CN116403840A - Wearable pedal device, doctor console and surgical robot - Google Patents

Abstract

The invention provides a wearable pedal device, a doctor console and a surgical robot. In this way, the arrangement of the pedal shoes and the sensing elements can ensure that the pedal module has the wearability, and the pedal module has smaller volume and is convenient to carry and maintain; the first function switch is triggered by the matching mode of the first function switch and the sensing element, so that the triggering mechanism is simpler, the operation is easier, and the physical strength of doctors is greatly saved; the configuration of the first triggering condition can enable the pedal module to have a good triggering prevention mechanism, and unnecessary control actions caused by false triggering are avoided.

Description

Wearable pedal device, doctor console and surgical robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a wearable pedal device, a doctor console and a surgical robot.

Background

The advent of surgical robots has met with a trend toward precision surgery. Surgical robots are powerful tools for helping doctors to complete surgery, for example da Vinci surgical robots have been used in hospitals all over the world, and bring benefit to patients because of small injuries, less bleeding and quick recovery.

The surgical robot is designed to accurately implement complex surgical operations in a minimally invasive manner. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitations of human eyes, and a stereoscopic imaging technology is adopted to clearly present internal organs to an operator. In the area that original hand stretches into, the arm can accomplish 360 degrees rotations, move, swing, centre gripping to avoid the shake. The wound is small, the bleeding is less, the recovery is quick, the postoperative hospitalization time of a patient is greatly shortened, the postoperative survival rate and the recovery rate can be obviously improved, the wound is favored by vast doctors and patients, and the wound is widely applied to various clinical operations as high-end medical equipment.

In the process that a doctor performs operation through a surgical robot, some operation switches are generally needed to control surgical instruments to perform some operation, for example, at present, a conventional endoscope robot generally performs operation such as electric cutting, electric coagulation and the like through a foot switch, and can trigger to interrupt a master-slave control mode of the exiting surgical robot through the foot switch.

In the conventional surgical robots, the foot switch is a mechanical foot switch, and the foot switch is usually fixedly mounted on a doctor console. In the first aspect, the foot switch is fixedly arranged on the doctor console, so that the foot switch is inconvenient to carry, and the mechanical design causes the foot switch to occupy a large volume and easily causes more physical waste in the operation process of the doctor, so that the operation is complex. In the second aspect, the existing foot switch has no design of a false triggering prevention mechanism or the design of the false triggering prevention mechanism is not perfect enough, and a doctor can trigger the control action of the foot switch by stepping on the foot switch, which easily causes the foot switch to be triggered by mistake to cause false operation, and has great potential safety hazard. In a third aspect, there is currently no foot switch that is detachable from the doctor's console and wearable by the doctor.

Disclosure of Invention

Aiming at the technical problems of the three aspects of the traditional foot switch, the invention provides a wearable foot device, a doctor console and a surgical robot.

In order to solve the above technical problems, the present invention provides a wearable pedal device, which includes at least one pedal module, the pedal module includes:

A foot sole for being worn on a foot of an operation subject; at least one first function switch is arranged in the pedal shoe;

a sensing element for being worn on one of the toes of the operation subject;

the control unit is configured to execute the control action corresponding to the first function switch when the preset condition is met;

the first trigger condition is configured to: the foot of the operation object is detected to be worn in the foot shoes, the sensing element is detected to collide with the first function switch, and the first function switch receives expected pressure after the sensing element is detected to collide with the first function switch.

Optionally, the sensing element is configured to be worn on a thumb of the operation subject.

Optionally, the control unit includes a gravity detection area disposed in the pedal shoe, where the gravity detection area is used for the foot of the operating object to tread to detect the tread force applied by the operating object.

Optionally, the control unit further includes a temperature detection area disposed in the foothold, and the temperature detection area is used for detecting a temperature of the foot of the operation object.

Optionally, the induction element has a first magnetic induction area, the first functional switch has a second magnetic induction area, and the first magnetic induction area and the second magnetic induction area are used for collision.

Optionally, the wearable pedal device includes at least two different pedal modules, wherein at least one pedal module is a left pedal module, the remaining pedal modules are right pedal modules, and at least one different first function switch exists between the left pedal module and the right pedal module.

Optionally, the pedal module has at least two different first function switches.

Optionally, in the left pedal module, one of the first function switches is a master-slave clutch switch, and the other one of the first function switches is an instrument adjusting switch; in the right foot pedal module, one of the first function switches is an electric cut switch, and the other one of the first function switches is an electric coagulation switch.

Optionally, the pedal shoes of the pedal module are also provided with at least one second function switch; the control unit is configured to execute a control action corresponding to the second function switch or execute a preset control action when the control unit accords with a second trigger condition; the second trigger condition is configured to: it is detected that the foot of the operation object is worn in the foot pedal, and it is detected that one of the second function switches of the left foot pedal module and one of the second function switches of the right foot pedal module collide with each other and generate a desired force therebetween.

Optionally, when the gravity detection area detects that the weight of the operation object meets a preset weight, the pedal module is activated and started to perform detection work adapting to the first trigger condition, detection work adapting to the second trigger condition, control action triggering the first function switch and control action triggering the second function switch.

Optionally, at least one of the left foot module and the right foot module has at least two different second function switches, and at least one identical second function switch exists between the left foot module and the right foot module.

Optionally, when the second function switch of the left pedal module and the second function switch of the right pedal module that collide with each other are the same, the control unit executes a control action corresponding to the second function switch; and when the second function switch of the left pedal module and the second function switch of the right pedal module which collide with each other are different, the control unit executes a preset control action.

