CN114098974A

CN114098974A - Console, doctor's console and surgical robot

Info

Publication number: CN114098974A
Application number: CN202010900768.XA
Authority: CN
Inventors: 李明; 江卫; 胡忠华; 何超; 王旭光
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2022-03-01
Also published as: WO2022042248A1

Abstract

The invention provides a control console, a doctor control console and a surgical robot, wherein the doctor control console comprises an open type display device, an immersive type display device and a base; the open type display device and the immersive type display device are respectively connected with the base, and the open type display device and the immersive type display device are used for being selectively used and observed by an operator. So the configuration can be compatible open type observation and two kinds of intraoperative observation modes of immersive observation, on the one hand can adapt to different operation requirements and preferences of different operators, on the other hand, the interaction mode can be switched and observed, and the operator is prevented from keeping single posture operation for a long time to cause work fatigue.

Description

Console, doctor's console and surgical robot

Technical Field

The invention relates to the field of robot-assisted surgery systems, in particular to a control console, a doctor control console and a surgical robot.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical patient-end robots in clinical practice is more and more emphasized by people. The minimally invasive surgery robot can reduce the physical labor of an operator in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the minimally invasive surgery robot is small in trauma, less in blood loss, less in postoperative infection and quick in postoperative recovery.

The micro-wound surgical robot enables an operator to observe tissue characteristics in a patient body through a two-dimensional or three-dimensional display device at a main control platform, and operates mechanical arms and surgical tool instruments on the operation robot in a remote control mode or a remote mode to complete operation. The operator can finish the operation of the micro-trauma operation in the same way and feeling as the traditional operation, thereby greatly reducing the difficulty degree of the operator when carrying out the micro-trauma operation and simultaneously improving the efficiency and the safety of the operation. In minimally invasive surgery, it is very important that the display device can provide an intuitive image to the operator. The display devices of the existing surgical robots all adopt a single mode for operators to observe and interact; because different operators have different operation requirements and preferences, and human eyes have different operation handfeels under different observation angle states, if only one display mode is adopted, the operators need to keep single-posture operation for a long time in the operation process, and the work fatigue is easily caused; in addition, in order to enable the display device to provide a high-quality image to the operator, the display apparatus of the surgical robot is currently developed from an open type to an immersive type, and the open type display device is gradually replaced with the immersive display device.

Disclosure of Invention

The invention aims to provide a control console, a doctor control console and a surgical robot, and aims to solve one or more of the problems in the prior art.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a surgeon console for a surgical robot, including: an open display device, an immersive display device, and a base; the open display device and the immersive display device are respectively connected with the base, and the open display device and the immersive display device are used for being selectively observed by an operator.

Optionally, in the doctor console, the immersive display device is connected to the open display device through an optical path, and the immersive display device uses an image displayed by the open display device as a signal source.

Optionally, in the doctor console, the open display device is rotatably connected to the base between a first position and a second position about an axis disposed in a horizontal direction, and the immersive display device is movably disposed relative to the base between a third position and a fourth position; when the open display device is in the first position and the immersive display device is in the third position, the immersive display device reflects an image displayed by the open display device through a reflection module for an operator to observe.

Optionally, in the doctor console, when the open display device is in the second position, the image displayed by the open display device is used for being observed by an operator, and the distance between the image displayed by the open display device and the operator is a first distance; when the open display device is in the first position and the immersive display device is in the third position, an optical path distance between an image displayed by the open display device to the operator through the immersive display device is a second distance; the first distance is equal to the second distance.

Optionally, in the doctor console, when the open display device is in the first position and the immersive display device is in the third position, a light path from the open display device to the reflection module is an incident light path, and a light path from the reflection module to the operator is an emergent light path; and an included angle between the incident light path and the open type display device is the same as an included angle between the observation sight of the operator and the open type display device when the open type display device is positioned at the second position.

Optionally, in the doctor console, an included angle between the emergent light path and the horizontal direction is in a range of 30 degrees to 80 degrees.

Optionally, in the doctor console, the immersive display device and the open display device are respectively connected to a same signal source, and are used for respectively displaying a same image.

Optionally, in the doctor console, the doctor console further comprises a switching device for an operator to switch selections between the open display device and the immersive display device.

