CN214795422U - Diopter adjustment mechanism, main operating table and head-mounted device - Google Patents

Abstract

The utility model relates to a refraction adjustment mechanism, main operation platform, head-mounted equipment. The diopter adjustment mechanism includes: two independently adjustable diopter adjustment assemblies, the diopter adjustment assembly includes two lens that set up parallel to each other, two the interval between the lens is adjustable. Through the embodiment, the operation of the glasses can be separated, and the experience is better.

Description

Diopter adjustment mechanism, main operating table and head-mounted device

Technical Field

The utility model relates to the field of medical equipment, especially relate to a refraction adjustment mechanism, master operation platform, head-mounted equipment.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The surgical robot includes a master console and a slave operation device including a plurality of operation arms including a camera arm having an image end instrument and a surgical arm having an operation end instrument. The main console comprises a display and a handle. The physician operates the handle to control the camera arm or surgical arm movement under the field of view provided by the camera arm as displayed by the display.

When a doctor wearing myopia glasses or hypermetropia glasses fits an observation window of the main operating table to watch the visual field displayed by the display for operation, the human face such as the nose bridge is pressed on the glasses and uncomfortable, and the experience is poor.

Disclosure of Invention

Accordingly, there is a need for a diopter adjustment mechanism, a main console, and a head-mounted device that can be operated off-glasses and that is highly experienced.

In one aspect, the utility model provides a refraction adjustment mechanism, include: two independently adjustable diopter adjustment assemblies, the diopter adjustment assembly includes two lens that set up parallel to each other, two the interval between the lens is adjustable.

Wherein the refractive adjustment assembly comprises at least one support portion provided with at least one of the lenses, at least one of the support portions being adjustable in a direction along a central axis of both of the lenses.

The lens barrel comprises a first barrel body, a second barrel body, a lens, a first supporting part, a second supporting part and a lens, wherein the number of the supporting parts is two, the two supporting parts are the first barrel body and the second barrel body respectively, the size of the first barrel body is larger than that of the second barrel body, the second barrel body is sleeved in the first barrel body in a telescopic mode, and the two lenses are arranged on the first barrel body and the second barrel body respectively.

The inner wall of the first barrel is provided with first threads, the outer wall of the second barrel is provided with second threads matched with the first threads, and the first barrel and the second barrel are in rotatable threaded connection with the second threads through the first threads.

The refractive adjustment assembly comprises a driving part and a transmission assembly, the driving part is connected with the first cylinder through the transmission assembly, the driving part is a rotating motor, the transmission assembly comprises a first gear and a second gear, the first gear is arranged on an output shaft of the rotating motor, the second gear is arranged on the outer wall of the second cylinder, and the first gear is meshed with the second gear.

The transmission assembly further comprises a speed reducer, wherein the input end of the speed reducer is meshed with the first gear, and the output end of the speed reducer is meshed with the second gear.

The inner wall of the first cylinder is provided with a first guide part, the outer wall of the second cylinder is provided with a second guide part matched with the first guide part, the extending directions of the first guide part and the second guide part are parallel to the central shaft of the first cylinder, and the first cylinder and the second cylinder are in sliding connection through mutual matching of the first guide part and the second guide part.

Wherein the diopter adjustment assembly further comprises a driving part, the driving part is a linear driving part, and the linear driving part is coupled with the first supporting part and/or the second supporting part to drive the first supporting part and/or the second supporting part to move linearly to adjust the distance between the first supporting part and the second supporting part.

The linear driving part is a linear motor, the linear motor comprises a stator and a rotor which can linearly move relative to the stator, one of the first supporting part and the second supporting part is fixedly arranged relative to the stator, and the other supporting part is arranged on the rotor.

The linear driving part comprises a rotating motor, a transmission assembly and a lead screw pair, the lead screw pair comprises a lead screw and a sliding block capable of linearly moving relative to the lead screw, the rotating motor is connected with the lead screw through the transmission assembly, one of the first supporting part and the second supporting part is fixedly arranged relative to the lead screw, and the other one of the first supporting part and the second supporting part is arranged on the sliding block.

The straight transmission assembly comprises a first gear and a second gear, the first gear is arranged on an output shaft of the rotating motor, the second gear is arranged on the screw rod, and the first gear and the second gear are meshed with each other.

Wherein both of the lenses are convex lenses, or both are concave lenses, or a combination of convex and concave lenses.

On the other hand, the utility model also provides a main operating board, possesses observation part, observation part includes the refraction adjustment mechanism according to any one of above-mentioned embodiment.

