing the dynamic gravity balance of the main operator when it moves linearly along the axis R4.

Example 2

As shown in Figure 4, different from the above-mentioned embodiment, this embodiment also includes a main hand clamp 13, a first joint 14, a first connecting rod 15, a first connecting rod counterweight 16, a second joint 17, a second connecting rod 18, a second connecting rod counterweight 19, and a flange 20, wherein the main hand clamp 13, the first joint 14, the first connecting rod 15, the first connecting rod counterweight 16, the second joint 17, the second connecting rod counterweight 19 and the flange 20 constitute the posture part of the main operator.

The position part is decoupled from the posture part, and when the position of the posture part of the main operator changes, the position part of the main operator is not affected.

In this embodiment, the main hand clamp 13 opens and closes along the axis R0, thereby clamping an object. The main hand clamp 13 is connected to the first joint 14 through a rotating shaft and a pair of bearings, and the main clamp 13 rotates around the axis R1 of the first joint 14; the first joint 14 is fixed to one end of the first connecting rod 15 by a screw, and the first connecting rod counterweight 16 is fixed to one end of the first connecting rod 15 by a screw; the second joint 17 is connected to the first connecting rod 15 by a rotating shaft and a pair of bearings, and the first connecting rod 15 achieves gravity balance through the second joint, and the gravity torque of the first joint 14 and the main hand clamp 13 is applied to the second joint 17, and gravity balance is achieved through the first connecting rod counterweight 16 at the other end of the first connecting rod 15, so that the first connecting rod 15 can be adjusted regardless of the weight of the first connecting rod 15. Gravity balance can be achieved when moving to any position. The second joint 17 is fixed to one end of the second connecting rod 18 by screws, and the second connecting rod 18 rotates around the axial direction R2 of the second joint 17; the second connecting rod counterweight 19 is fixed to one end of the second connecting rod 18 by screws, and the flange 20 is fixed to one end of the sliding rod 5 by screws, and the other end of the flange 20 is fixed to the second connecting rod 18 by screws. The rotation of the sliding rod 5 drives the second connecting rod 18 to rotate, thereby driving the posture part to rotate as a whole. The gravity torque of the second connecting rod 18 and its attached parts is applied to the flange 20, and gravity balance is achieved by the second connecting rod counterweight 19 at the other end of the second connecting rod 18, so that the second connecting rod 18 can achieve gravity balance no matter where it moves to.

Example 3

As shown in Figures 1 and 4, different from the above-mentioned embodiments, in this embodiment, the axes R4 and R5 corresponding to the sliding seat 3 and the sliding support seat 2 are perpendicular to each other, and the axes R5 and R6 corresponding to the sliding support seat 2 and the base 1 are perpendicular to each other. The three axes R4, R5, and R6 intersect at one point, and the overall structural layout is along the same axis R4. The structure is concentrated, the volume is small, the working space is large and fully utilized, the first joint 14 and the axes R1 and R4 corresponding to the sliding seat 3 intersect at one point, and the second joint 17 and the axes R2 and R4 corresponding to the sliding seat 3 are coplanar, the structure is compact, and the space occupied is small.

Example 4

As shown in Figure 4, different from the above-mentioned embodiment, in this embodiment, the first connecting rod 15 is formed by connecting the first section rod 151, the second section rod 152 and the third section rod 153 in sequence as an integral unit, the first section rod 151, the second section rod 152 and the third section rod 153 are perpendicular to each other, the plane formed by the first section rod 151 and the second section rod 152 and the plane formed by the second section rod 152 and the third section rod 153 are perpendicular to each other, the shape of the second connecting rod 152 is L-shaped, and the special design of the first connecting rod 15 and the second connecting rod 18 structure can make the center of gravity distribution of the posture part more concentrated, reduce the number of counterweight blocks in the posture part, and the weight of a single counterweight block is also reduced, thereby reducing the overall weight of the main operator.

Example 5

As shown in Figures 1-3, different from the above-mentioned embodiments, a wire encoder 23 is provided at the upper end of the sliding seat 3 in this embodiment, and the wire of the wire encoder 23 is fixedly connected to the traction plate 6. The movement of the traction plate 6 drives the wire of the wire encoder, thereby measuring the displacement data of the traction plate 6, and then measuring the movement data of the sliding rod 5.

The master operator is suitable for any master-slave operation robot system, such as in the field of medical equipment: laparoscopic surgery robot, orthopedic robot, dental robot and other master-slave operation systems.

The above description is only a preferred embodiment of the present invention, which is only illustrative and not restrictive of the present invention. Those skilled in the art understand that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope defined by the claims of the present invention, but all of them will fall within the scope of protection of the present invention.