Optionally, in the doctor console, the immersive display device is movably connected with the base in a manner of folding, sliding, rotating, lifting or translating.

In order to solve the above technical problem, according to a second aspect of the present invention, there is also provided a surgical robot comprising: a physician's console as described above.

To solve the above technical problem, according to a third aspect of the present invention, there is also provided a console for a master-slave robot, including: the display device comprises a first display device, a second display device and a base; the first display device and the second display device are connected to the base, the first display device is used for being observed by an operator in a first posture, the second display device is used for being observed by the operator in a second posture, and the first posture is different from the second posture.

Optionally, in the console, a relative positional relationship between the first display device and the second display device is variable.

Optionally, in the console, the display area of the first display device is larger than the display area of the second display device, and the second display device is closer to the operator in use.

Optionally, in the console, the first display device is an open display device, and the second display device is an immersive display device.

In summary, in the console, the doctor console and the surgical robot provided by the present invention, the doctor console includes an open display device, an immersive display device and a base; the open type display device and the immersive type display device are respectively connected with the base, and the open type display device and the immersive type display device are used for being selectively used and observed by an operator. So the configuration can be compatible open type observation and two kinds of intraoperative observation modes of immersive observation, on the one hand can adapt to different operation requirements and preferences of different operators, on the other hand, the interaction mode can be switched and observed, and the operator is prevented from keeping single posture operation for a long time to cause work fatigue.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a surgical robot usage scenario in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of a physician's console of one embodiment of the present invention;

FIG. 3 is a schematic view of a physician's console in an open viewing mode in accordance with one embodiment of the present invention;

FIG. 4 is a schematic view of a physician console in an immersive viewing mode in accordance with an embodiment of the present invention;

FIG. 5 is a schematic view of the optical path of a physician's console in an open viewing mode in accordance with one embodiment of the present invention;

FIG. 6 is a schematic optical path diagram of a physician console in an immersive viewing mode in accordance with an embodiment of the present invention;

FIG. 7 is a schematic view of another immersive display device according to an embodiment of the present invention;

FIG. 8A is a schematic view of a physician's console in a first preferred example of an embodiment of the present invention;

FIG. 8B is a schematic illustration of mode switching of the physician console of FIG. 8A;

FIG. 8C is a schematic illustration of a use scenario of the physician console of FIG. 8B;

FIG. 9A is a schematic view of a physician's console in a second preferred example of an embodiment of the present invention;

FIG. 9B is a schematic illustration of mode switching of the physician console of FIG. 9A;

FIG. 9C is a schematic illustration of a use scenario of the physician console of FIG. 9B;

FIG. 10A is a schematic view of a physician's console of a third preferred example of an embodiment of the present invention;

FIG. 10B is a schematic illustration of mode switching of the physician console of FIG. 10A;

FIG. 10C is a schematic illustration of a use scenario of the physician console of FIG. 10B;

FIG. 11A is a schematic view of a fourth preferred example of a physician's console in accordance with an embodiment of the present invention;

FIG. 11B is a schematic illustration of mode switching of the physician console of FIG. 11A;

FIG. 11C is an enlarged view of the chute of the physician's console of FIG. 11A;

FIG. 11D is a schematic illustration of a use scenario of the physician console of FIG. 11B;

FIG. 12A is a schematic view of a physician's console of a fifth preferred example of embodiment of the present invention;

FIG. 12B is an enlarged view of the chute of the physician's console of FIG. 12A;

FIG. 12C is a schematic view of mode switching of the physician console of FIG. 12A;

FIG. 12D is a schematic illustration of a use scenario of the physician console of FIG. 12C;

FIG. 13A is a schematic view of a physician's console of a sixth preferred example of an embodiment of the present invention;

FIG. 13B is a schematic illustration of mode switching of the physician console of FIG. 13A;

FIG. 13C is a schematic view of a use scenario of the physician console of FIG. 13B;

FIG. 14A is a schematic view of a physician's console of a seventh preferred example of an embodiment of the present invention;

FIG. 14B is a schematic illustration of mode switching of the physician console of FIG. 14A;

FIG. 14C is a schematic illustration of a use scenario of the physician console of FIG. 14B;

FIG. 15A is a schematic view of a physician's console of an eighth preferred example of an embodiment of the present invention;

FIG. 15B is a schematic illustration of mode switching of the physician console of FIG. 15A;

FIG. 15C is a schematic illustration of a use scenario of the physician console of FIG. 15B.