Optionally, in the left foot pedal module and/or the right foot pedal module, one of the second function switches is an arm change-over switch, and the other of the second function switches is a reset switch.

Optionally, the second functional switch of the left foot pedal module has a third magnetic induction area, the second functional switch of the right foot pedal module has a fourth magnetic induction area, and the third magnetic induction area and the fourth magnetic induction area are used for mutual collision.

Optionally, the pedal shoe comprises a pedal bottom plate and an upper, wherein the upper is connected with the pedal bottom plate and forms a wearing space for the feet of the operation object to extend into; the first function switch is located the top surface of pedal bottom plate, the second function switch is located the side of pedal bottom plate.

Optionally, the pedal shoes are provided with a status display area; the status display area is used for displaying and/or indicating status information of the pedal module.

In order to solve the technical problems, the invention also provides a doctor console, which comprises at least one main control arm for realizing a master-slave control mode of the surgical robot and the wearable pedal device.

In order to solve the technical problems, the invention also provides a surgical robot which comprises at least one mechanical arm, at least one surgical instrument and the doctor console, wherein the surgical instrument is arranged on the mechanical arm, and the master control arm is connected with the mechanical arm.

In summary, in the wearable pedal device, the doctor console and the surgical robot provided by the invention, the wearable pedal device comprises at least one pedal module, and the pedal module comprises pedal shoes, sensing elements and a control unit; the pedal shoes are used for being worn on the feet of the operation objects, and at least one first function switch is arranged in the pedal shoes; the sensing element is used for being worn on one toe of the operation object; the control unit is configured to execute a control action corresponding to the first function switch when the preset condition is met; the first trigger condition is configured to: the method comprises the steps of detecting that the foot of an operation object is worn in the pedal shoe, detecting that the sensing element collides with the first function switch, and receiving expected pressure by the first function switch after detecting that the sensing element collides with the first function switch.

In this way, the pedal shoes and the sensing elements can ensure the wearability of the pedal module, compared with the pedal switch fixed on the doctor console in the prior art, the pedal module can be separated from the doctor console and can also move on the doctor console, and compared with the mechanical pedal switch, the pedal module of the invention has smaller volume and is convenient to carry and maintain; the first function switch of the pedal module is triggered by the cooperation mode of the first function switch and the sensing element in the pedal shoe, and compared with the traditional pedal switch triggered by stepping, the pedal module triggering mechanism is simpler, the operation is easier, and the physical strength of doctors is greatly saved; the configuration of the first triggering condition can enable the pedal module to have a good triggering prevention mechanism, and unnecessary control actions caused by false triggering are avoided.

Further, the foot pedal module has at least two different first function switches. Compared with the traditional design of the mechanical foot switch triggered by stepping, the foot switch can usually only complete one functional operation, the triggering mechanism based on the first functional switch can enable the foot module to be configured with at least two different first functional switches, so that the foot module can be integrated with at least two different functional operations, and further the design of functional diversification of the foot module can be met.

It should be noted that, since the surgical robot and the doctor console provided by the invention include the wearable pedal device, the surgical robot and the doctor console provided by the invention also have all the beneficial effects of the wearable pedal device provided by the invention, so that the beneficial effects of the surgical robot and the doctor console provided by the invention are not repeated one by one.

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 on the scope of the invention. Wherein:

fig. 1 is a schematic view of an application scenario of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a patient trolley according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a physician console according to an embodiment of the present invention;

FIG. 4 is a schematic view of a wearable pedal device according to an embodiment of the present invention;

fig. 5 is a schematic view of an operation subject's foot being worn on a pedal module according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a third magnetic induction zone and a fourth magnetic induction zone of a pedal module according to an embodiment of the present invention;

FIG. 7 is a schematic view of a footbed of a footstep shoe of an embodiment of the present invention;

FIG. 8 is a schematic diagram of a pedal module and an interactive device according to an embodiment of the present invention;

FIG. 9 is a functional diagram of a wearable pedal device;

FIG. 10 is a flowchart of the start-up of the wearable pedal device;

fig. 11 is a workflow diagram of a wearable pedal device.

Detailed Description

The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "first," "second," "third," or "third" may explicitly or implicitly include one or at least two such features, with "one end" and "another end" and "proximal end" and "distal end" generally referring to the respective two portions, including not only the endpoints, but also the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, e.g., as being either a fixed connection, a removable connection, or as being integral therewith; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. Furthermore, as used in this disclosure, an element disposed on another element generally only refers to a connection, coupling, cooperation or transmission between two elements, and the connection, coupling, cooperation or transmission between two elements may be direct or indirect through intermediate elements, and should not be construed as indicating or implying any spatial pose relationship between two elements, i.e., any orientation of an element inside, outside, above, below or on one side of another element unless otherwise explicitly indicated. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Fig. 1 is a schematic view of an application scenario of a surgical robot according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention schematically shows an application scenario of a surgical robot including a doctor console 100, a patient trolley 200, and an image trolley 300, which are communicatively connected to each other.