In another aspect, the present invention also provides a head-mounted apparatus including a refractive adjustment mechanism as described in any of the above embodiments.

The utility model discloses a refraction adjustment mechanism, main operation platform, head-mounted apparatus have following beneficial effect:

through set up refraction adjustment mechanism in main operation panel or head-mounted equipment, adjust the interval that two lenses can adjust diopter in this refraction adjustment mechanism, and then make the doctor of myopia or hyperopia can break away from the glasses operation therefore the experience is better.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a main console of the present invention;

FIG. 2 is a schematic structural diagram of another embodiment of the main console of the present invention;

FIG. 3 is a schematic view of an embodiment of the refractive adjustment assembly of the present invention;

figure 4 is a schematic structural view of another embodiment of the refractive adjustment assembly of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," and the like are for illustrative purposes only and do not denote a single embodiment. The term "distal end" and "proximal end" as used herein are used as terms commonly used in the field of interventional medical devices, wherein the term "distal end" represents the end of the surgical instrument that is distal from the operator, and the term "proximal end" represents the end of the surgical instrument that is proximal to the operator. The term "first/second" or the like as used herein denotes a component as well as a class of two or more components having a common characteristic.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The term "each" used in the present invention includes one or more than two.

As shown in fig. 1, the surgical robot includes a main operation table 2 for manipulating the slave operation device. The main operation table 2 has an operation unit 21 and a display unit 22, and a surgeon operates the operation unit 21 to transmit a control command to the slave operation device so that the slave operation device performs a corresponding operation in accordance with the control command of the surgeon operating the operation unit 21, and observes the operation region through the display unit 22.

In some embodiments, as shown in fig. 1, the main console 2 may include a support 23, a receiving cavity 24 may be disposed on the support 23, the display portion 22 may be received in the receiving cavity 24, and a viewing portion 240 may be disposed on the receiving cavity 24. The doctor observes the operation image displayed on the display unit 22 through the observation unit 240. The viewing portion 240 includes a refractive adjustment mechanism for correcting the vision of the surgeon.

In some embodiments, as shown in fig. 2, the display portion 22 and the operation portion 21 of the main console 2 may also adopt a split structure. For example, the display 22 is integrated into a head-mounted device, such as VR glasses, AR glasses, or MR glasses, so that the doctor can move his head flexibly. A diopter adjustment mechanism 250 for correcting the vision of the doctor may also be provided in the head-mounted device, and the doctor observes the operation image displayed on the display section 22 through the diopter adjustment mechanism 250.

Alternatively, the above-mentioned diopter adjustment mechanism may be a diopter adjustment mechanism for correcting myopia formed of at least two concave lenses. Alternatively, the above-mentioned diopter adjustment mechanism may be a diopter adjustment mechanism for correcting hyperopia formed of at least two convex lenses.

With continued reference to fig. 2, the refractive adjustment mechanism 250 includes two independent refractive adjustment assemblies 260, the two refractive adjustment assemblies 260 being used to correct the vision of the surgeon's left and right eyes, respectively. The diopter adjustment assembly 260 includes two lenses disposed parallel to each other with an adjustable spacing therebetween.

The refractive adjustment assembly 260 includes at least one support portion provided with at least one lens, the at least one support portion being adjustable in a direction along a central axis of the two lenses. Optionally, the diopter adjustment assembly 260 includes a support portion with one of the lenses disposed thereon, and the adjustable spacing between the two lenses is achieved by adjusting the support portion to move toward or away from the other lens in a direction along the central axis of the two lenses. Optionally, the diopter adjustment assembly 260 includes two supports, one lens disposed on each support, and the adjustable spacing between the two lenses is achieved by adjusting the two supports to move toward and away from each other in a direction along the central axis of the two lenses.

To illustrate the number of the supporting portions included in each diopter adjustment assembly 260 is two, as shown in fig. 3, among the two supporting portions, the lens 2701 is disposed on the supporting portion 270, the lens 2801 is also disposed on the supporting portion 280, the two lenses 2701, 2801 are disposed in parallel, and the two supporting portions 270, 280 can move toward or away from each other to adjust the distance between the two lenses 2701, 2801 supported on the two supporting portions 270, 280, so that the combined focal length of the two lenses 2701, 2801 can be adjusted by the change of the distance between the two lenses 2701, 2801 in parallel, and further, the diopter power can be changed according to the change of the combined focal length.

In one embodiment, the lenses 2701, 2801 may each be a convex lens, or may each be a concave lens, or may be a combination of convex and concave lenses. By selecting lenses of different materials, different transmittances and/or different focal lengths, adjustment of different diopter ranges can be achieved.