In the drawings:

100-a doctor console; 110-open display device; 120-an immersive display device; 130-a base; 131-a chute; 132-a slide rail assembly; 133-a suspension bracket; 141-main operator; 142-a handrail; 143-a lift adjustment mechanism; 200-operation trolley; 201-a mechanical arm; 300-an image trolley; 400-an instrument table; 500-breathing machine and anesthesia machine.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, the term "proximal" is usually the end near the operator, the term "distal" is usually the end near the operated object, the terms "end" and "other end" and "proximal" and "distal" are usually corresponding two parts, which include not only end points, but also the terms "mounting", "connecting" and "connecting", which are to be understood in a broad sense, for example, may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The core idea of the invention is to provide a console, a doctor console and a surgical robot, so as to solve the problem that the existing single-mode display device is easy to fatigue an operator and the like.

The following description refers to the accompanying drawings.

An embodiment of the present invention provides a surgical robot, and fig. 1 illustrates the surgical robot and a surgical application scenario thereof, in an exemplary embodiment, the surgical robot includes a doctor console 100 and a surgical trolley 200, and a main manipulator is disposed on the doctor console 100. The surgical cart 200 has a plurality of robotic arms 201 on which surgical instruments and endoscopes can be respectively mounted. The main operation process of the surgical robot is that an operator (for example, a surgeon) performs minimally invasive surgery on a patient on a sickbed through the remote operation of the doctor console 100 and a main manipulator. Wherein, the main manipulator, the mechanical arm 201 and the surgical instrument form a master-slave control relationship. Specifically, the robot arm 201 and the surgical instrument move according to the movement of the main operating hand, that is, according to the operation of the hand of the operator during the surgical operation. Furthermore, the main operating hand also receives the acting force information of the human tissue organ to the surgical instrument and feeds the acting force information back to the hand of the operator, so that the operator can feel the surgical operation more intuitively. The doctor console 100 includes a display device that is connected to the endoscope mounted on the robot arm of the surgical cart 200 in a communication manner and can receive and display images captured by the endoscope. The operator controls the movement of the robot arm and the surgical instrument by the main operation hand based on the image displayed on the display device on the doctor console 100. The endoscope and the surgical instrument are each passed through a wound in the patient's body into the patient's site.

Optionally, in some operations, the surgical robot further includes auxiliary components such as an image trolley 300, an instrument table 400, a ventilator, and an anesthesia machine 500 for use in the operation. The selection and configuration of these auxiliary components can be made by those skilled in the art in light of the prior art and will not be described further herein.

Based on the above surgical robot, please refer to fig. 2, the present embodiment provides a doctor console 100, which includes: an open display device 110, an immersive display device 120, and a base 130; the open display device 110 and the immersive display device 120 are respectively connected to the base 130, and the open display device 110 and the immersive display device 120 are used for selective observation by an operator. So the configuration can be compatible open type observation and two kinds of intraoperative observation modes of immersive observation, on the one hand can adapt to different operation requirements and preferences of different operators, on the other hand, the interaction mode can be switched and observed, and the operator is prevented from keeping single posture operation for a long time to cause work fatigue. Specifically, when the operator uses the sitting posture in the operation, the operator generally looks up the open display device 110 in a horizontal direction, and when the operator uses the immersion type observation, the operator generally looks down to observe the immersion type display device 120 in a horizontal direction, and the operator can select and switch between two observation modes as required, so that the operator can change the working posture and relieve the fatigue caused by keeping a single posture for a long time.