Fig. 2 is a schematic structural view of a patient trolley according to an embodiment of the present invention. As shown in fig. 2, the patient table 200 includes a base 210 and at least one manipulator 220 (typically, the number of the manipulator 220 is not less than two, in other embodiments, one manipulator 220 may be a single-arm robot, and the manipulator arms of the single-arm robot are a large C-arm and a small C-arm connected to each other), which are mounted on the base 210, wherein the manipulator 220 has a surgical instrument mounted on its end, such as a surgical instrument, an endoscope, such as the at least one manipulator 220 has a surgical instrument 400 mounted on its end, and the at least one manipulator 220 has an endoscope 500 mounted on its end, and the manipulator 220 having the endoscope 500 mounted thereon is also referred to as a lens holding arm in the art. It should be noted that, as will be understood by those skilled in the art, when only one mechanical arm 220 is provided on the base 210, the surgical instrument 400 and the endoscope may be mounted on the same mechanical arm 220; when multiple robotic arms 220 are provided on the base 210, the surgical instrument 400 and the endoscope 500 may be mounted on different robotic arms 220. Typically, the surgical instrument 400 and the endoscope 500 are each mounted on a different robotic arm 220, which may be independently controlled. The surgical instrument 400 may be, for example, a high frequency electric knife to perform clamping, cutting, shearing, etc., and generally refers to the end of the surgical instrument 400 (i.e., the end that first enters the patient) to perform a surgical operation.

In particular, surgical instrument 400 and endoscope 500 may be inserted into a patient through a poking hole in the patient's surface. The endoscope 500 provides an endoscopic view of a lesion area of a patient, so that endoscopic images can be acquired within an effective view through the endoscope 500, specifically including acquiring image information of surgical scenes such as human tissue and organs, surgical instruments 400, blood vessels, body fluids, etc., and the acquired endoscopic images can be transferred to the first display unit 310 of the image dolly 300 to be displayed for a doctor to observe the image information of the surgical site.

Fig. 3 is a schematic structural view of a doctor console according to an embodiment of the present invention. As shown in FIG. 3, the physician console 100 includes at least one master control arm 110. Typically, the physician console 100 has two master control arms 110, one for each of the operator's left and right hands. During the operation, an operator (i.e., doctor) seated on the seat 140 of the doctor console 100 can control the movement of the surgical instrument 400 and the endoscope 500 positioned on the robot arm 220 by manipulating the main control arm 110, thereby completing various operations, thereby achieving the purpose of performing the operation for the patient. In actual operation, the operator views the returned endoscopic image through the second display unit 120 (which may be a 3D monitor, for example) on the doctor console 100, and controls the movement of the surgical instrument 400 and the endoscope 500 located on the robot arm 220 by manipulating the main control arm 110. Further, the doctor console further includes a foot switch 130, where the foot switch 130 is used for being pressed by the doctor to trigger the doctor to complete the input of relevant operation instructions such as electric cutting, electric coagulation or mode switching (mainly, whether to interrupt the master-slave control mode). In addition, the armrest structure 150 of the doctor console 100 is used for supporting the arm of the doctor, conforms to the ergonomic design, ensures that the doctor operates more stably, and has a lifting function to adjust the height of the armrest structure 150 so as to meet the requirements of doctors with different physical signs to operate the doctor console. The upright column adjusting structure 160 of the doctor console 100 is connected with the second display unit 120, and is used for adjusting the height of the second display unit 120, so as to ensure that the height of the second display unit 120 meets the vision observation requirement of the doctor as much as possible, and ensure that the doctor can control the main control arm 110 according to the image of the second display unit 120 in the most comfortable posture.

Specifically, during the surgical procedure, an operator realizes a master-slave control mode of the surgical robot through a doctor console (master control arm 110 corresponding to each instrument), so as to perform master-slave control on the surgical instrument 400 and the endoscope 500, and thus realize a surgical operation. In the operation process, an operator (doctor) operates the surgical instrument 400 through the corresponding master control arm 110, the surgical instrument 400 is in a dynamic motion state, the surgical instrument 400 needs to be ensured to be in the effective field of view of the endoscope 500, the doctor can observe the operation condition through the second display unit 120 conveniently, when the doctor cannot observe the image information of the surgical instrument 400 through the second display unit 120 or the feedback image information is more fuzzy, the doctor can press the foot switch 130 to interrupt the operation robot to exit from the master-slave control mode, and then the pose of the endoscope 500 is adjusted through the master control arm 110 corresponding to the endoscope 500, so that the surgical instrument 400 reappears in the effective field of view of the endoscope 500, and the doctor can be ensured to clearly observe the image information of the surgical instrument 400 through the second display unit 120.

Based on the above, an embodiment of the present invention provides a wearable pedal device, instead of the above-mentioned pedal switch 130, so as to be applied to the doctor console 100 and to the surgical robot. Fig. 4 is a schematic diagram of a wearable pedal device according to an embodiment of the present invention, referring to fig. 4, the wearable pedal device includes at least one pedal module 10, the pedal module 10 includes a pedal shoe 11, a sensing element 13, and a control unit, at least one first function switch 12 is disposed in the pedal shoe 11, after the first function switch 12 is triggered, the control unit performs a control action corresponding to the first function switch 12, for example, after the first function switch 12 is triggered, the control unit may perform a control action of the first function switch 12, which may be electric cutting or electric coagulation.

Fig. 5 is a schematic view of an operation object foot being worn on a pedal module according to an embodiment of the present invention. Referring to fig. 5 in combination with fig. 4, regarding the foothold 11, the foothold 11 has a wearable property and can be used to wear the foot of an operation subject (here, the operation subject may be a doctor sitting on the seat 140). The foot shoes 11 are shoe-shaped, for example slipper-shaped, and are ergonomically designed to fit the foot of the subject, for example the foot shoes 11 may be designed to fit the left foot of the subject. Regarding the specific structure of the foot rest 11, for example, the foot rest 11 includes a foot rest base 111 and an upper 112, the upper 112 is connected to the foot rest base 111 and forms a wearing space into which the foot of the operation subject extends, and the combination of the upper 112 and the foot rest base 111 makes the foot rest 11 substantially slipper-shaped. The first function switch 12 is located in the foot sole 11, specifically located on the top surface of the foot sole 111 and located at the front end of the foot sole 11, and the position configuration of the first function switch 12 on the foot sole 111 satisfies that the first function switch 12 can be in contact with the toes of the doctor after the doctor wears the foot sole 11.

