CN109498163B - Main operation table and surgical robot - Google Patents
Main operation table and surgical robot Download PDFInfo
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- CN109498163B CN109498163B CN201811565444.4A CN201811565444A CN109498163B CN 109498163 B CN109498163 B CN 109498163B CN 201811565444 A CN201811565444 A CN 201811565444A CN 109498163 B CN109498163 B CN 109498163B
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- 230000007246 mechanism Effects 0.000 claims abstract description 148
- 238000003384 imaging method Methods 0.000 claims abstract description 56
- 230000003902 lesion Effects 0.000 description 7
- 238000001727 in vivo Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention relates to a main operation table and a surgical robot with the main operation table, wherein the main operation table comprises a bracket and a display device, the display device is arranged on the bracket, the display device comprises a display and an imaging mechanism which are oppositely arranged, the imaging mechanism is used for generating an operation image of an image based on the image in the display, and the display and the imaging mechanism form a display included angle so as to operate an operation part in an operation image area.
Description
Technical Field
The invention relates to the field of minimally invasive surgery, in particular to a main operating table and a surgical robot.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.
With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a master console for transmitting a control command to a slave operating device according to an operation of an operator to control the slave operating device, and a slave operating device for responding to the control command transmitted from the master console and performing a corresponding surgical operation.
However, since the operator performs the operation through the main operation table, the reality is poor at the time of the operation.
Disclosure of Invention
Accordingly, it is necessary to provide a main console with a strong sense of reality and a surgical robot having the main console.
A primary console, comprising:
a bracket;
the display device is arranged on the bracket and comprises a display and an imaging mechanism which are oppositely arranged, wherein the imaging mechanism is used for generating an operation image of the image based on the image in the display, and the display and the imaging mechanism form a display included angle so as to operate the operation part in the operation image area.
In one embodiment, the operation part corresponds to a positional relationship and/or a movement relationship between the end instruments in the operation image.
In one embodiment, the operative portion is coincident with a positional relationship between the end instrument in the operative image.
In one embodiment, the manipulation portion corresponds to a movement relationship between the end instruments in the manipulation image.
In one embodiment, the motion trend between the operating portion and the end instrument in the operating image is substantially consistent, and the posture relationship is substantially consistent.
In one embodiment, the imaging mechanism has an opaque mirror through which the image in the display is imaged to form an operative image.
In one embodiment, the imaging mechanism has a light transmissive mirror through which the image in the display forms an operative image.
In one embodiment, the imaging mechanism has a plurality of mirrors, at least one of which faces the display, the display angle being an angle between the mirror and the display that form an operation region operation image.
In one embodiment, the main console has a first adjusting mechanism, which is disposed on the display device, and is used for adjusting the display included angle between the display and the imaging mechanism and/or for integrally adjusting the positions of the display and the imaging mechanism.
In one embodiment, the main console has a position acquiring part for acquiring a position of the operating part, and the first adjusting mechanism adjusts the display included angle according to the acquired position information of the operating part.
In one embodiment, the first adjusting mechanism has a first mounting portion, a second mounting portion, and a driving portion, the first mounting portion and the second mounting portion are rotatably connected, the driving portion is used for driving the first mounting portion and/or the second mounting portion to rotate, the display is connected with the first mounting portion, and the imaging mechanism is connected with the second mounting portion.
In one embodiment, the first adjusting mechanism has a first mounting portion, a second mounting portion, and a locking portion, the first mounting portion is rotatably connected with the second mounting portion, the locking portion is configured to lock the first mounting portion with the second mounting portion so as to fix the display angle, the display is connected with the first mounting portion, and the imaging mechanism is connected with the second mounting portion.
In one embodiment, the imaging mechanism is parallel to the placement surface of the main console, or the included angle between the imaging mechanism and the placement surface is-40 degrees.
In one embodiment, the main console further comprises a viewing device for limiting the viewing direction such that the viewing direction forms a viewing angle with a plane of the imaging mechanism forming the operational image.
In one embodiment, the observation angle is 22-180 degrees.
In one embodiment, the viewing angle is substantially right angle.
In one embodiment, the viewing device is further adapted to limit the viewing direction such that the line of sight is located in a central region of the operation image.
In one embodiment, the main console further comprises a second adjusting mechanism, and the observation device is arranged on the second adjusting mechanism so as to adjust the limited observation direction through the second adjusting mechanism.
