CN115363775A - Console device and surgical robot system - Google Patents

Abstract

The present invention provides a console device and a surgical robot system, the console device including: a pedal assist control assembly and a base; the pedal auxiliary control assembly is switched between a first storage position and a first extending position; the pedal auxiliary control assembly is integrated in the inner part or the side surface of the base when being positioned at the first storage position; the foot-operated auxiliary control assembly extends out of the base when in the first extended position. So dispose, pedal auxiliary control subassembly can be when accomodating, and the space of ability make full use of base for whole control cabinet device occupation space is littleer when placing, is favorable to the lightweight, has effectively improved the flexibility.

Description

Console device and surgical robot system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a console device and a surgical robot system.

Background

A master-slave teleoperated surgical robotic system includes a master, e.g., a console device, and a slave, e.g., a patient-side effector. The operator drives the patient-end executing device to execute the operation through the operation of the console device and the master-slave mapping mode.

Referring to fig. 1, most of the conventional console devices 01 are of an immersion type, and are combined with a lifting column and front and rear columns, so that the total volume of the console device 01 is large, and hardware circuits (such as a motor and an electric push rod) are used for adjusting the console device 01. With such a configuration, the operator has a single surgical posture and is easily fatigued. The console device 01 is too large in size, and time and labor are consumed for preparation before surgery and removal after surgery, and assistance of an operator is often needed; in addition, each time the operator needs to adjust his/her position to adapt to the operation, the console device 01 has insufficient flexibility.

Disclosure of Invention

The invention aims to provide a console device and a surgical robot system, and aims to solve the problems of large size and poor flexibility of the conventional console device.

In order to solve the above-described technical problem, the present invention provides a console device for a surgical robot system, the console device including: a pedal assist control assembly and a base;

the pedal auxiliary control assembly is switched between a first storage position and a first extending position; the pedal auxiliary control assembly is integrated in the inner part or the side surface of the base when being positioned at the first storage position; the foot-operated auxiliary control assembly extends out of the base when in the first extended position.

Optionally, the console device further includes a foot assembly; the foot assembly is disposed on the base to allow the base to move.

Optionally, the foot assembly is switched between a second receiving position and a second extending position; the foot margin assembly is integrated below or on the side face of the base when being located at the second storage position; and when the ground pin assembly is located at the second extending position, the ground pin assembly extends out of the base.

Optionally, the console device further includes a stand column and a display assembly, the stand column is fixedly disposed on the base, and the display assembly is movably disposed on the stand column along an axial direction of the stand column.

Optionally, the display assembly comprises a display, a connecting arm and a supporting arm; the upright post is provided with an inner cavity along the axial direction, the supporting arm is movably arranged in the inner cavity along the axial direction of the upright post, and the supporting arm can rotate around the axis of the upright post; the connecting arm is rotatably connected with the supporting arm around a first axis perpendicular to the axial direction of the supporting arm, and the display is rotatably connected with the connecting arm around the axis of the connecting arm.

Optionally, the console device further includes a stand column and an operating assembly, the stand column is fixedly disposed on the base, and the operating assembly is movably disposed on the stand column along an axial direction of the stand column.

Optionally, the operating assembly comprises a supporting seat and an armrest, and the supporting seat is movably connected with the upright along the axial direction of the upright;

the handrail is rotatably connected with the supporting seat around a second axial line perpendicular to the axial direction of the upright column, and/or the handrail is detachably connected with the supporting seat.

Optionally, the operating assembly includes a support base and a main control arm;

the main control arm is rotatably connected with the supporting seat around a third axis parallel to the axial direction of the upright column; and/or; the main control arm is movably connected with the supporting seat along the direction vertical to the upright post.

Optionally, the console device further includes a display component, an operation component, and a position memory component, where the position memory component is used to drive the display component and the operation component to move according to the stored position information.

In order to solve the above technical problem, the present invention further provides a surgical robot system including the console device as described above.

As described above, in the console device and the surgical robot system according to the present invention, the console device includes: a pedal auxiliary control assembly and a base; the pedal auxiliary control assembly is switched between a first storage position and a first extending position; the pedal auxiliary control assembly is integrated in the inner part or the side surface of the base when being positioned at the first storage position; the foot-operated auxiliary control assembly extends out of the base when in the first extended position.