With respect to the sensing element 13, referring to fig. 5 in combination with fig. 4, the sensing element 13 has a wearable property, and the sensing element 13 is intended to be worn on one of the toes of the operator. In the medical field, the five fingers of the foot are named thumb (or big toe), two-toe, three-toe, four-toe (or ring toe), little-toe, respectively, and in one embodiment, the sensing element 13 is used to be worn on the thumb of the subject, both the left-foot thumb and the right-foot thumb. The sensing element 13 is generally in the form of a belt or sheet and may be wound in a loop to enclose the toes during winding so as to be worn over the toes.

Regarding the control unit, it is configured to execute the control action corresponding to the first function switch 12 when the first trigger condition is met. That is, after the first triggering condition is met, the first functional switch 12 is triggered to feed back a signal to the control unit, so that the control unit outputs a corresponding signal to execute a control action corresponding to the first functional switch 12, for example, the control action corresponding to the first functional switch 12 is electric cutting, and the control unit controls the mechanical arm 220 and the high-frequency electric knife connected with the mechanical arm 220 to perform the electric cutting action. The control unit may be integrally provided on the foothold 11. In this embodiment, the first trigger condition is configured to: the control unit detects that the foot of the operation object is worn in the foothold 11, detects that the sensing element 13 collides with the first function switch 12, and detects that the first function switch 12 receives an intended pressure (receives a certain pressure) after the sensing element 13 collides with the first function switch 12. Specifically, the operator wears the sensing element 13 on one of the toes, then wears the foot in the foothold 11, and then presses the toe downward so that the sensing element 13 collides with the first function switch 12, and continues to press so that the first function switch 12 receives a desired pressure, the first function switch 12 is triggered to feed back a signal to the control unit so that the control unit performs a control action of the first function switch 12. In this way, for the toe without the sensing element 13, the first function switch 12 is not triggered even if the toe touches the first function switch 12 and a certain pressure is applied to the first function switch 12.

With reference to fig. 4, the control unit includes a gravity detection area 14 provided in the foot sole 11, specifically, the gravity detection area 14 is located on the foot sole 111 and at the rear end of the foot sole 111 so as to be able to contact with the rear end of the foot sole, and the gravity detection area 14 is used for the foot of the operation subject to tread to detect the tread force applied by the operation subject. In this way, when the operator wears the foothold 11, the gravity detecting area 14 can detect a certain stepping force regardless of whether the operator stands or sits on the seat 140, so that the operator can be considered to have worn the foothold 11. Furthermore, the foot shoes 11 worn on the feet of the operation subject can be regarded as activated to activate the foot module 10, and thus the subsequent work can be performed. In an embodiment, referring to fig. 5, the gravity detection area 14 is configured in a form of a gravity button 141, a first force feedback component 142, and a first force detection component 143, the gravity button 141 is connected to the first force detection component 143 through the first force feedback component 142, the gravity button 141 is located on the pedal base 111 and protrudes from the surface of the pedal base 111, the first force sensing component and the first force detection component 143 are embedded in the pedal base 111, and the gravity button 141 can be pressed to detect the stepping force applied by the operation object under the cooperation of the first force feedback component 142 and the first force detection component 143.

It is understood that the gravity detection area 14 may detect the stepping force applied to the whole body of the operation subject when the operation subject wears the foot shoes 11 to stand, thereby obtaining the weight of the operation subject. Based on this, this embodiment configures that when the body weight calculated by the control unit according to the stepping force fed back by the gravity detection area 14 matches the preset body weight, the pedal module 10 will be activated to perform subsequent operations (including the collision detection operation of the sensing element 13 and the first function switch 12, the detection operation of the stress of the first function switch 12, and the like). In this way, the dedicated pedal module 10 can be customized, specifically, the weight information of the operation object can be recorded in the control unit or the device with information interaction in the control unit in advance as the preset weight, when the weight obtained by the detection work of the control unit according to the gravity detection area 14 matches with the weight recorded in advance, the pedal module 10 can be activated and started, otherwise, the pedal module 10 is in a standby state and cannot be activated and started, and the subsequent 200 execution work about the control action cannot be performed. As a further preferred implementation detail, the pedal module 10 performs information interaction with the main control system of the doctor console, when the system inputs login information and matches with the body weight (the function can be set to be turned on and off in high authority), the pedal module 10 can be normally operated, physiological characteristic information of the operation object, including the body weight, facial characteristics, sound characteristics and the like, can be input in the database of the main control system in advance, only the operation object corresponding to the physiological characteristic information wears the pedal module 10, and the pedal module 10 can be activated and started when the doctor console 200 recognizes the corresponding facial information and sound information, otherwise, the operation cannot be started and is in a standby state.

Preferably, the control unit further includes a temperature detection area 15 provided in the foot sole 11, the temperature detection area 15 being for detecting the temperature of the foot of the operation subject. In one embodiment, temperature detection zone 15 is configured as a temperature sensor, including a thermal infrared human sensor, a human pyroelectric sensor, at least one temperature sensor being provided on both the surface of foot pedal 111 and the inner surface of upper 112. In this way, when the temperature is detected by each temperature sensor, it is considered that the operation object has worn the foot sole 11 completely, and the foot is matched with each position of the foot sole 11 to the extent possible. In addition, the temperature detection function of the temperature detection area 15 can be used not only to perfect the implementation of judging whether the foot is worn in the foot pedal 11, but also to exclude the operation of a robot simulator, so that the operation safety level of the foot pedal module 10 is higher.