In one embodiment, the main console further includes a first adjusting mechanism and a position obtaining portion, the first adjusting mechanism is used for adjusting a position of the display device, the position obtaining portion is used for obtaining position information of the observation device and/or position information of the operation portion, and the first adjusting portion and/or the second adjusting portion adjusts the display included angle and/or the observation included angle according to the position information of the operation portion and the position information of the observation device.
In one embodiment, the main console further comprises a lifting mechanism arranged on the support, and at least one of the observation device and the display device is arranged on the lifting mechanism.
In one embodiment, the observation device and the display device are both arranged on the lifting mechanism, and the display device and the observation device are adjusted together with the lifting mechanism.
In one embodiment, the observation device and the display device are both arranged on the lifting mechanism, and the display device and the observation device are respectively adjusted along with the lifting mechanism.
In one embodiment, the main console further comprises a lifting mechanism and a handrail, wherein the lifting mechanism and the handrail are arranged on the bracket, and at least one of the observation device, the display device and the handrail is arranged on the lifting mechanism.
In one embodiment, the structure of the observation device, the armrest and the display device, which is arranged on the lifting mechanism, is adjusted together.
In one embodiment, the structure of the observation device, the armrest and the display device, which are arranged on the lifting mechanism, are respectively adjusted.
In one embodiment, the main console further comprises an operating portion that is unconstrained in movement.
In one embodiment, the main console further comprises an operating portion having a constraint upon movement.
A surgical robot, comprising: the master console and the slave operating device,
the main operation console is used for sending a control command to the auxiliary operation equipment according to the operation of a doctor so as to control the auxiliary operation equipment, and the auxiliary operation equipment is used for responding to the control command sent by the main operation console and performing corresponding operation.
Drawings
FIG. 1 is a schematic view of a surgical robot according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of an embodiment of the present slave operating device;
FIG. 3 is a partial schematic view of an embodiment of the present slave operating device;
FIG. 4 is a schematic diagram of a main console according to an embodiment of the present invention;
FIG. 5 is a schematic view of the main console shown in FIG. 4 in use;
FIG. 6 is a schematic diagram of a main console according to an embodiment of the present invention;
FIG. 7 is a schematic view of the main console shown in FIG. 6 in use;
FIG. 8 is a schematic view of a part of a main console according to an embodiment of the present invention;
FIG. 9 is a schematic partial structure of an embodiment of the main console of the present invention.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Fig. 1 to 3 are schematic structural views of an embodiment of the surgical robot according to the present invention, and partial schematic views of different embodiments of the operation device 20.
The surgical robot includes a master console 10 and a slave operating device 20. Wherein the master console 10 is used for transmitting control commands to the slave operation device 20 according to the operation of an operator to control the slave operation device 20, and is also used for displaying images acquired by the slave operation device. The slave operation device 20 is used for responding to a control command transmitted from the master operation panel 10 and performing a corresponding operation, and the slave operation device 20 is also used for acquiring an in-vivo image.
Specifically, the slave operation device 20 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, an operation arm 23 provided on the power mechanism 22, and a sleeve 24 that sleeves the operation arm 23. The mechanical arm 21 is used for adjusting the position and the posture of the operation arm 23; the power mechanism 22 is used for driving the operation arm 23 to perform corresponding operation; the manipulator arm 23 is used to extend into the body and perform surgical procedures and/or acquire in-vivo images with its distal instrument, which may be an electrosurgical knife, clamp, endoscope, etc., that performs surgical procedures. As shown in fig. 2 and 3, the operating arm 23 is inserted through the sleeve 24, and the distal instrument thereof is extended out of the sleeve 24 and driven to perform an operation by the power mechanism 22. In fig. 2, the region of the operating arm 23 within the sleeve 24 is a rigid region; in fig. 3, the region of the operating arm 23 within the sleeve 24 is a flexible region, with which the sleeve 24 bends. In other embodiments, the sleeve 24 may be omitted, in which case the sleeve 24 is not required.
