WO2019024785A1 - 用于操纵执行机构的控制台 - Google Patents

用于操纵执行机构的控制台 Download PDF

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Publication number
WO2019024785A1
WO2019024785A1 PCT/CN2018/097467 CN2018097467W WO2019024785A1 WO 2019024785 A1 WO2019024785 A1 WO 2019024785A1 CN 2018097467 W CN2018097467 W CN 2018097467W WO 2019024785 A1 WO2019024785 A1 WO 2019024785A1
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WO
WIPO (PCT)
Prior art keywords
console
operating
panel
platform
actuator according
Prior art date
Application number
PCT/CN2018/097467
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English (en)
French (fr)
Inventor
李志强
Original Assignee
成都博恩思医学机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 成都博恩思医学机器人有限公司 filed Critical 成都博恩思医学机器人有限公司
Publication of WO2019024785A1 publication Critical patent/WO2019024785A1/zh
Priority to US16/750,004 priority Critical patent/US10993776B2/en
Priority to US17/181,086 priority patent/US20210169594A1/en
Priority to US17/501,357 priority patent/US11534254B2/en
Priority to US17/989,113 priority patent/US20230082804A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/60—Supports for surgeons, e.g. chairs or hand supports
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3201—Scissors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3209—Incision instruments
    • A61B17/3211—Surgical scalpels, knives; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