In the embodiment, the control unit detects whether the sensing element 13 collides with the first function switch 12, and the present embodiment may be configured based on the principle of magnetic induction collision. Specifically, referring to fig. 5 and 4, the induction element 13 has a first magnetic induction area 131, the first functional switch 12 has a second magnetic induction area 125, and the first magnetic induction area 131 and the second magnetic induction area 125 are used for collision. When the device is specifically applied, after the sensing element 13 is worn by the toes of the doctor, the first magnetic induction area 131 faces downwards, the second magnetic induction area 125 of the first functional switch 12 faces upwards, and the first magnetic induction area 131 collides with the second magnetic induction area 125 in the process of pressing the toes downwards, so that magnetic induction signals are fed back to the control unit, and the control unit knows that the sensing element 13 collides with the first functional switch 12 in a contact manner according to the magnetic induction signals. For example, the first magnetic induction zone 131 may be configured as a magnetic proximity switch, a micro magnetic inductor, or a micro magnetic induction card, and the second magnetic induction zone 125 may be adaptively configured with reference to the first magnetic induction zone 131, which will not be repeated here.

In the embodiment in which the control unit detects whether the first function switch 12 is subjected to the expected pressure, the first function switch 12 is integrated with a pressure detection area, and after the pressure detection area detects that the pressure stress received by the first function switch 12 reaches the expected pressure, a feedback signal is sent to the control unit to inform the control unit that the first function switch 12 is subjected to the expected pressure. In an embodiment, referring to fig. 5, the pressure detection area is configured in a form of a second force feedback component 126 and a second force detection component 127, where the second force feedback component 126 is connected to the second force detection component 127 and embedded in the pedal bottom 111, the second magnetic induction area 125 of the first functional switch 12 may be disposed on the second force feedback component 126, and after the second magnetic induction area 125 is collided and pressed further, the pressure applied to the first functional switch 12 may be detected under the cooperation of the second force feedback component 126 and the second force detection component 127. In addition, the control unit can collect the habit (including pressure, touch time and the like) that the toes of the doctors touch the first function switch 12 according to the pressure detection area on the first function switch 12, so as to establish a database, thereby customizing the wearable pedal device for different doctors and improving the user experience.

Referring to fig. 4, for example, referring to the kind of the first function switch 12, the first function switch 12 may be a master-slave clutch switch 123, an instrument adjustment switch 124, an electric cut switch 121, or an electric coagulation switch 122.

For the master-slave clutch switch 123, the control action of the master-slave clutch switch 123 is configured to switch off or resume the master-slave control mode of the surgical robot. It will be appreciated that the master-slave control mode of the surgical robot specifically refers to an operator controlling the master control arm 110 to perform master-slave control on the mechanical arm 220 associated with the master control arm 110, so as to control the surgical instrument 400 on the mechanical arm 220, thereby completing the related surgical actions. Specifically, when the master-slave clutch switch 123 is triggered by the collision pressure of the sensing element 13, the control unit executes the control action of the clutch switch, so as to cut off the connection between the master control arm 110 and the mechanical arm 220, at this time, the doctor manipulates the movement of the master control arm 110 and does not affect the mechanical arm 220, at this time, the pose of the master control arm 110 can be adjusted, for example, the pose before the operation is started is corrected; when the master-slave clutch switch 123 is triggered by the collision pressing of the sensing element 13 again, the connection between the master control arm 110 and the mechanical arm 220 is restored, so that the master-slave control is continued under the operation of the master control arm 110.

With respect to the instrument adjustment switch 124, the control action of the instrument adjustment switch 124 is configured to adjust the pose of the surgical instrument, such as adjusting the pose of the surgical instrument 400 or adjusting the pose of the endoscope 500. Further, when the surgical instrument corresponding to the instrument adjustment switch 124 is the endoscope 500, the control action of the instrument adjustment switch 124 may be to control the turning on or off of the endoscope.

With respect to the electric switch 121, the control action of the electric switch 121 is configured to control the surgical instrument 400 (specifically referred to herein as a high frequency electric knife) to perform an electric cutting action, thereby completing the electric cut.

For the electro-coagulation switch 122, the control action of the electro-coagulation switch 122 is configured to control the surgical instrument 400 to perform an electro-coagulation action, thereby completing the electro-coagulation procedure.

Preferably, the foot module 10 has at least two different first function switches 12, and the at least two first function switches 12 are distributed on the foot floor 111 at intervals from each other. For example, the footware 11 of the single footware module 10 has an electric switch 121 and an electric coagulation switch 122 (the right footware module 10 shown in fig. 4). Compared to the conventional design of the mechanical foot switch triggered by stepping, which results in that one foot switch can usually only perform one functional operation, the triggering mechanism of the first functional switch 12 according to the present invention can enable the foot module 10 to configure at least two different first functional switches 12, so that the foot module 10 can integrate at least two different functional operations, and further can meet the design of functional diversification of the foot module 10.