As shown in fig. 4 to 7, the main console 10 includes a stand 100, a display device 200, an operation unit 300, a armrest 400, and an observation device 500. The display device 200 is used for displaying the acquired in-vivo image and displaying the operation image 30, and may be disposed on the stand 100 or may be disposed independently of the stand. The operator operates the operation unit 300 to cause the slave operation device 20 to perform a corresponding operation, and the operation unit 300 may be a handle, as shown in fig. 6 and 7, which is not constrained during movement, or may be a lever, as shown in fig. 4 and 5, which is constrained during movement, for example, the operation unit 300 is a lever, which is connected to the stand 100. The armrest 400 is used to place the arm and/or hand of the operator so that the operator can more comfortably operate the operation unit 300. The observation device 500 is used for observing the image displayed by the display device 200. The operation unit 300 may be omitted according to actual needs, and the slave operation device 20 may be controlled by other means, for example, by acquiring the hand gesture and position to control the slave operation device 20; the armrest 400 may also be omitted; the observation device 500 may be omitted, and direct observation may be performed at this time.
The operation unit 300 is operated in the region of the operation image 30 displayed on the display device 200, wherein the operation unit 300 may be located within the operation image 30 or in the region around the operation image 30, for example, the operation unit 300 is operated within a range of 10cm from the operation image.
In one embodiment, the manipulation portion 300 corresponds to a relationship between the end instruments in the manipulation image 30. For example, the positional relationship corresponds to a distance proportional relationship, a distance trend corresponds to a corresponding relationship. For another example, the motion relationship corresponds to a motion gesture, a motion trend corresponds to a motion trend, and so on. Specifically, for example, the operation section 300 operates in the vicinity of the lesion in the operation image 30, the distance between the two corresponds to the distance between the distal instrument and the lesion in the operation image 30, and the posture of the operation section 300 is the same as the posture of the distal instrument. For another example, the operation unit 300 matches the positional relationship between the distal instrument in the operation image 30. That is, when the operation unit 300 operates the lesion area in the operation image 30, the end instrument in the operation image 30 operates the corresponding area on the lesion.
When the main console 10 is used, the operation unit 300 operated by the operator is located in the region of the operation image 30, so that the immersion feeling of the operator during operation is better and the operation state is closer to the real operation state.
In the embodiment shown in fig. 4 and 5, the display device 200 includes a display 210 and an imaging mechanism 220 disposed opposite to each other. The imaging mechanism 220 is configured to generate the operation image 30 of the image based on the image in the display 210, that is, the image in the display 210 forms the corresponding operation image 30 in the imaging mechanism 220, and the display 210 forms a display angle with the imaging mechanism 220, so that the operator operates the operation part 300 in the region of the operation image 30. At this time, the position of the operation image 30 is different from the position of the image in the display 210.
In one embodiment, imaging mechanism 220 has an opaque mirror in which the image in display 210 is imaged to form operative image 30. In one embodiment, the imaging mechanism 220 may also have a light-transmitting mirror, such as a spectroscopic mirror, that is, the operator can see the operation image 30 reflected by the spectroscopic mirror, or the operator can see the image of the operation portion 300 operated by the operator through the spectroscopic mirror.
It should be noted that, according to practical situations, the imaging mechanism 220 may include a plurality of mirrors, and the display image in the display 210 forms the operation image 30 of the operation area of the operation portion 300 through multiple reflections, where at least one of the mirrors faces the display 210.
In the embodiment shown in fig. 6 to 9, the display device 200 may omit the imaging mechanism 220, and the display device 200 faces the observation device 500, so that the operator observes the image in the display 210 through the observation device 500. For a specific structure, see later.
In one embodiment, the main console 10 has a first adjusting mechanism 600 disposed on the display device 200 for adjusting the position of the display device 200. In the embodiment shown in fig. 4 and fig. 5, when the display device 200 includes the display 210 and the imaging mechanism 220, the display angle is not changed by adjusting the display angle between the display 210 and the imaging mechanism 220 and/or by adjusting the positions of the display 210 and the imaging mechanism 220 as a whole; in the embodiment shown in fig. 6 and 7, the position of the display 210 is adjusted when the display device 200 does not have the imaging mechanism 220.
When imaging mechanism 220 is present, the first adjustment mechanism may adjust either only display 210 or imaging mechanism 220, or both display 210 and imaging mechanism 220 to adjust the display angle. It should be noted that, when the imaging mechanism 220 has a plurality of mirrors, the display angle is an angle between the display 210 and the mirrors of the operation image 30 of the operation area formed by the imaging mechanism 220, and the first adjusting mechanism 600 may adjust the angle between the plurality of mirrors, or may adjust only the angle between some of the mirrors.