Definitions

  • the present invention relates to the field of robot control technology, and in particular to a console for operating an actuator.
  • Minimally invasive surgery is a procedure performed by a doctor with an endoscope and a minimally invasive surgical instrument. This type of operation requires high operational precision and stability of motion, and the operation time is long, which makes the doctor feel very tired and may appear. The vibration, fatigue, and feedback of the muscles of the doctor's hand lead to inaccurate movements, increase the suffering of the patient, and reduce the success rate of the operation.
  • a surgical robot has emerged, which provides a visual guidance or monitoring service function during the operation, and assists the doctor in completing the robot integrated system with high quality operation. It improves the quality of surgery and overcomes the shortcomings of traditional minimally invasive surgery, broadens the scope of minimally invasive surgery, and allows for surgical simulation.
  • more mature surgical robots generally adopt master-slave operation, that is, control the motion of the slave robot through an independent main operation terminal.
  • the controller operating main hand
  • the console is generally arranged in a longitudinal direction, that is, perpendicular to the panel direction of the console, but the existing controller and the console are only connected in the longitudinal direction for a long time. After use, the controller will be offset by gravity, which will result in inaccurate position information from the controller and affect the success rate of the operation.
  • the present invention provides a console for manipulating an actuator for solving the technical problem that the controller existing in the prior art may be offset by gravity.
  • the present invention provides a console for manipulating an actuator, including a controller for operating the actuator and a support for fixing the controller;
  • the support base includes a panel extending in a vertical direction and an observation platform located below the panel and extending in a horizontal direction;
  • the controller includes a connecting member that is coupled to the panel and the viewing platform, respectively.
  • the connecting member comprises a frustum, the axis of the frustum being perpendicular to a plane in which the panel is located;
  • the panel is provided with a tapered hole, and the frustum is disposed in the tapered hole.
  • the connecting member further includes an annular pressure plate fixedly connected to the observation platform, and a fixed collar is disposed between the annular pressure plate and the observation platform;
  • the axis of the annular pressure plate coincides with the axis of the observation hole on the observation platform.
  • a mounting groove is disposed in an inner ring of the annular pressure plate, and an outer wall of the frustum is connected to a connecting block disposed in the mounting groove;
  • the tapered hole is provided with a first opening portion, and the connecting block is disposed in the first opening portion.
  • the outer ring of the annular pressure plate is provided with an extension extending in a radial direction thereof, and a second opening portion is disposed between the panel and the observation platform, and the extension portion is disposed at the In the first opening portion;
  • the first opening portion and the second opening portion communicate with each other.
  • the controller further includes a control handle disposed on the frustum, the control handle being hand held or clamped.
  • the support base is liftably disposed on the frame, the bottom of the frame being provided with a pedal for exposing the pedal to a field of view of a doctor.
  • the support base further includes a mounting beam and a cantilever, one end of the cantilever being coupled to the panel and the other end being coupled to the mounting beam.
  • the mounting beam is further provided with an elbow platform, and the elbow platform and the mounting beam are both configured to have an outer curved surface facing the direction away from the panel;
  • the toggle platform is the same degree of curvature as the mounting beam.
  • the panel is provided with an emergency operation button, an indicator light, and a speaker.
  • the invention has the advantages that the connecting member in the controller is connected with the panel in the support base, so that the controller is subjected to the binding force in the longitudinal direction; in addition, the connecting member and the observation platform in the support base Connected, the controller is restrained in the vertical direction, that is, the controller is restrained in the longitudinal direction and the numerical direction, so that the connection between the controller and the support base is tight and reliable, in three directions (longitudinal direction, horizontal direction) And the vertical direction can not produce displacement, so it can avoid the deviation of the controller under the action of gravity after long time use, which leads to the inaccuracy of the position information issued by the controller, eliminating the factors affecting the success of the operation. To ensure the success rate of surgery.
  • FIG. 1 is a perspective structural view of a console for operating an actuator in a first embodiment of the present invention
  • Figure 2 is an enlarged view of the portion A shown in Figure 1;
  • Figure 3 is a perspective view showing the structure of the controller shown in Figure 1;
  • Figure 4 is a perspective view showing the structure of the support base shown in Figure 1;
  • Figure 5 is an enlarged view of the portion C shown in Figure 4.
  • Figure 6 is a perspective view showing the structure of a console for operating an actuator in a second embodiment of the present invention.
  • Figure 7 is an enlarged view of the portion B shown in Figure 6;
  • Figure 8 is a perspective view showing the structure of the controller shown in Figure 6.
  • the direction in the present invention is defined as follows: as shown in FIG. 1, the console is erected in the right-hand rectangular coordinate system, the vertical direction (the extending direction of the panel), that is, the Y-axis direction, and the horizontal direction (the extending direction of the mounting beam). That is, the X-axis direction and the longitudinal direction (the direction in which the slide rail extends), that is, the Z-axis direction.
  • the direction in which the doctor stands is in the Y-axis direction, and the face of the doctor is facing the front end of the control platform.
  • an embodiment of the present invention provides a console for manipulating an actuator including a controller 1 for operating an actuator and a support base 3 for fixing the controller 1.
  • the support base 3 includes a panel 31 extending in a vertical direction and an observation platform 34 located below the panel 31 and extending in a horizontal direction, that is, the extending direction of the panel 31 is perpendicular to the extending direction of the observation platform 34;
  • the controller 1 includes a connection The member 11, the connecting member 11, is connected to the panel 31 and the observation platform 34, respectively.
  • the connecting member 11 is connected to the panel 31 to subject the connecting member 11 to the longitudinal direction (Z-axis direction); in addition, the connecting member 11 and the observation platform 34 are provided. Connected, the connecting member 11 is subjected to a binding force in the vertical direction (Y-axis direction).