Preferably, referring to fig. 1, the wearable pedal device comprises at least two different pedal modules 10, wherein at least one pedal module 10 is a left pedal module a and the remaining pedal modules 10 are right pedal modules B. Thus, the left foot pedal module A can be adapted to the left foot of an operator, and the right foot pedal module B can be adapted to the right foot of an operator. There is at least one different first function switch 12 between the left foot module a and the right foot module B so that the operator can perform more control actions through both feet, such as the first function switch 12 of the left foot module a and the first function switch 12 of the right foot module B being different. Referring to fig. 4, a master-slave clutch switch 123 and an instrument adjusting switch 124 are provided in the foothold 11 of the left foothold module a, and an electric cut switch 121 and an electric coagulation switch 122 are provided in the foothold 11 of the right foothold module B.

Preferably, referring to fig. 4, the foothold 11 of the foothold module 10 further has at least one second function switch 16, and the second function switch 16 may be disposed on a side of the foothold base 111, and on a side of the foothold module 10 facing the other foothold module 10, that is, on an inner side of the left foothold module a or on an inner side of the right foothold module B. The second function switch 16 may be of the type of an arm change-over switch 161 or a reset switch 162, for example. The control action of the arm change-over switch 161 is configured to realize the work change-over between the mechanical arms 220 of the surgical robot, that is, to change over the mechanical arm 220 currently being operated to the other mechanical arm 220, so that the other mechanical arm 220 can be controlled to operate. The control of the reset switch 162 is configured to reset the operating state of the foot pedal module 10, and when a failure of the foot pedal module 10, such as an insufficient electric quantity or an abnormal internal program, is detected, the control unit may reset the operating state of the foot pedal module 10 to the on state or the standby state after the reset switch 162 is triggered.

Further, the control unit is configured to execute the control action corresponding to the second function switch 16 or execute the preset control action when the second trigger condition is met. That is, after the second triggering condition is met, the second functional switch 16 is triggered to feed back a signal to the control unit, so that the control unit outputs a corresponding signal to execute a control action corresponding to the second functional switch 16, for example, the control action of the second functional switch 16 is to switch the mechanical arm 220 (i.e. the arm switch 161), and then the control unit switches the mechanical arm 220 currently working to another mechanical arm 220, so that the other mechanical arm 220 can work under the control of the main control arm 110. The second trigger condition of the present embodiment is configured to: the control unit detects that the foot of the operation object is worn in the foot rest 11, and the control unit detects that one of the second function switches 16 of the left foot rest module a and one of the second function switches 16 of the right foot rest module B collide with each other and generate an expected force therebetween. Specifically, the sensing element 13 is worn by both the left thumb and the right thumb of the operation object, then both feet are respectively worn in the foothold 11 of the left foot module a and the foothold 11 of the right foot module B, and then both feet of the operation object are brought close to each other so that the second function switch 16 of the left foot module a and the second function switch 16 of the right foot module B collide with each other, and an expected acting force (a certain acting force) is generated therebetween, and then the second function switch 16 can be considered to be triggered, thereby performing a control action corresponding to the second function switch 16, or performing a preset control action.

In the second triggering condition, regarding the embodiment in which the control unit detects whether the foot of the operation object is worn in the foothold 11, reference is made to the description related to the gravity detection area 14 and the temperature detection area 15 in the first triggering condition, and the description will not be repeated here.

In connection with an embodiment in which the control unit detects whether one of the second function switches 16 of the left foot module a and one of the second function switches 16 of the right foot module B collide with each other, the present embodiment may be configured based on the principle of magnetic induction collision. Specifically, referring to fig. 6, fig. 6 is a schematic diagram of a third magnetic induction area and a fourth magnetic induction area of the pedal module according to an embodiment of the invention, the second function switch 16 of the left pedal module a has the third magnetic induction area 163, the second function switch 16 of the right pedal module B has the fourth magnetic induction area 164, and the third magnetic induction area 163 and the fourth magnetic induction area 164 are used for collision. In a specific application, after the feet of the doctor wear the footshoes 11 respectively, the third magnetic induction area 163 and the fourth magnetic induction area 164 face each other, and after the feet approach each other, the third magnetic induction area 163 and the fourth magnetic induction area 164 collide with each other, so as to send corresponding magnetic induction signals to the control unit, and inform that the second function switch 16 of the left foot and the second function switch 16 of the right foot of the control unit collide. Illustratively, the third magnetic induction zone 163 may be configured as a magnetic proximity switch, a micro magnetic inductor, or a micro magnetic induction card, and the fourth magnetic induction zone 164 may be adaptively configured with reference to the third magnetic induction zone 163, which will not be repeated herein.

In the embodiment in which the control unit detects whether the second function switch 16 of the left foot and the second function switch 16 of the right foot generate the expected acting force in the second triggering condition, reference is made to the above description of the first triggering condition about the pressure detection area, and the description thereof will not be repeated here.

Further, at least one of the left foot module a and the right foot module B has at least two different second function switches 16, and there is at least one identical second function switch 16 between the left foot module a and the right foot module B. For example, the left foot module a has an arm switch 161 and a reset switch 162, and the right foot module B has an arm switch 161. In one embodiment, referring to fig. 4, the left foot module a and the right foot module B each have an arm switch 161 and a reset switch 162, and in the left foot module a and the right foot module B, the arrangement direction of the arm switch 161 and the reset switch 162 is along the front end to the rear end of the foot shoes 11.

Further, when the second function switch 16 of the left foot pedal module a and the second function switch 16 of the right foot pedal module B that collide with each other are the same, the control unit executes the control action corresponding to the second function switch 16, for example, after the arm switch 161 of the left foot and the arm switch 161 of the right foot are mutually triggered, the control unit may be considered to execute the control action of the arm switch 161. When the second function switch 16 of the left foot pedal module a and the second function switch 16 of the right foot pedal module B collide with each other are different, the control unit performs a preset control action, that is, performs other control actions different from the control action of the second function switch 16, for example, after the arm switch 161 of the left foot and the reset switch 162 of the right foot collide with each other, the control unit performs a preset control action, where the preset control action is neither the control action of the arm switch 161 nor the control action of the reset switch 162. For example, in the field of single-arm robots, which have a large and small C-arm, the preset control action may be, for example, to implement a working switch between the large and small C-arm.