Further, the location of the display 210 and/or the imaging mechanism 220 may be installed as desired. For example, the imaging mechanism 220 is parallel to the placement surface of the main console 10. And for example, the included angle between the imaging mechanism 220 and the placement surface of the main console 10 is-40 degrees.
It should be noted that, the first adjusting mechanism may adjust the display device 200 during installation, and then fix the first adjusting mechanism, so that the display device 200 is kept in a fixed position during operation; the position of the display device 200 can also be adjusted at any time according to the use requirement during the use process. For example, the first adjusting mechanism 600 has a first mounting portion, a second mounting portion, and a locking portion rotatably connected to the second mounting portion, the locking portion being configured to lock the first mounting portion and the second mounting portion to fix a display angle, wherein the display 210 is connected to the first mounting portion, and the imaging mechanism 220 is connected to the second mounting portion. For another example, the first adjusting mechanism 600 has a first mounting portion, a second mounting portion, and a driving portion, wherein the first mounting portion and the second mounting portion are rotatably connected, the driving portion is used for driving the first mounting portion and/or the second mounting portion to rotate, the display 210 is connected to the first mounting portion, and the imaging mechanism 220 is connected to the second mounting portion.
In one embodiment, the main console 10 has a position acquiring unit (not shown) for acquiring the position of the operation unit 300, and the first adjusting mechanism 600 adjusts the display device 200 according to the acquired position information of the operation unit 300.
For example, the first adjustment mechanism 600 adjusts the display device 200 so that the plane of the operation image 30 and the plane of the operation unit 300 substantially overlap each other according to the position of the operation unit 300.
For another example, the first adjusting mechanism 600 adjusts the display device 200 according to the position of the operation unit 300 so that the operation unit 300 corresponds to the relationship between the distal instrument in the operation image 30. For example, the positional relationship between the operation unit 300 and the lesion area in the operation image 30 substantially coincides with the positional relationship between the end instrument and the lesion in the display 210, that is, the positional relationship between the end instrument and the lesion in the operation image 30. Specifically, it comprises the following steps.
Step 1, first location information of a focus in an operation image 30 is acquired.
The first location information of the focus may be directly obtained, or the location information of the focus in the image of the display 210 may be obtained first, and then the first location information may be obtained according to the location information.
Step 2, second position information of the operation unit 300 is acquired.
Step 3, acquiring the expected position information of the operation image 30 according to the first position information and the second position information, and adjusting the position of the display device 200 according to the expected position information so that the operation image 30 is located at the expected position.
Wherein the display device 200 is not required to be adjusted when the deviation between the first position information and the second position information is within a preset deviation, and the display device 200 is required to be adjusted when the deviation exceeds a preset tolerance. It should be noted that, in order to avoid that the display device 200 is adjusted too frequently to affect the operation experience, a larger preset tolerance may be set.
In one embodiment, the observation device 500 has an eyepiece for observing the image displayed by the display device 200, and the operation image 30 observed through the eyepiece corresponds to the operation region of the operation portion 300. That is, the operation region of the operation unit 300 is located in the operation image 30 region. In this case, as shown in fig. 8, the operation image 30 observed through the eyepiece may be the same as the position of the image on the display 210, or as shown in fig. 5, 7, and 9, the operation image 30 observed through the eyepiece may be different from the position of the image on the display 210. When the positions are the same, the eyepiece or viewing device 500 may be omitted and the image in the display 210 may be directly viewed. When the positions are different, the eyepiece brings the position of the observed operation image 30 into a proper position through its lens module. For example, on a side of the display 210 remote from the viewing device 500. It should be noted that, when the display 210 is a three-dimensional display 210, the eyepiece may present a three-dimensional image. The operation image observed through the eyepiece can also be understood as an observation image displayed on the display.
When the observation device 500 has an eyepiece, the display device 200 may be the display device 200 in each of the above embodiments, that is, the display device 200 may be the display device 200 having the imaging mechanism 220 or the display device 200 having no imaging mechanism 220.
Further, the eyepiece has a focal length adjusting portion for adjusting a focal length to adjust the position of the observed operation image 30.