So the configuration, pedal auxiliary control subassembly can be when accomodating, and the space of ability make full use of base for whole control cabinet device occupation space is littleer when placing, is favorable to the lightweight, has effectively improved the flexibility.

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 diagram of a prior art console device;

FIG. 2 is a schematic illustration of an application scenario of a surgical robotic system;

FIG. 3 is a schematic view of a console device of an embodiment of the present invention, in a stowed state;

FIG. 4 is a schematic view of a console device of an embodiment of the present invention, in an expanded state;

FIG. 5 is a schematic view of the pedal assist control assembly of the present invention received in a side of the base;

FIG. 6 is a schematic view of the foot-operated auxiliary control assembly of the present invention received within the interior of the base;

FIG. 7 is a partial schematic view of a console device of an embodiment of the present invention;

FIG. 8 is a schematic view of a display assembly of an embodiment of the present invention;

FIG. 9 is a schematic view of the display assembly of an embodiment of the present invention adjusting the orientation;

FIG. 10 is a schematic diagram of a wireless communication for a display according to an embodiment of the invention;

FIG. 11 is a schematic diagram of an application scenario of a display assembly of an embodiment of the present invention;

FIG. 12 is a schematic diagram of the operational components of an embodiment of the present invention;

FIG. 13 is a schematic view of a support base according to an embodiment of the invention;

fig. 14 is a schematic view of an armrest and armrest interface according to an embodiment of the present invention, wherein the armrest is in a deployed position;

fig. 15 is a schematic view of an armrest and armrest connector according to an embodiment of the present invention, wherein the armrest is in a stowed position;

FIG. 16 is a schematic view of an armrest of an embodiment of the present invention;

FIG. 17 is a schematic view of an armrest connector in accordance with an embodiment of the present invention;

FIG. 18 is a schematic view of the master control arm and the support base according to the embodiment of the invention;

FIG. 19 is an exploded view of the master control arm and the support base according to the embodiment of the present invention;

FIG. 20 is an exploded view of the master control arm and the support base at another angle according to the embodiment of the present invention;

FIG. 21 is a flow chart of the position memory component auto-adjustment display component and the operation component according to an embodiment of the present invention;

FIG. 22 is a flowchart illustrating another exemplary process of the position memorizing component automatically adjusting the display component and the operation component according to the embodiment of the present invention.

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, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or at least two of that feature, "one end" and "the other end," and "proximal end" and "distal end" generally refer to the corresponding two parts, including not only the endpoints. Furthermore, as used herein, the terms "mounted," "connected," and "disposed" on another element should be construed broadly and generally merely indicate that a connection, coupling, fit, or drive relationship exists between the two elements, and a connection, coupling, fit, or drive relationship between the two elements, whether direct or indirect through intervening elements, should not be construed as indicating or implying any spatial relationship between the two elements, i.e., an element may be located in any orientation within, 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 according to specific situations by those of ordinary skill in the art. Moreover, directional terminology, such as upper, lower, upward, downward, left, right, etc., is used with respect to the exemplary embodiments as they are shown in the figures, with the upward or upward direction being toward the top of the corresponding figure and the downward or downward direction being toward the bottom of the corresponding figure.

The invention aims to provide a console device and a surgical robot system, and aims to solve the problems of large size and poor flexibility of the conventional console device. The following description refers to the accompanying drawings.

Referring to fig. 2, an application scenario of a surgical robot system including a master-slave teleoperation surgical robot is shown, that is, the surgical robot system includes a master (i.e., console device 01) and a slave (i.e., patient-side executing device 2). Optionally, the surgical robot system further includes a main controller (not shown) and a supporting device 4 (e.g., an operating bed) for supporting a surgical object to perform a surgery. It should be noted that in some embodiments, the support device 4 may be replaced with other surgical platforms, and the present invention is not limited thereto.

The console device 01 is an operation terminal of the teleoperation surgical robot, and is configured to receive hand motion information of an operator to be input as a motion control signal of the entire system. Optionally, the main controller is also disposed on the console device 01.