Fig. 7 is a schematic view of a footbed of a footstep shoe in accordance with an embodiment of the present invention. Referring to fig. 7 in combination with fig. 4 and fig. 5, the pedal module 10 is provided with a communication area 17, the communication area 17 may be specifically disposed on the pedal bottom plate 111, the communication area 17 may be matched with a signal line in a communication interface manner to implement signal transmission with a main control system of the doctor console 200, so as to implement control actions of the control unit to execute the first function switch 12 or the second function switch 16, and of course, the communication area 17 may also implement signal transmission with the main control system of the doctor console 200 in a wireless module manner, where the wireless module may be a communication module such as WiFi communication, zigBee communication, bluetooth, a data station, a wireless network bridge, and 5G. Specifically, when the communication interface is plugged with a signal wire, wired communication is performed, and when the signal wire is unplugged, wireless communication is performed.

FIG. 8 is a schematic diagram of a pedal module and an interactive device according to an embodiment of the present invention. Further, the foot pedal 11 has a status display area thereon for displaying and/or indicating status information of the foot pedal module 10. In one embodiment, the status display area includes an indicator light, referring to fig. 8, including a first indicator light 1131, a second indicator light and a third indicator light 1133 sequentially from left to right, where the first indicator light 1131 indicates that the pedal module 10 and the main control system of the doctor console complete wired communication or wireless communication when being on, and the first indicator light 1131 indicates that the pedal module 10 and the main control system of the doctor console are disconnected from each other when being gray; the second indicator light is green when being lighted, the working state of the pedal module 10 is normal, the yellow is that the pedal module 10 is in a standby state, and the red is that the pedal module 10 is abnormal in fault; the third indicator 1133 indicates that the button cell 18 of the pedal module 10 is full when green, that the electric quantity of the button cell 18 is between 20% and 80% when yellow, and that the electric quantity of the button cell 18 is less than 20% when red. In addition, the foot module 10 can also charge the button cell 18 via a communication area 17, which represents a communication interface. In another embodiment, referring to fig. 4, the status display area includes a display screen 114 provided on the outer end surface (i.e., upper) of the upper 112 for displaying the communication status of the pedal module 10, the state of charge of the button cells 18, and the operating status (including normal, standby, and malfunction) of the pedal module 10. The pedal module 10 may be communicatively connected to the interaction device 20 of the doctor console for information interaction, such as visualizing status information of the pedal module 10 on the display 21 of the interaction device 20, in particular, displaying power information, running status, communication status information, etc. on the display 21. In addition, the display of the interactive apparatus 20 may also visualize physiological characteristic information of the operation subject (including body temperature information, body weight information), information related to the mechanical arm (such as moment information, joint information, etc.), and information related to the surgical instrument (instrument model, whether the instrument is in an operating state).

Fig. 9 is a functional diagram of the wearable pedal device. Referring to fig. 9, the temperature recognition means to detect whether the foot of the operation subject is worn at an appropriate position of the foot-operated shoe 11 (i.e., through the foregoing temperature detection region 15), and the force recognition means to detect whether the first function switch 12 is pressed, whether the second function switch 16 is pressed, and whether the gravity detection region 14 is subjected to the stepping force applied by the operation subject; magnetic induction identification refers to whether the first magnetic induction zone 131 of the first functional switch 12 collides with the second magnetic induction zone 125 on the induction element 13, and whether the third magnetic induction zone 163 on the second functional switch 16 of the left foot collides with the fourth magnetic induction zone 164 on the second functional switch 16 of the right foot; status display refers to the communication status, the state of charge, and the operational status of the foot module 10; the display interface is used for displaying operation pictures or information interaction conditions among devices through a visualization device; the database may record operation data of the foot module 10 (operation data of the first function switch 12, operation data of the second function switch 16, data collected by the gravity detection region 14, etc.), operation data of the doctor console, and weight information of the operation subject.

Fig. 10 is a flowchart of the start-up of the wearable pedal device. Referring to fig. 10, the foot module 10 is in a standby state, and recognizes whether an operator wears the foot shoes 11 through the gravity detection area 14 in the foot shoes 11, if an abnormal weight of the operator or a malfunction of the foot shoes 11 is detected, the malfunction is displayed or indicated in the state display area, if the weight is abnormal, the foot module enters the standby state, if other malfunctions are detected, after the malfunction is removed according to the information prompt of the state display area, a reset switch 162 is operated on the foot shoes 11 to remove the malfunction, and the foot module 10 is reset to the standby state; when the weight of the operator is identified as normal, the pedal module 10 can be activated to enable the pedal module 10 to enter a working state, and the temperature detection area 15 detects the temperature range of the feet of the operator, so as to judge whether the feet are normally worn in the pedal shoes 11; judging whether the first function switch 12 or the second function switch 16 is normally triggered or not through magnetic induction detection and force detection, if so, sending switch information (corresponding control actions) of the first function switch 12 or the second function switch 16 to a main control system and a database, thereby forming subsequent control information to enable a surgical instrument or a mechanical arm and the like to complete corresponding control actions; if the first function switch 12 or the second function switch 16 is not triggered normally, a warning message is generated, the foot shoes 11 and the database will display the warning message, and the database will record the stored data. The warning information may be, for example, an audio signal (e.g., a voice prompt, a bell sound prompt, etc.), a visual signal (color, text, image, prompt box on the display screen 114, etc.), or an audiovisual signal (a combination of visual and audible signals).