  • the connecting member 11 includes a frustum 111 whose axis is perpendicular to the plane in which the panel 31 is located; the panel 31 is provided with a tapered hole 311 in which the frustum 111 is disposed.
  • the diameter of one end of the frustum 111 near the observation platform 34 is larger than the diameter of the other end, so that the frustum 111 can be conveniently placed between the tapered holes 311.
  • the taper of the tapered hole 311 is the same as the taper of the frustum 111, and when the frustum 111 is placed in the tapered hole 311, the outer wall of the frustum 111 It completely conforms to the inner wall of the tapered hole 311.
  • the connecting member 11 is subjected to the binding force in the horizontal direction (X-axis direction) and the vertical direction (Y-axis direction), and thus, the controller 1 is in three directions (longitudinal direction)
  • the horizontal direction and the vertical direction are completely restrained, so that the connection between the controller 1 and the support base 3 is tight and reliable, and displacement cannot be generated in three directions, thereby avoiding the effect of the controller on gravity after long-term use.
  • the occurrence of an offset, resulting in inaccurate position information issued by the controller eliminates factors that affect the success of the operation, and ensures the success rate of the surgery.
  • the connecting member 11 further includes an annular pressure plate 112 fixedly coupled to the observation platform 34.
  • a fixed collar 116 is disposed between the annular pressure plate 112 and the observation platform 34.
  • the fixed collar 116 is made of a metal material. In order to ensure its wear resistance.
  • the axis of the annular pressure plate 112 coincides with the axis of the observation hole 341 on the observation platform 34.
  • the axial direction of the observation hole 341 is parallel to the Y-axis direction, so that the doctor can monitor the components controlled by the foot (such as the foot 41, etc.) through the observation hole 341, and thus the annular pressure plate is provided.
  • the annular platen 112 is provided with a hole in the middle, it does not block the doctor's line of sight.
  • the frustum 111 and the annular pressure plate 112 are connected by the following manner: the inner ring of the annular pressure plate 112 is provided with a mounting groove 113 extending in the radial direction of the annular pressure plate 112; the outer wall and the setting of the frustum 111 The connection blocks 114 in the mounting slots 113 are connected (as shown in Figures 3 and 8).
  • a first opening portion 35 is provided on the tapered hole 311, and the connecting block 114 is disposed in the first opening portion 35 (as shown in FIG. 5).
  • the outer ring of the annular pressure plate 112 is provided with an extending portion 115 extending in the radial direction thereof, and the second opening portion 36 is disposed between the panel 31 and the observation platform 34.
  • the extension portion 115 is disposed in the first opening portion 36; the first opening portion 35 and the second opening portion 36 communicate with each other.
  • First step A fixed collar 116 is placed on the viewing platform 34 and the annular platen 112 is placed on the viewing platform 34.
  • the controller 1 is moved in the longitudinal direction until the frustum 111 protrudes into the tapered hole 311, so that the axes of the annular pressure plate 112, the fixed ring 116 and the observation hole 341 coincide with each other, and the extension portion 115 is extended.
  • the second opening portion 36 is inserted into the second opening portion 35, and the connection block 114 is placed in the first opening portion 35.
  • the annular pressure plate 112 the fixed collar 116 and the observation platform 34 are fixedly connected by screws.
  • the controller 1 further includes a control handle 12 disposed on the frustum 111, and the control handle 12 is of a clamp type.
  • control handle 12 is a splint 121, which can visually reflect the shape of the end effector, so that the doctor can truly feel various information during the operation, thereby making the control handle more operable.
  • control handle 12 can also be set as a scalpel, a surgical scissors, a needle holder, a separation clamp, and the like according to the application object, and details are not described herein again.
  • the controller 1 further includes a control handle 12 disposed on the frustum 111, and the control handle 12 is of a hand grip type.
  • the end of the control handle 12 is provided with a grip portion 122 and a trigger 123.
  • the doctor holds the grip portion 122 by hand and pulls the trigger 123 to change the position state, in the process of the doctor
  • the grip is strong, and the operability of the control handle 12 is good.
  • the support base 3 is erectably mounted on the frame 4.
  • a lifting bracket can be arranged at the bottom of the support base 3, and the position of the support base 3 in the vertical direction can be adjusted by the lifting bracket so that it can be adapted to doctors of different heights.
  • the bottom of the frame 4 is provided with a pedal 41 for exposing the pedal 41 to the field of view of the doctor.
  • the support base 3 further includes a mounting beam 32 and a cantilever 33, one end of which is connected to the panel 31 and the other end is connected to the mounting beam 32.
  • the number of the cantilevers 33 is two, which are respectively symmetrically arranged with respect to the center of the support base 3 to be sufficiently adapted to the configuration of the human body.
  • the mounting beam 32 is further provided with an elbow platform 2, and both the elbow platform 2 and the mounting beam 32 are configured such that the outer side faces the curved structure curved away from the panel 31; the elbow platform 2 and the mounting beam 32 are bent to the same extent. Since the mounting beam 32 functions to support the elbow platform 2, and the mounting beam 32 does not affect the body part of the doctor, the structure of the mounting beam 32 is substantially the same as that of the elbow platform 2, but slightly smaller than the elbow platform 2, The elbow platform 2 is able to completely cover the mounting beam 32 without affecting the support of the mounting beam 32 to the elbow platform 2.
  • the elbow platform 2 is bent in the positive direction of the Z axis shown in FIG. 1 , which is sufficient to ensure that there is a certain distance between the body and the elbow joint after the arm is placed on the elbow platform 2, so that the curved structure is bent by the curved structure. It can prevent the arm from being pressed by the body and keep the arm in a relaxed posture for surgery.
  • elbow platform 2 of the curved structure can maintain a certain aesthetic appearance.
  • the elbow platform 2 is slidably coupled between the mounting beams 32 to enable the elbow platform 2 to adjust its position in the Z direction to accommodate doctors of different heights.
  • the emergency operation button 312, the indicator light 313, and the speaker 314 are provided on the panel 31.
  • the inside of the panel 31 is provided with a cavity, one for reducing the weight of the control platform, and the other for providing the installation space for the emergency operation button 311, the indicator light 312 and the speaker 313.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