Claims (8)

1. A fully passive master manipulator, characterized in that it comprises: a position part and a posture part, wherein the position part and the posture part are fixedly connected, and the position part comprises: a base (1); A sliding support seat (2), the sliding support seat (2) being arranged on the base (1) and rotating around an axis R6 of the base (1); A sliding seat (3), the sliding seat (3) being connected to the sliding support seat (2) and rotating around an axis R5 of the sliding support seat (2); A spline shaft (4), the spline shaft (4) passes through the sliding seat (3) and rotates around an axis R4 of the sliding seat (3); The three axes R4, R5, and R6 intersect at one point; A sliding rod (5), the sliding rod (5) being fixed to one end of the spline shaft (4); A traction plate (6), the traction plate (6) being fixed to the other end of the spline shaft (4) in a direction opposite to the sliding rod (5); the traction plate (6) being rotatable relative to the spline shaft (4); A pulley connecting plate (7), one end of the pulley connecting plate (7) being fixed on the sliding seat (3); A first pulley (8), the first pulley (8) being arranged on the inner side of one end of the pulley connecting plate (7); a second pulley (9), the second pulley (9) being arranged on the inner side of the other end of the pulley connecting plate (7) in a direction opposite to the first pulley (8); A sliding counterweight (10), the sliding counterweight (10) being sleeved on the spline shaft (4) and sliding along the axial direction of the spline shaft (4); A steel wire rope (11), the steel wire rope (11) passes over the first pulley (8) and the second pulley (9), one end of the steel wire rope (11) is fixedly connected to the traction plate (6), and the other end of the steel wire rope (11) is fixedly connected to the sliding counterweight (10), and the movement directions of the traction plate (6) and the sliding counterweight (10) are opposite; and a constant force spring (12) is also included, one end of the constant force spring (12) is fixed to the sliding seat (3), and the other end of the constant force spring (12) is fixedly connected to the traction plate (6); The sliding support seat (2), the sliding seat (3), the spline shaft (4), the sliding rod (5), the traction plate (6), the pulley connecting plate (7), the first pulley (8), the second pulley (9), the sliding counterweight (10), the steel wire rope (11) and the constant force spring (12) constitute the position part of the main operator. 2. A fully passive master operator according to claim 1, characterized in that: It also includes a main hand clamp (13), wherein the main hand clamp (13) opens and closes along the axis R0; A first joint (14), one end of the main hand clamp (13) being fixedly connected to the first joint (14) and rotating around an axis R1 of the first joint (14); A first connecting rod (15), one end of the first connecting rod (15) being fixedly connected to the first joint (14); A first connecting rod counterweight (16), the first connecting rod counterweight (16) being fixed to the other end of the first connecting rod (15); A second joint (17), the second joint (17) being fixedly arranged on the first connecting rod (15); a second connecting rod (18), one end of the second connecting rod (18) being fixedly connected to the second joint (17) and rotating around the axial direction R2 of the second joint (17); A second connecting rod counterweight (19), the second connecting rod counterweight (19) being fixed to the other end of the second connecting rod (18); A flange (20), one end of the flange (20) being fixedly disposed on the second connecting rod (18), and the other end of the flange (20) being fixedly connected to the sliding rod (5); The main hand clamp (13), the first joint (14), the first connecting rod (15), the first connecting rod counterweight (16), the second joint (17), the second connecting rod counterweight (19) and the flange (20) constitute a posture part of the main operating hand. 3. A fully passive master operator according to claim 2, characterized in that: the axes R4 and R5 corresponding to the sliding seat (3) and the sliding support seat (2) are perpendicular to each other, the axes R5 and R6 corresponding to the sliding support seat (2) and the base (1) are perpendicular to each other, the axes R1 and R4 corresponding to the first joint (14) and the sliding seat (3) intersect at one point, and the axes R2 and R4 corresponding to the second joint (17) and the sliding seat (3) are coplanar. 4. A fully passive master operator according to claim 2, characterized in that: the sliding support seat (2) is connected to the base (1) through a rotating shaft and a pair of bearings; the sliding seat (3) is connected to the sliding support seat (2) through a rotating shaft and a pair of bearings; the first pulley (8) is connected to one end of the pulley connecting plate (7) through a rotating shaft and a pair of bearings; the second pulley (9) is connected to the other end of the pulley connecting plate (7) through a rotating shaft and a pair of bearings; the main hand clamp (13) is connected to the first joint (14) through a rotating shaft and a pair of bearings; the second joint (17) is connected to the first connecting rod (15) through a rotating shaft and a pair of bearings. 5. A fully passive master operator according to claim 2, characterized in that: the first connecting rod (15) is formed by connecting a first section rod (151), a second section rod (152) and a third section rod (153) in sequence to form an integral body, the first section rod (151), the second section rod (152) and the third section rod (153) are perpendicular to each other, the plane formed by the first section rod (151) and the second section rod (152) and the plane formed by the second section rod (152) and the third section rod (153) are perpendicular to each other, and the second connecting rod (18) is L-shaped. 6. A fully passive master operator according to claim 1, characterized in that: the portion of the spline shaft (4) that passes through the sliding seat (3) is sleeved with a rotating spline (21), and the rotating spline (21) is fixedly arranged at the end of the sliding seat (3), and the outer side of the sliding rod (5) is sleeved with an outer cylinder (22), and the end of the outer cylinder (22) is fixedly connected to the rotating spline (21). 7. A fully passive master operator according to claim 2, characterized in that: the first joint (14) is fixed to one end of the first connecting rod (15) by screws; the second joint (17) is fixed to one end of the second connecting rod (18) by screws; one end of the flange (20) is fixed to one end of the sliding rod (5) by screws; the other end of the flange (20) is fixed to the second connecting rod (18) by screws, the first connecting rod counterweight (16) is fixed to one end of the first connecting rod (15) by screws, and the second connecting rod counterweight (19) is fixed to one end of the second connecting rod (18) by screws. 8. A fully passive master operator according to claim 1, characterized in that: a pull-wire encoder (23) is provided at the upper end of the sliding seat (3), the pull wire of the pull-wire encoder (23) is fixedly connected to the traction plate (6), and a rotary encoder (24) is provided at the lower end of the base (1).