In one embodiment, the observation device 500 and the display device 200 are integrally disposed, i.e. the relative positional relationship between the two is unchanged. Specifically, the observation device 500 and the display device 200 are both disposed on the stand 100. In other embodiments, the observation device 500 and the display device 200 may be disposed on a wearing body, and the observation device 500 and the display device 200 may be worn on the head of the wearer through the wearing body in the embodiment shown in fig. 9.
In other embodiments, the observation device 500 may be separately disposed from the display device 200, that is, the positional relationship between the two may be relatively variable. For example, the display device 200 is adjustable relative to the viewing device 500.
In one embodiment, the observation device 500 and/or the display device 200 are/is separated from the stand 100. I.e., at least one of the viewing device 500 and the display device 200 is provided independently of the stand 100.
In one embodiment, the viewing device 500 is configured to limit the viewing direction such that the viewing direction forms a viewing angle with the plane of the display device 200 forming the operation image 30. The viewing direction of the viewing device 500 and the restriction may be set as needed. For example, the viewing device 500 is substantially perpendicular to the viewing direction, and for example, the angle between the viewing device 500 and the viewing direction is 60 to 120 degrees. When the imaging mechanism 220 includes a plurality of mirrors, the observation angle is an angle between the observation device 500 and the mirrors of the operation image 30 of the operation region formed by the imaging mechanism 220. Further, the observation device 500 is also used to limit the observation direction so that the line of sight is located in the middle region of the operation image 30.
In one embodiment, the viewing direction forms a viewing angle with a horizontal viewing direction of the operator, wherein the horizontal viewing direction of the operator refers to a viewing direction of the operator when sitting straight or standing straight at the current position and looking ahead. Further, the included angle of the sight line is an acute angle. For example, the line of sight angle is 3 to 30 degrees, and for example, the line of sight angle is 10 degrees.
In one embodiment, the viewing device 500 is disposed on the support 100 such that when viewed by an operator, the surroundings of the eye are positioned adjacent to the viewing device 500 for viewing through the angle defined by the viewing device 500. For example, the main console 10 has a housing provided on the stand 100, and the observation device 500 is provided on the housing. For another example, the observation device 500 is disposed on the stand 100 through a second adjusting mechanism, and the second adjusting mechanism can adjust the position of the observation device 500 according to the need, and when the main console 10 has a housing, the observation device 500 may be disposed on the housing, and may be adjustable with respect to the housing, or may extend out of the housing. In other embodiments, the viewing device 500 may be disposed on other structures, for example, the viewing device 500 is a stand-alone structure disposed on the viewing support 100, a wall, a ceiling, or a wearable structure, that is, the viewing device 500 is independent of other structures of the main console 10.
In one embodiment, the observation angle is 20-160 degrees. For example, the viewing angle is substantially right angle. For another example, the observation angle is 75-105 degrees. The plane on which the operation image 30 is located can be set according to actual needs. For example, the plane on which the operation image 30 is located is parallel to the placement surface of the main console 10. For another example, the plane of the operation image 30 is parallel to the plane of the armrest 400. As another example, the plane of the operational image 30 forms an obtuse angle with the plane of the armrest 400.
In one embodiment, the position obtaining portion is configured to obtain the positions of the observation device 500 and/or the operation portion 300, for example, two position obtaining portions are used to obtain the positions of the operation portion 300 and the observation device 500, respectively. The first adjusting mechanism 600 and/or the second adjusting mechanism adjusts the display angle and/or the observation angle according to the acquired positional information of the operation unit 300 and the observation device 500. For example, the position between the plane in which the imaging mechanism 220 forms the operation image 30 and the observation device 500 is adjusted so that the observation angle is within a preset range. When the observation angle is adjusted, the adjustment may be performed by only the first adjustment mechanism 600 or the second adjustment mechanism, or may be performed by both adjustment mechanisms. When only one adjustment mechanism is required for adjustment, the position acquisition section acquires only the information about the adjustment mechanism.
And the display included angle is the same as the adjustment display included angle, wherein adjustment is not needed when the observation included angle is within the preset deviation, and a larger preset tolerance can be set in order to avoid too frequent adjustment to influence the operation experience.