The inventor has found that during the evolution update process of the display device of the doctor console, the single-mode open display device is located at an early stage of the evolution progress, and the display device gradually evolves to the single-mode immersive display device. The display panel of the open display device used in the past is weak against disturbance such as ambient light, and is likely to be disturbed by ambient light and the like when viewed by an operator. In addition, to obtain a larger field of view, larger display panels are often employed. For this reason, display devices gradually evolve to immersive display devices, which gradually replace open display devices, which overcome the problem of being susceptible to interference that open display devices have. However, the single-mode immersive display device is prone to fatigue because the operator has to keep a low-head posture for a long time. For this reason, the inventor of the present application has overcome the conventional technical development thinking only for improving the visual effect of the doctor, but has considered that how to effectively relieve fatigue without affecting the operation is a technical problem to be solved. Although the conventional way of relieving fatigue is to use other devices to act on the body, such as massage chair, etc., however, these inventions are not suitable for the operation process, especially for the doctor, for this reason, the present inventors have found that the fatigue can be relieved by integrating the open display device 110 and the immersive display device 120 into the doctor console 100, and by changing the posture of the doctor, the problem that the existing single mode display device is easy to fatigue the operator is solved, and the whole operation process is not affected, and furthermore, the volume of the whole doctor console is not required to be increased, because the single mode display device needs a larger screen, the single immersive display device also needs a larger display area, and after the open display device and the immersive display device are combined, because doctors can relieve physical fatigue and eye fatigue by changing postures, a small display area can achieve a good display effect.

Optionally, in an exemplary embodiment, the doctor console 100 further includes a main operating hand 141, an armrest 142 and a lifting/lowering adjusting mechanism 143, the armrest 142 is used for supporting the arm of the operator, and the main operating hand 141 and the armrest 142 are connected to the base 130 in a lifting/lowering manner through the lifting/lowering adjusting mechanism 143, so that the main operating hand 141 and the armrest 142 can be adjusted in height to accommodate different operators.

Referring to fig. 3 and 4, an open viewing mode and an immersive viewing mode of the physician console 100 are illustrated, respectively. The open-type viewing mode mainly utilizes the open-type display device 110, and the open-type display device 110 can be selected as a monitor or a projection screen, so that the operator can directly view the displayed image. Generally, the operator adopts a sitting posture during the operation, and the observation line of sight of the operator extends along a horizontal direction, so the open display device 110 is preferably arranged along a vertical direction within a certain angle range to be suitable for the observation of the operator. The immersive observation mode mainly uses the immersive display device 120, and the immersive display device 120 has an observation port, and in general, when the head of the doctor is immersed into the observation port in use, the surgical procedure is observed through two visual windows in the observation port, and at this time, as shown in fig. 4, the observation port is arranged in a direction substantially inclined upward, and when the operator observes using the immersive display device 120, the operator can be in a state of lowering his head, so as to be more suitable for the observation and operation mode of the operator.

In an alternative embodiment, as shown in fig. 7, the immersive display device 120 and the open display device 110 are respectively connected to a same signal source for respectively displaying a same image. With this configuration, when the operator performs switching selection observation between the immersive display device 120 and the open display device 110, the operator can see the same image, and continuity of image switching observation is ensured.

In another alternative embodiment, as shown in fig. 6, the immersive display device 120 is optically connected to the open display device 110, and the immersive display device 120 uses the image displayed by the open display device 110 as a signal source. The immersive display device 120 is connected to the open display device 110 by an optical path, and an image displayed by the open display device 110 can be used as a signal source, so that an additional separate display is not required, and the size of the entire display device can be reduced. Generally, in the existing immersive display device 120, an independent display screen is generally used as a signal source, the entire display device has a large volume, and substantially occupies the space in front of an operator, and no other display device is added, and the immersive display device 120 is connected to the open display device 110 by using an optical path, and the open display device 110 is used as the signal source, so that the volume of the entire display device is effectively reduced, and meanwhile, the problem that the existing display device with a single mode is easy to fatigue the operator is solved.

Referring to fig. 3-6, in an exemplary embodiment, the open display device 110 is rotatably coupled to the base 130 between a first position and a second position about a horizontally disposed axis, and the immersive display device 120 is movably disposed relative to the base 130 between a third position and a fourth position; when the open display device 110 is in the first position and the immersive display device 120 is in the third position, the immersive display device 120 reflects an image displayed by the open display device 110 through a reflection module for an operator to observe. As described above, in the open view mode, the open display device 110 is used for direct view by the operator, and it is preferably vertically arranged with its state set to the second position. In the immersive viewing mode, the open display device 110 rotates around the horizontal axis to form a downward tilt, so that the display panel thereof can be adapted to the reflective module of the immersive display device 120, and the state of the open display device 110 is set to be in the first position. The immersive display device 120, adapted to the open display device 110 in the first position, can reflect an image displayed by the open display device 110 and can be adapted to a heads-down line of sight of an operator, and the state of the immersive display device 120 is set to be in the third position. On the other hand, in the open viewing mode, the immersive display device 120 is not required to be used, and the immersive display device 120 is required to avoid shielding the open display device 110 as much as possible, so that the immersive display device 120 can be disposed in the fourth position.