The patient-end effector 2 is a specific actuation platform for a teleoperated surgical robot and comprises a robotic arm 21 and an instrument mounted or connected to the end of the robotic arm 21. Further, the instruments include surgical instruments (such as a high-frequency electric knife, etc.) for specifically performing surgical operations, endoscopes for assisting observation, and the like. The main controller maps the motion control signal from the console device 01 to the robot arm 21 of the patient-side actuator 2 by master-slave mapping, thereby realizing master-slave driving.

Further, the surgical robot system further includes an image trolley 3. The image trolley 3 is used for providing the assistant operator (such as a nurse) with images for displaying the surgical field or other assistant display information in real time. Optionally, in some application scenarios of the surgery, the surgical robot system further includes auxiliary components such as a ventilator, an anesthesia machine, and an instrument table, so as to be used in the surgery. 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.

As described in the background art, the console device 01 is large in size and poor in flexibility. To solve the problem, please refer to fig. 3 and 4, an embodiment of the present invention provides a console device 1, which includes a foot-operated auxiliary control assembly 11 and a base 10, wherein the foot-operated auxiliary control assembly 11 is switched between a first storage position and a first extending position; the pedal auxiliary control assembly 11 is integrated inside or on the side of the base 10 when in the first storage position; the supplementary foot control assembly 11 extends beyond the base 10 when in the first extended position.

So dispose, pedal auxiliary control subassembly 11 can be when accomodating, and the space of ability make full use of base 10 for whole control cabinet device 1 occupation space is littleer when placing, is favorable to the lightweight, has effectively improved the flexibility.

Optionally, the pedal auxiliary control assembly 11 includes a plurality of pedal bodies, which are used for detecting that the operator sends a switch control signal by stepping on the pedal body, and for implementing the auxiliary operation control except the control of the mechanical arm 21, and the pedal bodies include, for example, a master-slave control pedal switch, an endoscope control pedal switch, an electrotomy pedal switch or an electrocoagulation pedal switch. In the example shown in fig. 3 and 4, the base 10 is substantially a rectangular parallelepiped, and it can be understood that the shape of the base 10 can be configured by those skilled in the art according to actual needs, and is not limited to the rectangular parallelepiped.

Referring to fig. 5, in an exemplary embodiment, the console device 1 includes an electric control component 13 for implementing functions of power supply, driving control, information processing interaction, protection, and the like for the console device 1 as a whole, and the electric control component 13 may be disposed inside the base 10. Optionally, the folding of the foot-operated auxiliary control assembly 11 is integrated on the side (e.g. front side, i.e. the side facing the operator) of the base 10 when in said first storage position. Further, the wiring of the foot-operated supplementary control assembly 11 may be provided inside the base 10.

It should be noted that the relative overlapping area of the foot-operated auxiliary control assembly 11 and the base 10 is determined by the type and the occupied area of the foot-operated auxiliary control assembly 11; when the pedal auxiliary control assembly 11 is used, the pedal auxiliary control assembly is switched to a first extending position, the switching process can be realized through manual or automatic springing, and the first extending position can be adjusted according to requirements; the foot-operated auxiliary control unit 11 can be integrated on the base 10 in a line, a multi-row structure or a side structure.

Referring to fig. 6, in another exemplary embodiment, the electric control assembly 13 is disposed above the base 10, and the pedal assist control assembly 11 is accommodated in the base 10 when in the first accommodating position. The foot-assist control assembly 11 is switched to a first extended position in use, which can be accomplished by sliding along a track or arcuate ejection, and the first extended position can be adjusted as desired. Optionally, the base 10 includes an upper layer and a lower layer, the upper layer is used for accommodating the wiring of the pedal auxiliary control assembly 11, and the lower layer is used for accommodating the pedal auxiliary control assembly 11. A lead channel is arranged between the upper layer and the lower layer.

Optionally, the console device 1 includes an anchor assembly 12, and the anchor assembly 12 is disposed on the base 10 to allow the base 10 to move. The arrangement of the foot components 12 improves the moving efficiency of the console device 1, and can conveniently realize free movement by one person. With continued reference to fig. 3, in an exemplary embodiment, the console device 1 includes 4 foot assemblies 12 disposed at the bottom areas of the left and right sides (i.e., the sides perpendicular to the direction facing the operator) of the base 10, and the foot assemblies 12 include casters so that the operator can easily push the entire console device 1.