The main console 10 further includes a lifting mechanism (not shown) disposed on the stand 100, wherein at least one of the armrest 400, the display device 200, and the observation device 500 is disposed on the lifting mechanism, and is adjusted by the lifting mechanism. For example, the display device 200 and the armrest 400 are provided on the lifting mechanism. For another example, the observation device 500 and the display mechanism are provided on the elevating mechanism. For another example, the display mechanism, the armrest 400, and the viewing device 500 are all disposed on the lifting mechanism. For another example, only the armrest 400 or the display mechanism or the observation device 500 is provided on the elevating mechanism. When the armrest 400 or the observation device 500 is omitted from the main console 10, at least one of the remaining structures is disposed on the lifting mechanism.
Further, when a plurality of structures in the armrest 400, the display device 200, and the observation device 500 are provided on the lifting mechanism, the structures provided on the lifting mechanism may be adjusted together or may be adjusted separately. For example, the display device 200 and the armrest 400 are adjusted along with the lifting mechanism, that is, the relative position of the display device 200 and the armrest 400 is unchanged, and the display device is adjusted along with the lifting mechanism, so that the adjusted operation portion 300 is still located in the region of the operation image 30. For another example, the display device 200 and the armrest 400 are adjusted with the lifting mechanism, that is, the positions of the display device 200 and the armrest 400 are changed when the display device is adjusted, and at this time, the lifting mechanism may include two lifting portions, which are connected to the armrest 400 and the display device 200, respectively, or two lifting mechanisms, which are connected to the armrest 400 and the display device 200, respectively. For another example, the display device 200 and the observation device 500 are disposed on the lifting mechanism and are adjusted together with the lifting mechanism or are adjusted separately with the lifting mechanism. For another example, the armrest 400 and the viewing device 500 are disposed on the lift mechanism and are adjusted with the lift mechanism or are adjusted separately. For another example, the armrest 400, the viewing device 500, and the display device 200 are all disposed on the lift mechanism and are adjusted with the lift mechanism.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (25)
1. A master console, comprising:
a bracket;
the display device is arranged on the bracket and comprises a display and an imaging mechanism which are oppositely arranged, wherein the imaging mechanism is used for generating an operation image of the image based on the image in the display, and the display and the imaging mechanism form a display included angle so as to operate an operation part in the operation image area;
the main operation table is provided with a first adjusting mechanism which is arranged on the display device and is used for adjusting the display included angle between the display and the imaging mechanism;
the main operation table is provided with a position acquisition part for acquiring the position of the operation part;
the first adjusting mechanism is used for keeping the plane of the operation image and the plane of the operation part basically coincident by adjusting the display included angle according to the position of the operation part, so that the position relation between the operation part and the tail end instrument in the operation image is consistent.
2. The main console of claim 1, wherein the manipulation section corresponds to a movement relationship between end instruments in the manipulation image.
3. The main console of claim 2, wherein the motion trend between the manipulator and the end instrument in the manipulator image is substantially consistent and the pose relationship is substantially consistent.
4. The master console of claim 1, wherein the imaging mechanism has an opaque mirror, the image in the display being imaged by the mirror to form an operational image.
5. The master console of claim 1, wherein the imaging mechanism has a light transmissive mirror through which the image in the display forms an operational image.
6. The primary console of claim 1, wherein the imaging mechanism has a plurality of mirrors, at least one of the mirrors facing the display, the display angle being an angle between the mirror and the display that form an operational area operational image.
7. The main console of claim 1, wherein the first adjustment mechanism or the mechanism for integrally adjusting the position of the display and the imaging mechanism does not change a display angle;
the position acquisition part is used for acquiring first position information of the operation image and second position information of the operation part;
the first adjusting mechanism acquires an expected position of the operation image according to the first position information and the second position information, wherein the expected position is a position where a plane of the operation image is basically overlapped with a plane of the operation part;
the first adjusting mechanism integrally adjusts the positions of the display and the imaging mechanism according to the expected position so that the operation image is positioned at the expected position, and the position relation between the operation part and the tail end instrument in the operation image is consistent.
8. The main console of claim 1, wherein the first adjustment mechanism has a first mounting portion, a second mounting portion, and a driving portion, the first mounting portion and the second mounting portion are rotatably connected, the driving portion is configured to drive the first mounting portion and/or the second mounting portion to rotate, the display is connected to the first mounting portion, and the imaging mechanism is connected to the second mounting portion.
9. The main console of claim 1, wherein the first adjustment mechanism has a first mounting portion, a second mounting portion, and a locking portion, the first mounting portion being rotatably coupled to the second mounting portion, the locking portion being configured to lock the first mounting portion to the second mounting portion to fix the display angle, the display being coupled to the first mounting portion, and the imaging mechanism being coupled to the second mounting portion.