In an alternative embodiment, the reflective module of the immersive display device 120 may include a plane mirror, and imaging with the plane mirror does not damage the single-center property of the light beam, and does not cause problems such as chromatic aberration and aberration that affect the imaging effect, which is beneficial to improving the imaging quality. Of course, in other embodiments, the reflection module is not limited to include only a plane mirror, but may also include common optical components such as a convex lens, a concave lens, a convex mirror, a concave mirror, etc., and those skilled in the art can appropriately configure the reflection module according to the prior art to suit the needs. Furthermore, it is understood that, according to the principle of reflected light path, in the immersion viewing mode, the image displayed by the open display device 110 should be upside down from the image displayed by the open display device 110 in the open viewing mode. The control system of the doctor console 100 can adaptively adjust the front and back of the image displayed on the open display device 110 according to the switching of the observation mode of the operator.

Further, referring to fig. 5 and 6, when the open display device 110 is in the second position, the image displayed by the open display device 110 is for the operator to observe, and a distance between the image displayed by the open display device 110 and the operator is a first distance; when the open display device 110 is in the first position and the immersive display device 120 is in the third position, an optical path distance between an image displayed by the open display device 110 through the immersive display device 120 to the operator is a second distance; the first distance is equal to the second distance. Specifically, the first distance, i.e., the distance D1 from the operator's viewpoint (e.g., eyes) to the image of the open display device 110; the second distance includes the sum of the distance D2 from the image of the open display device 110 to the incident light path of the reflective module of the immersive display device 120 and the distance D3 from the reflective module of the immersive display device 120 to the exit light path of the observation point of the operator. By the configuration, the observation distance before and after the observation mode is switched is consistent, and the visual sense of space deviation of an operator in the mode switching can be avoided. It is to be understood that the first distance and the second distance are equal and should be broadly connected to be approximately equal, for example, the first distance and the second distance are within a deviation range of 5cm, which can be considered to have no effect on the adjustment of the focal length of the human eye, and the first distance and the second distance are equal.

Further, when the open display device 110 is in the first position and the immersive display device 120 is in the third position, an angle between the incident light path and the open display device 110 is the same as an angle between a viewing line of sight of the operator and the open display device 110 when the open display device 110 is in the second position. Specifically, in the immersive observation mode, the image displayed by the open display device 110 forms a virtual image in the reflective module of the immersive display device 120, and the viewing angle of the virtual image observed by the operator in the reflective module with his head down is configured to be the same as the viewing angle of the image displayed by the open display device 110 directly observed by the operator in the open observation mode. Due to the configuration, the observation visual angles before and after the observation mode is switched are consistent, and the visual sense of space deviation of an operator in the mode switching can be avoided. It will also be appreciated that the viewing angles in the two viewing modes are the same here and should be broadly connected to be approximately equal, rather than strictly limiting to identical. For example, the viewing angles in the two viewing modes are within a deviation of plus or minus 5 °, which is considered to have no effect on the focus adjustment of the human eye, the viewing angles in the two viewing modes should be understood as being the same. Preferably, the included angle between the emergent light path and the horizontal direction is in the range of 30-80 degrees so as to adapt to the head lowering angle of an operator.

Optionally, the doctor console 100 further comprises a switching device (not shown) for an operator to switch between the open display device 110 and the immersive display device 120. The switching device may be a physical switch, such as a foot button disposed at the bottom of the base or a button disposed near the main operator, or a virtual switch controlled by software, such as a sensor for sensing the observation state of the operator to obtain the observation state of the operator, and the software is controlled to switch between the open observation mode and the immersion observation mode.

The following describes a specific structure of the physician console 100 provided in this embodiment with reference to several preferred examples.