The combined focal length of the lenses 2701, 2801 can be determined according to equation (1):

f＝f1×f2/(f1+f2-S) (1)

wherein f is the combined focal length, f1 is the focal length of one lens, f2 is the focal length of the other lens, and S is the distance between the two lenses. The focal length of the convex lens is usually a positive value, and the focal length of the concave lens is usually a negative value.

Further, the refractive power of the lenses 2701, 2801 can be determined according to equation (2):

D＝(1/f)×100 (2)

where D is the diopter number and the unit of the combined focal length f is m.

In the above embodiment, each of the lenses 2701 and 2801 may be a single lens unit. In general, the lens unit may be composed of at least one lens, for example, the lens unit may be composed of two lenses. In embodiments where the lens unit is formed of at least two lenses, the focal length between the lenses of the lens unit is fixed, or alternatively, the focal length between the lenses of the lens unit is adjustable.

In the embodiment where several lens units are composed of at least two lenses, for example, in the case where the lens 2701 is composed of one lens and the lens 2801 is composed of two lenses, the combined focal length of the lens 2801 itself may be determined according to the above formula (1), the combined focal length of the lens 2701 and the lens 2801 may be determined according to the above formula (1), and finally the refractive powers of the lens 2701 and the lens 2801 may be determined according to the formula (2).

In one embodiment, the supporting portion 270 is a first cylinder, the supporting portion 280 is a second cylinder, and the size of the first cylinder 270 is larger than that of the second cylinder 280, that is, the first cylinder 270 is an outer cylinder, and the second cylinder 280 is an inner cylinder. The two lenses 2701 and 2801 are respectively disposed on the first cylinder 270 and the second cylinder 280. For example, the lens 2701 is disposed at a first end of the first cylinder 270, and the lens 2801 is disposed at a second end of the second cylinder 280. The first end of the first barrel 270 refers to the end near the eye of the surgeon and the second end of the second barrel refers to the end near the display.

The first barrel 270 and the second barrel 280 can be moved in an axial direction toward or away from each other to change the spacing between the lenses 2701, 2801 disposed thereon.

In one embodiment, the inner wall of the first cylinder 270 is provided with a first thread 2702, the outer wall of the second cylinder 280 is provided with a second thread 2802, the first thread 2702 and the second thread 2802 are matched, the first cylinder 270 and the second cylinder 280 are rotatably screwed through the first thread 2702 and the second thread 2802, and the first cylinder 270 and the second cylinder 280 are relatively rotated to realize the movement of the two towards or away from each other along the axial direction. Wherein the pitch of the first and second threads 2702 and 2802 can be set smaller to allow for a greater degree of rotation to achieve a step, such as 50 ° or 100 °, adjustment of the refractive power; the pitch of the first and second threads 2702 and 2802 can also be set larger to allow for a smaller degree of rotation, such as 50 or 100, of the refractive power adjustment. Illustratively, if a full rotation can achieve a change of 0 ° to 1000 °, every adjustment of 100 ° corresponds to a required rotation of 36 °. The first barrel 270 and the second barrel 280 may be manually adjusted for relative rotation. In order to manually adjust the diopter number, a dial plate can be provided, the dial plate is provided with diopter number scales, the diopter number corresponding to the scales is related to the angle to be rotated, for example, in the case that one rotation is used for realizing adjustment of 0-1000 degrees and each adjustment of 100 degrees is corresponding to 36 degrees, 10 scales are required to be provided on the dial plate, and the corresponding diopter number can be marked for each scale.

In one embodiment, the diopter power can also be adjusted electrically, and the diopter adjustment assembly 260 further comprises a rotating motor and a transmission assembly, wherein the rotating motor and the first cylinder 270 are connected through the transmission assembly. In one embodiment, the transmission assembly includes a first gear and a second gear, the first gear is disposed on the output shaft of the rotating electrical machine, the second gear is disposed on the outer wall of the second cylinder, and the first gear and the second gear are engaged with each other, and the two engaged gears may be bevel gears, for example. In an embodiment, the transmission assembly further includes a speed reducer, an input end of the speed reducer is engaged with the first gear, and an output end of the speed reducer is engaged with the second gear, and the speed reducer is arranged to more accurately control the relative rotation between the first cylinder 270 and the second cylinder 280, so as to more accurately adjust the diopter.