Optionally, the foot assembly 12 is switched between a second stowed position and a second extended position; the foot assembly 12 is integrated below or at the side of the base 10 when in the second storage position; the foot assemblies 12 extend beyond the base 10 when in the second extended position. Fig. 3 shows an example of the foot assembly 12 in a second stowed position, in which the foot assembly 12 is stowed alongside the base 10. The foot assembly 12 in the second storage position is attached to the base 10, so that the occupied area is small, and the overall space feeling is not influenced. Fig. 4 shows an example of the foot assembly 12 in a second extended position, wherein one end of the foot assembly 12 is rotatably connected to the base 10 about a vertical axis of rotation and the other end is a free end. The operator can rotate the foot assembly 12 as desired to spread it open and support the entire console device 1.

Optionally, referring to fig. 7, the console device 1 further includes a column 14, and the column 14 is fixedly disposed on the base 10.

Further, referring to fig. 7 to 11, the console device 1 further includes a display assembly 15, and the display assembly 15 is movably disposed on the upright 14 along the axial direction of the upright 14. Optionally, the endoscope connected to the mechanical arm 21 of the patient-end performing device 2 can acquire the surgical field image, and transmit the surgical field image to the image processing module of the console device 1 (e.g., can be integrated inside the base 10), so that the display module 15 in communication connection with the image processing module can display the surgical field image or other auxiliary information, so as to facilitate observation by the operator.

Referring to fig. 8, in an alternative example, the display assembly 15 includes a display 151, a connecting arm 152 and a supporting arm 153, the upright 14 has an inner cavity along an axial direction, the supporting arm 153 is movably disposed in the inner cavity along the axial direction of the upright 14, and the supporting arm 153 is rotatable around an axis A0 of the upright 14; the connecting arm 152 is rotatably connected to the support arm 153 about a first axis A1 perpendicular to the axial direction of the support arm 153, and the display 151 is rotatably connected to the connecting arm 152 about the axis of the connecting arm 152.

It should be noted that the above-mentioned exemplary embodiment is only one exemplary embodiment of the display assembly 15 and not limiting the display assembly 15, and in other embodiments, the connecting arm 152 may include a plurality of arm segments, and the plurality of wall segments may be connected by a rotational joint, so that the display 151 has a plurality of degrees of freedom of adjustment, and the display 151 can be adjusted to any position in any direction. In other embodiments, the display 151 may be fixedly connected to the connecting arm 152 instead of being rotatably connected, the connecting arm 152 may also be fixedly connected to the supporting arm 153, and one skilled in the art can configure the display module 15 according to actual needs.

Further, referring to fig. 10 and 11, the information transmission between the display 151 and the image processing module is divided into a wired mode and a wireless mode, where the wired mode is a hardware connection achieved through a cable and is not described again; fig. 10 shows an example using wireless communication, in which the display module 15 includes a communication controller 154, the communication controller 154 may be integrally provided on the back surface of the display 151, and the communication controller 154 is provided with a video signal transceiver inside, which is capable of wireless communication with the image processing module, and wireless reception of image information.

Optionally, referring to fig. 12 to 20, the console device 1 further includes an operating assembly 16, and the operating assembly 16 is movably disposed on the upright 14 along an axial direction of the upright 14. The operating assembly 16 is used to receive hand motion information from the operator as a motion control signal input to the overall system.

In an alternative example, the operating assembly 16 includes a support seat 161 and an armrest 162, wherein the support seat 161 is movably connected to the upright 14 along the axial direction of the upright 14; the armrest 162 is rotatably coupled to the support 161 about a second axis A2 perpendicular to the axial direction of the upright 14, and/or the armrest 162 is detachably coupled to the support 161. The armrest 162 is used to provide a place for the arm to relieve fatigue when an operator performs an operation, and the armrest 162 may be mounted with a touch screen or buttons, etc., so as to facilitate human-computer interaction. An operator can realize functions such as system operation control, mechanical arm, industrial personal computer and auxiliary system power-off control through operating a touch screen or a button and the like in emergency.