Referring to fig. 8A-8C, which illustrate a first preferred example, immersive display device 120 is movably connected to base 130 by being flipped over. Specifically, the immersive display device 120 is rotatably connected to the top of the open display device 110 via a horizontally disposed hinge, and the open display device 110 is rotatably connected to the base 130. In the open viewing mode, the immersive display device 120 rotates around the hinge, and is folded and stored above the open display device 110, as shown in fig. 8A; in the immersive viewing mode, the open display device 110 tilts downward and rotates to the first position, and the immersive display device 120 is folded downward and turns to the third position. Referring to fig. 9A to 9C, which show a second preferred example, the immersive display device 120 is also movably connected to the base 130 by being folded, and specifically, the immersive display device 120 is rotatably connected to the side frame of the open display device 110 by a horizontally disposed hinge, and the effect can be achieved by referring to the first preferred example.

Referring to fig. 10A to 10C, which show a third preferred example, the base 130 is configured in an inverted L shape, that is, the top of the base 130 has a cantilever, and the immersive display device 120 is rotatably connected to the cantilever through a horizontally disposed hinge, and in actual use, in the open viewing mode, the immersive display device 120 rotates around the hinge and is folded and received in the cantilever, as shown in fig. 10A; in the immersive viewing mode, the immersive display device 120 is folded down to the third position, and the open display device 110 is tilted down to the first position, as shown in fig. 10A and 10B.

Referring to fig. 11A-11D, which illustrate a fourth preferred example, immersive display device 120 is movably coupled to base 130 in a sliding manner. Specifically, the doctor console 100 further includes a sliding rail assembly 132, the sliding rail assembly is fixedly connected to the left and right sides of the open-type display device 110 and extends out toward the display direction of the open-type display device 110, a sliding groove 131 is formed at the edge of the sliding rail assembly, and the immersive display device 120 can slide along the sliding groove 131. Optionally, the sliding slot 131 is arc-shaped to make the sliding of the immersive display device 120 smoother. In actual use, in the open viewing mode, immersive display device 120 slides up chute 131 to a fourth position that does not block an operator's direct view of open display device 110; in the immersive viewing mode, immersive display device 120 slides down chute 131 to the third position. In this preferred example, the both wings of slide rail set spare still have the function of sheltering from external stray light, can effectively avoid the operator to observe ambient light, further improve observation effect.

Referring to fig. 12A-12D, which illustrate a fifth preferred example, immersive display device 120 is movably connected to base 130 by way of translation. Specifically, the slide rail assembly 132 is configured to be a cylinder surrounding the open-type display device 110, a linear slide groove 131 is disposed at an end of the cylinder, and the immersive display device 120 can move up and down along the slide groove 131, which can also realize switching between two viewing modes. The slide rail assembly arranged in this way can protect the open type display device, such as blocking foreign matters such as dust, during the use of the immersive type display device.

Referring to fig. 13A-13C, which illustrate a sixth preferred example, immersive display device 120 is movably coupled to base 130 by way of rotation. Specifically, the base 130 further includes a hanging bracket, and the immersive display device 120 is rotatably disposed on the hanging bracket 133 around a vertical rotation axis, and the hanging bracket is preferably vertically movable to adapt the vertical position of the immersive display device 120 to the height of the operator. So configured, by rotating immersive display device 120, switching between the two viewing modes may be achieved.

Referring to fig. 14A to 14C, which show a seventh preferred example, based on the sixth preferred example, the structure can be simplified, the suspension bracket is eliminated, the immersive display device 120 can be directly connected to the base 130 in a rotatable manner around the vertical rotation axis, and in use, the immersive display device 120 can be switched to the immersive observation mode by rotating the immersive display device 120 to the front of the open display device 110, and the immersive display device 120 can be switched to the open observation mode by rotating the immersive display device 120 to the side or the rear of the open display device 110.

Referring to fig. 15A-15C, which illustrate an eighth preferred example, immersive display device 120 is movably connected to base 130 by way of elevation. Specifically, the base 130 further includes a bracket, and the immersive display device 120 is disposed on the bracket in a liftable manner along the vertical direction, and in use, the immersive display device 120 is lifted upwards to the third position along the vertical direction, and simultaneously the open type display device 110 is tilted downwards and rotated to the first position, that is, the doctor console 100 is configured in the immersive observation mode. The immersive display device 120 descends downward in the vertical direction to the fourth position while the open display device 110 tilts upward to the second position such that the immersive display device 120 does not obstruct the operator's view of the open display device 110, i.e., the physician console 100 is configured in the open viewing mode.