In the above embodiment, for example, the rotation of the first cylinder 270 may not change the position of the first cylinder 270, i.e., the first cylinder 270 rotates in place, e.g., is mounted at a certain position by a bearing, and then the position of the second cylinder 280 is changed by the rotation of the first cylinder 270. Of course, the second cylinder 280 may be rotated in situ, and the position of the first cylinder 270 may be changed by the rotation of the second cylinder 280.

In another embodiment, as shown in fig. 4, the first screw 2702 may be replaced with a first guide 2703, and the second screw 2802 may be replaced with a second guide 2803 matched with the first guide 2703, wherein the first guide 2703 and the second guide 2803 extend in a direction parallel to the central axis of the first cylinder and the second cylinder, and the first cylinder and the second cylinder are slidably connected by the first guide 2703 and the second guide 2803. The first cylinder 270 and the second cylinder 280 can move toward or away from each other along the axial direction by means of plugging. Illustratively, one of the first guide 2703 and the second guide 2803 is a groove, and the other is a protrusion, and the first guide 2703 and the second guide 2803 are engaged with each other. For example, the first guide 2703 is a protrusion and the second guide 2803 is a groove.

In some embodiments, the refractive adjustment assembly further comprises a linear driving portion coupled to the first support portion and/or the second support portion to drive the first support portion and/or the second support portion to move linearly to adjust the distance between the first support portion and the second support portion.

In one embodiment, the linear driving unit may be a linear motor, the linear motor includes a stator and a mover linearly movable relative to the stator, and one of the first supporting unit and the second supporting unit is fixed relative to the stator, and the other supporting unit is disposed on the mover to move along with the mover. The stator may be fixed to the stator, or may be fixed to other positions of the non-stator and the mover.

In one embodiment, the linear driving part comprises a rotating motor, a transmission assembly and a screw pair, the screw pair comprises a screw rod and a slide block which can linearly move relative to the screw rod, the rotating motor is connected with the screw rod through the transmission assembly, one of the first supporting part and the second supporting part is fixedly arranged relative to the screw rod, and the other one of the first supporting part and the second supporting part is arranged on the slide block and moves along with the slide block. The screw rod can be arranged on the screw rod or can be other fixed positions of the non-screw rod and the sliding block. The transmission assembly comprises a first gear and a second gear, the first gear is arranged on an output shaft of the rotating motor, the second gear is arranged on the screw rod, and the first gear and the second gear are meshed with each other. A reduction gear may also be provided between the first and second gears to improve the accuracy of the drive.

In the above embodiment, the first cylinder 270 and the second cylinder 280 are generally hollow cylinders for adjusting the distance between the two lenses by relatively rotating the first cylinder 270 and the second cylinder 280. For other ways, such as adjusting the distance between two lenses by inserting and pulling the first cylinder 270 and the second cylinder 280, the shapes of the first cylinder 270 and the second cylinder 280 are not limited, and they may be hollow cylinders, hollow square cylinders, etc.

By selection of lenses 2701, 2801 and setting of the spacing between them, for example, 0-1000 ° myopia power adjustability can be achieved. Adjustment of the distance vision power, for example, from 0 to 500 deg., can also be achieved by selection of lenses 2701, 2801 and by setting the spacing between them.

In one embodiment, a controller may be provided within the main console 2, as shown in FIG. 1, and/or the head-mounted device 22, as shown in FIG. 2, to automate adjustment of the refractive adjustment mechanism 250.

In one embodiment, a table may be established relating the target refractive power to the target spacing between the two lenses 2701, 2801, and the refractive adjustment assembly 260 may be automatically adjusted according to the refractive power. Accordingly, the controller may be configured to perform: acquiring a target diopter; matching a target distance from the relation table according to the target diopter number; acquiring a current spacing between two lenses; and controlling the driving part to work based on the difference value between the target distance and the current distance so as to adjust the two lenses from the current distance to the target distance.

In another embodiment, the controller may be further configured to perform: acquiring a target diopter; determining a combined focal length between the two lenses according to the target diopter power; determining a target distance between the two lenses according to the determined combined focal length; acquiring a current spacing between two lenses; and controlling the driving part to work based on the difference value between the target distance and the current distance so as to adjust the two lenses from the current distance to the target distance.

Wherein the controller is configured to determine the combined focal length between the two lenses according to the target diopter power, in particular, the combined focal length between the two lenses may be determined according to the above formula (1).

Wherein the controller is configured to determine the target distance between the two lenses according to the determined combined focal length, in particular, the target distance between the two lenses may be determined according to the above formula (2).

In the above embodiment, the controlled driving part may be the rotating motor or the linear motor described above, and the driving part is coupled with the controller. For a rotating electrical machine, the direction and angle of rotation thereof are controlled. For linear motors, the direction of movement and the distance of movement are controlled.