Referring to fig. 12 and 13 in conjunction with fig. 7, in an exemplary embodiment, the upright 14 has a substantially rectangular parallelepiped shape, a side wall of the upright 14 has a slide rail 141 extending along an axial direction, and the support seat 161 is connected to the slide rail 141, so as to achieve movement adjustment along the axial direction of the upright 14. The operator can adjust the axial position of the support 161 along the upright 14 according to the height. In the example shown in fig. 12, the slide rail 141 is located on the back side (i.e., the side away from the operator) of the column 14. It will be appreciated that in other embodiments, the slide rails 141 may be disposed on the left and right sides of the upright 14 instead of the rear side.

Optionally, referring to fig. 14 to 17, the operating assembly 16 further includes a handrail connecting element 163, the handrail connecting element 163 is connected to the supporting base 161, the handrail 162 is rotatably connected to an end of the handrail connecting element 163 away from the supporting base 161, and the rotating shaft thereof is the second axis A2. The armrest 162 is rotatably disposed with respect to the armrest connector 163, so that the armrest 162 can be folded to be stored (as shown in fig. 15 and 3), reducing the occupied space. In use, the armrest 162 may be rotated to a suitable height (as shown in fig. 12, 14 and 4) for deployment, either manually or automatically, to suit the height of different operators.

Further, in some embodiments, the armrest 162 is detachably connected to the armrest coupling member 163, and further, the armrest coupling member 163 is detachably connected to the support base 161. Thus, when the console device 1 is stored, the armrest connector 163 or the armrest 162 can be removed to reduce the space occupied when stored.

Optionally, referring to fig. 18 to 20 in combination with fig. 12, the operating assembly 16 includes a support base 161 and a main control arm 164; in some embodiments, the master control arm 164 is rotatably coupled to the support base 161 about a third axis A3 parallel to the axial direction of the upright 14; the master control arm 164 may, for example, be suspended below the support base 161. In some embodiments, the master control arm 164 is movably coupled to the support base 161 in a direction A4 perpendicular to the upright 14. Alternatively, the support base 161 has a slide groove 165, and the slide groove 165 extends in a direction A4 perpendicular to the column 14, preferably in the front-rear direction of the console device 1 (i.e., in the direction in which the operator faces). The operating assembly 16 includes a slider 166, the slider 166 is movably disposed along the slide channel 165, and the main control arm 164 is disposed on the slider 166, so that the main control arm 164 can be adjusted back and forth relative to the support base 161 to adapt to the operator's needs.

Optionally, the console device 1 further includes a position memorizing component (not shown) for driving the display component 15 and the operation component 16 to move according to the stored position information. In some embodiments, the display component 15 and the operation component 16 can be automatically adjusted according to the driving of the position memory component. Referring to fig. 21, in an exemplary embodiment, before the automatic adjustment, the console device 1 enters an initialization state, starts an interactive device, such as an HMI touch screen, and then enters a setting state, the location memory component determines whether a current operator is present, if the operator is a present user, the location memory component may retrieve location information stored and memorized by the operator through logging in a preset account or fingerprint, and send the information to an upper computer, and the upper computer analyzes and processes the information and then issues a command to each driving device, and the driving device drives the display component 15 and the operating component 16 to move. The drive operation assembly 16 moves, for example, drives the armrest 162 to rotate about the second axis A2 to achieve lift adjustment; the support base 161 is driven to move along the axial direction of the upright post 14, so that the lifting adjustment of the main control arm 164 and the handrail 162 is realized; drive the master control arm 164 to rotate about the third axis A3, move in the A4 direction, etc.; the driving display assembly 15 moves, for example, the driving support arm 153 to lift along the axial direction of the upright 14, the adjusting connecting arm 152 to rotate around the first axis A1, the adjusting display 151 to rotate around the axis of the connecting arm 152, so as to realize the position adjustment of the display 151, and the like. And the position memory component judges that if the current operator is a new user, an account can be preset on the interactive interface, and the current position information can be synchronously memorized in real time and stored in the adjustment process. Furthermore, the position information is processed by the MCU and converted into a signal which can be identified by the computer, the computer synchronously transmits the information to the personal account corresponding to the operator, and the information can be called by one key when the operation is performed next time.

