Magnetic resistance type force feedback control system for teleoperation surgical robot

The utility model discloses a magnetic resistance type force feedback control system for teleoperation surgical robot, and belongs to the technical field of human-computer interaction. The system comprises a surgical control end and a surgical execution end; the surgical control end comprises a connecting rod I, an electromagnetic coil I, an electromagnetic coil II, a displacement sensor, a linear driving mechanism I, a current source I and a current source II. The surgical execution end comprises a linear driving mechanism II, a connecting rod II and a force sensor; the input end of the displacement sensor is connected with the connecting rod I, the output end of the displacement sensor is connected with the linear driving mechanism I, and the connecting rod II is fixedly arranged on the linear driving mechanism II and is connected with the force sensor; the force sensor is output to the input end of the current source I, and the current source I is output to the input end of the electromagnetic coil I. Interaction force generated through the two electromagnetic coils is used for feeding back acting force of the surgical execution end, and the force feedback control system constructed by a magnetic resistance type force feedback control method is simple in structure, high in precision and easy to obtain.