10. The main console of claim 1, wherein the imaging mechanism is parallel to the placement surface of the main console or has an included angle of-40 to 40 degrees.
11. The primary console of claim 1, further comprising a viewing device for limiting a viewing direction such that the viewing direction forms a viewing angle with a plane of the imaging mechanism forming the operational image.
12. The primary console of claim 11, wherein the viewing angle is 22-180 degrees.
13. The primary console of claim 11, wherein the viewing angle is substantially right angle.
14. The main console of claim 11, wherein the viewing device is further configured to limit a viewing direction such that a line of sight is located in a middle region of the operation image.
15. The primary console of claim 11, further comprising a second adjustment mechanism, the viewing device being disposed on the second adjustment mechanism to adjust a viewing direction limited thereto by the second adjustment mechanism.
16. The main console of claim 15, further comprising a first adjusting mechanism for adjusting a position of the display device and a position obtaining portion for obtaining position information of the observation device and/or position information of the operation portion, wherein the first adjusting mechanism and/or the second adjusting mechanism adjusts the display angle and/or the observation angle according to the position information of the operation portion and the position information of the observation device.
17. The main console of claim 11, further comprising a lifting mechanism disposed on the support, wherein at least one of the viewing device and the display device is disposed on the lifting mechanism.
18. The main console of claim 17, wherein the viewing device and the display device are both disposed on the lift mechanism, the display device and the viewing device being adjustable with the lift mechanism.
19. The main console of claim 17, wherein the viewing device and the display device are both disposed on the lifting mechanism, the display device and the viewing device being separately adjustable with the lifting mechanism.
20. The main console of claim 11, further comprising a lifting mechanism and a handrail disposed on the support, wherein at least one of the viewing device, the display device, and the handrail is disposed on the lifting mechanism.
21. The main console of claim 20, wherein the structure of the observation device, the armrest, and the display device disposed on the lifting mechanism are adjusted together.
22. The main console of claim 20, wherein the structure of the observation device, the armrest, and the display device disposed on the lifting mechanism are respectively adjustable.
23. The primary console of claim 1, further comprising an operating portion that is unconstrained in motion.
24. The primary console of claim 1, further comprising an operating portion having a constraint when in motion.
25. A surgical robot, comprising: the master console and slave operating device according to claim 1 to 24,
the main operation console is used for sending a control command to the auxiliary operation equipment according to the operation of a doctor so as to control the auxiliary operation equipment, and the auxiliary operation equipment is used for responding to the control command sent by the main operation console and performing corresponding operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811565444.4A CN109498163B (en) | 2018-12-20 | 2018-12-20 | Main operation table and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811565444.4A CN109498163B (en) | 2018-12-20 | 2018-12-20 | Main operation table and surgical robot |
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| CN109498163A CN109498163A (en) | 2019-03-22 |
| CN109498163B true CN109498163B (en) | 2023-07-14 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4002621B2 (en) * | 1995-09-06 | 2007-11-07 | オリンパス株式会社 | Surgical observation device |
| US8521331B2 (en) * | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| JP5800616B2 (en) * | 2011-07-15 | 2015-10-28 | オリンパス株式会社 | Manipulator system |
| JP5941762B2 (en) * | 2012-06-14 | 2016-06-29 | オリンパス株式会社 | Manipulator system |
| JP2016095634A (en) * | 2014-11-13 | 2016-05-26 | パナソニックヘルスケアホールディングス株式会社 | Midair touch panel and surgery simulator display system having the same |
| AU2017339943B2 (en) * | 2016-10-03 | 2019-10-17 | Verb Surgical Inc. | Immersive three-dimensional display for robotic surgery |
| CN211271131U (en) * | 2018-12-20 | 2020-08-18 | 深圳市精锋医疗科技有限公司 | Main operating table and surgical robot |
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Address after: 518000 2b1901, phase II, smart home, 76 Baohe Avenue, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Jingfeng Medical Technology Co.,Ltd. Address before: Room 404, block B, building 2, Tianan Digital Innovation Park, No. 441, Huangge Road, Longcheng street, Longgang District, Shenzhen, Guangdong 518172 Applicant before: SHENZHEN JINGFENG MEDICAL TECHNOLOGY Co.,Ltd. |
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