Fig. 11 is a workflow diagram of a wearable pedal device. Referring to fig. 11, weight recognition (gravity detection area 14) is used to recognize whether the operation object wears the shoes 11, if a certain stepping force applied by the operation object (or the weight of the operation object) is detected, the pedal module 10 is activated to enter an operating state, and if the stepping force or the related weight is not detected, the pedal module 10 is in a standby state and is not activated. When the pedal module 10 is activated to enter the operation state, the status display area of the pedal module 10 displays status information (including power status information, operation status information, communication status information, etc.) of the pedal module 10. After the pedal module 10 is activated, it may be further determined whether the foot of the operation object is already worn at a proper position of the pedal shoe 11 through the design of temperature detection and the design of information feedback process, and whether the first function switch 12 or the second function switch 16 is triggered through the design of magnetic detection and the design of force detection in cooperation with the design of information feedback process. If the pedal module 10 is connected with the doctor console 200 through its own communication interface and communication line, it can automatically switch to wired communication, and at the same time, it can charge the pedal module 10, and when the communication line is pulled out, it will automatically switch to wireless communication, if the electric quantity of the button cell 18 is too low, the pedal module 10 will sleep to enter into standby state, and when the pedal module 10 is activated, it will perform indication reminding of the indicator lamp in the state display area.

The foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention in any way, and any changes and modifications made by those skilled in the art in light of the foregoing disclosure will be deemed to fall within the scope and spirit of the present invention.

Claims (13)

1. A wearable pedal device comprising at least one pedal module, the pedal module comprising:

a foot sole for being worn on a foot of an operation subject, the foot sole having at least one first function switch therein;

a sensing element for being worn on one of the toes of the operation subject;

the control unit is configured to execute a control action corresponding to the first function switch when the first trigger condition is met;

the first trigger condition is configured to: the foot of the operation object is detected to be worn in the foot pedal, the sensing element is detected to collide with the first function switch, and the first function switch receives expected pressure after the sensing element is detected to collide with the first function switch.

2. The wearable pedal apparatus according to claim 1, wherein the control unit includes a gravity detection area provided in the pedal shoe for pressing a foot of the operation subject to detect a pressing force applied by the operation subject, and a temperature detection area provided in the pedal shoe; the temperature detection area is used for detecting the temperature of the foot of the operation object.

3. The wearable pedal apparatus of claim 1 wherein the inductive element has a first magnetic induction zone and the first functional switch has a second magnetic induction zone, the first magnetic induction zone and the second magnetic induction zone being configured to collide with each other.

4. The wearable pedal device of claim 1 wherein the wearable pedal device includes at least two different pedal modules, wherein at least one of the pedal modules is a left pedal module and the remaining pedal modules are right pedal modules, wherein there is at least one different first function switch between the left pedal module and the right pedal module.

5. The wearable pedal device of claim 4 wherein the pedal module has at least two different first function switches;

in the left foot pedal module, one of the first function switches is a master-slave clutch switch, and the other one of the first function switches is an instrument adjusting switch;

in the right foot pedal module, one of the first function switches is an electric cut switch, and the other one of the first function switches is an electric coagulation switch.

6. The wearable pedal device according to claim 4, wherein the pedal module further has at least one second function switch on the pedal shoe; the control unit is configured to execute a control action corresponding to the second function switch or execute a preset control action when the control unit accords with a second trigger condition;

the second trigger condition is configured to: it is detected that the foot of the operation object is worn in the foot pedal, and it is detected that one of the second function switches of the left foot pedal module and one of the second function switches of the right foot pedal module collide with each other and generate a desired force therebetween.

7. The wearable pedal device of claim 6 wherein at least one of the left pedal module and the right pedal module has at least two different second function switches and there is at least one identical second function switch between the left pedal module and the right pedal module.

8. The wearable pedal device according to claim 7, wherein when the second function switch of the left pedal module and the second function switch of the right pedal module that collide with each other are the same, the control unit performs a control action corresponding to the second function switch;

When the second function switch of the left pedal module and the second function switch of the right pedal module which are mutually collided are different, the control unit executes preset control actions;

in the left pedal module and/or the right pedal module, one of the second function switches is an arm change-over switch, and the other of the second function switches is a reset switch.

9. The wearable pedal apparatus according to claim 6, wherein the pedal shoe includes a pedal bottom plate and an upper, the upper being connected to the pedal bottom plate and forming a wearing space into which the foot of the operation subject extends; the first function switch is located the top surface of pedal bottom plate, the second function switch is located the side of pedal bottom plate.

10. The wearable pedal apparatus of claim 6 wherein the second function switch of the left pedal module has a third magnetic induction zone and the second function switch of the right pedal module has a fourth magnetic induction zone, the third magnetic induction zone and the fourth magnetic induction zone being for collision with each other.

11. The wearable pedal device according to claim 1, characterized in that the pedal shoe is provided with a status display area for displaying and/or indicating status information of the pedal module.

12. A doctor console comprising at least one master control arm for implementing a master-slave control mode of a surgical robot and a wearable foot-rest device according to any of claims 1-11.

13. A surgical robot, which is characterized by comprising at least one mechanical arm and at least one surgical instrument

A machine and a surgeon console as set forth in claim 12, said surgical instrument being mounted on said robotic arm,

the main control arm is connected with the mechanical arm.

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