It is understood that the above eight preferred examples are only examples and not limitations on the structure of the physician console 100, and those skilled in the art can make other configurations for the structure of the physician console 100 according to the prior art, and the invention is not limited thereto.

It should be noted that the above embodiment is described by taking a doctor console in a surgical robot as an example, but the present invention is not limited to the doctor console in the surgical robot, and those skilled in the art can refer to the above description to apply a similar console to other master-slave robots to achieve similar effects and reduce fatigue of an operator.

In one exemplary embodiment, the console includes: the display device comprises a first display device, a second display device and a base; the first display device and the second display device are connected to the base, the first display device is used for being observed by an operator in a first posture, the second display device is used for being observed by the operator in a second posture, and the first posture is different from the second posture. It will be appreciated that the first display means and the second display means are displayed in different manners for the operator to observe in different postures, for example, wherein the first display means is for the operator to observe in a head-up state and the second display means is for the operator to observe in a head-down state, and the arrangement is such that the operator can selectively observe through the first display means and the second display means in use, thereby enabling the observation posture of the operator to be changed and achieving the effect of reducing fatigue.

Preferably, the relative positional relationship between the first display device and the second display device is variable, for example, the position of at least one of the first display device and the second display device relative to the base is adjustably set, and an operator can conveniently select one of the first display device and the second display device for observation.

Of course, in some embodiments, similar to the above-mentioned embodiments, the first display device may be an open display device, and the second display device may be an immersion display device, and the configuration in the console of the master-slave robot may also achieve the effect of reducing operator fatigue.

Further, the display area of the first display device is larger than the display area of the second display device, and the second display device is closer to the operator in use.

It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, similar parts between the embodiments may be referred to each other, and different parts between the embodiments may also be used in combination with each other, which is not limited by the present invention.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A surgeon console for a surgical robot, comprising: an open display device, an immersive display device, and a base; the open display device and the immersive display device are respectively connected with the base, and the open display device and the immersive display device are used for being selectively observed by an operator.

2. The physician console of claim 1, wherein the immersive display device is optically connected to the open display device, the immersive display device utilizing the images displayed by the open display device as a signal source.

3. The physician console of claim 2, wherein the open display device is rotatably coupled to the base about a horizontally disposed axis between a first position and a second position, the immersive display device being movably disposed relative to the base between a third position and a fourth position; when the open display device is in the first position and the immersive display device is in the third position, the immersive display device reflects an image displayed by the open display device through a reflection module for an operator to observe.

4. The physician console of claim 3, wherein when the open display device is in the second position, the image displayed by the open display device is for viewing by an operator, the image displayed by the open display device being spaced from the operator by a first distance; when the open display device is in the first position and the immersive display device is in the third position, an optical path distance between an image displayed by the open display device to the operator through the immersive display device is a second distance; the first distance is equal to the second distance.

5. The physician console of claim 3, wherein when the open display device is in the first position and the immersive display device is in the third position, the optical path between the open display device and the reflective module is an incident optical path and the optical path between the reflective module and the operator is an outgoing optical path; and an included angle between the incident light path and the open type display device is the same as an included angle between the observation sight of the operator and the open type display device when the open type display device is positioned at the second position.

6. The physician's console of claim 5, wherein the angle between the exit light path and the horizontal is in the range of 30 ° to 80 °.

7. The physician console of claim 1, wherein the immersive display device and the open display device are each connected to a same signal source for respectively displaying a same image.

8. The physician console of claim 1 further comprising a switching device for an operator to switch selections between the open display device and the immersive display device.

9. The physician console of claim 1, wherein the immersive display device is movably coupled to the base by folding, sliding, rotating, lifting, or translating.

10. A surgical robot comprising a surgeon console according to any of claims 1 to 9.

11. A console for a master-slave robot, comprising: the display device comprises a first display device, a second display device and a base; the first display device and the second display device are connected to the base, the first display device is used for being observed by an operator in a first posture, the second display device is used for being observed by the operator in a second posture, and the first posture is different from the second posture.

12. The console of claim 11, wherein a relative positional relationship between the first display device and the second display device is variable.

13. A console according to claim 11, wherein the display area of the first display means is larger than the display area of the second display means, the second display means being closer to the operator in use.

14. The console of claim 11, wherein the first display device is an open display device and the second display device is an immersive display device.