In some embodiments, the controller may be configured to, when performing acquiring the target diopter, specifically, perform: acquiring identity information of a doctor; and acquiring the diopter number of the doctor according to the identity information of the doctor, and taking the acquired diopter number as the target diopter number. In some embodiments, the target diopter may also be entered by the doctor in real time.

In some embodiments, the controller may be configured to, when performing the acquiring a current spacing between two lenses, the current spacing being obtained from a distance sensor detection fixedly arranged relative to one of the two lenses. The current pitch may also be obtained from motor encoder detection of a linear motor or a rotary motor.

The identity information of the doctor comprises the diopter number of the doctor. The refractive power may be the one entered by the doctor or it may be the one recorded the last time the doctor used the refractive adjustment assembly. The information may be stored in memory on the main console or may be stored on a server, such as a cloud server, in communication with the main console.

The controller can quickly prepare the environment with clear vision for the doctor according to different eyesight of the doctor through the automatic adjusting process, and the trouble that the doctor wears the glasses is avoided. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (9)

1. A refractive adjustment mechanism, comprising:

two independently adjustable diopter adjustment assemblies, wherein each diopter adjustment assembly comprises two lenses which are arranged in parallel, and the distance between the two lenses is adjustable; the refraction adjusting assembly comprises a first supporting part and a second supporting part, the first supporting part is a first cylinder body, the second supporting part is a second cylinder body, the size of the first cylinder body is larger than that of the second cylinder body, the second cylinder body is telescopically sleeved in the first cylinder body, and the two lenses are respectively arranged on the first cylinder body and the second cylinder body; the inner wall of the first barrel is provided with first threads, the outer wall of the second barrel is provided with second threads matched with the first threads, and the first barrel and the second barrel are rotatably screwed with the second threads through the first threads; or

Two independently adjustable diopter adjustment assemblies, wherein each diopter adjustment assembly comprises two lenses which are arranged in parallel, and the distance between the two lenses is adjustable; the refraction adjusting assembly comprises a first supporting part and a second supporting part, the first supporting part is a first cylinder body, the second supporting part is a second cylinder body, the size of the first cylinder body is larger than that of the second cylinder body, the second cylinder body is telescopically sleeved in the first cylinder body, and the two lenses are respectively arranged on the first cylinder body and the second cylinder body; the diopter adjustment assembly further comprises a driving portion, wherein the driving portion is a linear driving portion, and the linear driving portion is coupled with the first supporting portion and/or the second supporting portion to drive the first supporting portion and/or the second supporting portion to move linearly so as to adjust the distance between the first supporting portion and the second supporting portion.

2. The diopter adjustment mechanism of claim 1, wherein the diopter adjustment assembly comprises a driving portion and a transmission assembly, the driving portion and the first cylinder are connected through the transmission assembly, the driving portion is a rotating motor, the transmission assembly comprises a first gear and a second gear, the first gear is disposed on an output shaft of the rotating motor, the second gear is disposed on an outer wall of the second cylinder, and the first gear and the second gear are engaged with each other.

3. A refractive adjustment mechanism according to claim 2, wherein the transmission assembly further comprises a speed reducer having an input engaged with the first gear and an output engaged with the second gear.

4. A diopter adjustment mechanism according to claim 1, wherein said linear drive portion is a linear motor including a stator and a mover linearly movable relative to said stator, one of said first support portion and said second support portion being fixedly disposed relative to said stator and the other being disposed on said mover.

5. A refraction adjusting mechanism according to claim 4, wherein the linear driving portion comprises a rotary motor, a transmission assembly and a screw pair, the screw pair comprises a screw rod and a slide block capable of moving linearly relative to the screw rod, the rotary motor is connected with the screw rod through the transmission assembly, one of the first supporting portion and the second supporting portion is fixedly arranged relative to the screw rod, and the other supporting portion is arranged on the slide block.

6. A refractive adjustment mechanism according to claim 5, wherein the transmission assembly comprises a first gear provided on the output shaft of the rotary motor and a second gear provided on the lead screw, the first and second gears being in mesh with each other.

7. A diopter adjustment mechanism according to claim 1, wherein both said lenses are convex lenses, or both are concave lenses, or a combination of convex and concave lenses.

8. A main console, comprising an observation unit including the dioptric adjustment mechanism according to any one of claims 1 to 7.

9. A head-mounted apparatus comprising a refractive adjustment mechanism according to any of claims 1 to 7.

Images