Referring to fig. 22, in one example, the position memory device includes sensing means for acquiring current pose data of the display device 15 and the operation device 16, and the sensing means includes a photoelectric sensor, an angle sensor, and the like. The photoelectric sensor is used for detecting distance position information, the angle sensor is used for detecting pose (including angle) information of the display 151, the information is encoded into a signal which can be identified by a computer after being processed and is transmitted to an upper computer, an operator carries out fingerprint identification through an HMI (touch screen) before an operation starts, enters a working state after the identification is successful, and after the computer identifies the information of the fingerprint account, the computer calls related position information, sends the information to each driver, converts the information into speed and position so as to control the motor, and carries out required posture adjustment on the display assembly 15 and the operation assembly 16; if the fingerprint identification fails, a new account is preset, and the position information acquired by each corresponding sensing component is recorded and stored.

It is understood that, in other embodiments, the expansion and the retraction of the display assembly 15 and the operation assembly 16 are not limited to be performed automatically under the driving of the position memory assembly, and may also be performed manually by an operator, which is not limited in the present invention.

Based on the console device 1, the present embodiment further provides a surgical robot system, which includes the console device 1, and please refer to the prior art for other components of the surgical robot system, which will not be described again in the present embodiment.

As described above, in the console device and the surgical robot system according to the present invention, the console device includes: the foot pedal auxiliary control assembly, the base and the foot margin assembly; the pedal auxiliary control assembly is switched between a first storage position and a first extending position; the pedal auxiliary control assembly is integrated in the inner part or the side surface of the base when being positioned at the first storage position; the pedal assist control assembly extends out of the base when in the first extended position; the foot assembly is disposed on the base to allow the base to move. So dispose, pedal auxiliary control subassembly can be when accomodating, and the space of ability make full use of base for whole control cabinet device occupation space is littleer when placing, is favorable to the lightweight. Furthermore, the arrangement of the foot margin assembly improves the moving efficiency of the console device, can conveniently realize free movement by one person, and effectively improves the flexibility.

It should be noted that, several of the above embodiments may be combined with each other. The above description is only for the purpose of describing the preferred embodiment 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 intended to fall within the scope of the appended claims.

Claims (10)

1. A console device for a surgical robotic system, comprising: a pedal assist control assembly and a base;

the pedal auxiliary control assembly is switched between a first storage position and a first extending position; the pedal auxiliary control assembly is integrated in the inner part or the side surface of the base when being positioned at the first storage position; the foot-operated auxiliary control assembly extends out of the base when in the first extended position.

2. The console device of claim 1, further comprising a foot assembly; the foot assembly is disposed on the base to allow the base to move.

3. The console device of claim 2, wherein the foot assembly transitions between a second stowed position and a second extended position; the foot margin assembly is integrated below or on the side face of the base when being located at the second storage position; and when the ground pin assembly is located at the second extending position, the ground pin assembly extends out of the base.

4. The console device according to claim 1, further comprising a column fixedly disposed on the base, and a display assembly movably disposed on the column in an axial direction of the column.

5. The console device of claim 4, wherein the display assembly comprises a display, a connecting arm, and a support arm; the upright post is provided with an inner cavity along the axial direction, the supporting arm is movably arranged in the inner cavity along the axial direction of the upright post, and the supporting arm can rotate around the axis of the upright post; the connecting arm is rotatably connected with the supporting arm around a first axis perpendicular to the axial direction of the supporting arm, and the display is rotatably connected with the connecting arm around the axis of the connecting arm.

6. The console device according to claim 1, further comprising a column fixedly provided on the base, and an operating member movably provided on the column in an axial direction of the column.

7. The console device of claim 6, wherein the operating assembly includes a support base and an armrest, the support base being movably coupled to the upright in an axial direction of the upright;

the handrail is rotatably connected with the supporting seat around a second axis perpendicular to the axial direction of the upright column, and/or the handrail is detachably connected with the supporting seat.

8. The console device of claim 6, wherein the operating assembly includes a support base and a master control arm;

the main control arm is rotatably connected with the supporting seat around a third axis parallel to the axial direction of the upright column; and/or; the main control arm is movably connected with the supporting seat along the direction vertical to the upright post.

9. The console device according to claim 1, further comprising a display component, an operation component, and a position memory component for driving the display component and the operation component to move according to the stored position information.

10. A surgical robotic system comprising a console device according to any of claims 1-9.

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