本发明涉及一种用于操纵执行机构的控制台，涉及机器人控制技术领域，用于解决现有技术中存在的控制器会在重力的作用下发生偏移的技术问题。本发明的用于操纵执行机构的控制台，包括控制器以及支撑座，其中，控制器在纵向方向和数值方方向上均被约束，使控制器与支撑座的连接紧密可靠，在三个方向(纵向方向、水平方向以及竖直方向)上均无法产生位移，因此能够避免长时间使用后控制器会在重力的作用下发生偏移，而导致控制器发出的位置信息不准确的现象，剔除了影响手术成功的因素，保证影响手术的成功率。

Description

用于操纵执行机构的控制台
相关申请的交叉引用
本申请要求享有于2017年7月31日提交的名称为“用于操纵执行机构的控制台”的中国专利申请CN201710643884.6的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本发明涉及机器人控制技术领域，特别地涉及一种用于操纵执行机构的控制台。
背景技术
微创外科手术是医生借助内窥镜和微创手术器械完成的手术，该类手术操作需要高的操作精度和动作稳定性，而且手术工作时间很长，会使医生感觉非常疲惫，可能会出现医生手的颤动、疲劳、肌肉神经的反馈，导致动作的不准确，加大了患者的痛苦，降低了手术的成功率。在这种情况下，外科手术机器人应运而生，其在手术中可提供可视化导引或监视服务功能，辅助医生高质量地完成手术操作的机器人集成系统。它提高了手术的质量，并能够克服传统微创手术的缺陷，拓宽微创手术的范围，还可以进行手术仿真。
目前比较成熟外科手术机器人，一般都是采用主从操作，即通过一个独立的主操作端，控制从端机器人的动作。为了方便医生的操作，控制台上的控制器(操作主手)一般为纵向布置，即垂直于控制台的面板方向，但是现有的控制器与控制台仅在纵向方向上进行连接，长时间使用后控制器会在重力的作用下发生偏移，从而导致控制器发出的位置信息不准确并影响手术的成功率。
发明内容
本发明提供一种用于操纵执行机构的控制台，用于解决现有技术中存在的控制器会在重力的作用下发生偏移的技术问题。
本发明提供一种用于操纵执行机构的控制台，包括用于操纵执行机构的控制器以及用于固定所述控制器的支撑座；
所述支撑座包括沿竖直方向延伸的面板以及位于所述面板的下方且沿水平方向延伸的观测平台；
所述控制器包括连接构件，所述连接构件分别与所述面板和所述观测平台相连。
在一个实施方式中，所述连接构件包括锥台，所述锥台的轴线垂直于所述面板所在的平面；
所述面板上设置有锥形孔，所述锥台设置在所述锥形孔中。
在一个实施方式中，所述连接构件还包括与所述观测平台固定连接的环形压板，所述环形压板与所述观测平台之间设置有固定卡圈；
所述环形压板的轴线与所述观测平台上观测孔的轴线相互重合。
在一个实施方式中，所述环形压板的内环中设置有安装槽，所述锥台的外壁与设置在所述安装槽中的连接块相连；
所述锥形孔上设置有第一开口部，所述连接块设置在所述第一开口部中。
在一个实施方式中，所述环形压板的外环上设置有沿其径向方向延伸的延伸部，所述面板与所述观测平台之间设置有第二开口部，所述延伸部设置在所述第一开口部中；
所述第一开口部与所述第二开口部相互连通。
在一个实施方式中，所述控制器还包括设置在所述锥台上的控制手柄，所述控制手柄为手握式或夹持式。
在一个实施方式中，所述支撑座可升降地设置在机架上，所述机架的底部设置有踏板，所述观测孔用于使所述踏板暴露于医生的视野中。
在一个实施方式中，所述支撑座还包括安装梁和悬臂，所述悬臂的一端与所述面板相连，另一端与所述安装梁相连。
在一个实施方式中，所述安装梁上还设置有扶肘平台，所述扶肘平台与所述安装梁均构造为外侧面向着远离所述面板的方向弯曲的弧形结构；
所述扶肘平台与所述安装梁的弯曲程度相同。
在一个实施方式中，所述面板上设置有紧急操作按钮、指示灯以及扬声器。
与现有技术相比，本发明的优点在于：控制器中的连接构件与支撑座中的面 板相连，使控制器受到纵向方向上的约束力；此外，连接构件还与支撑座中的观测平台相连，使控制器受到竖直方向上的约束力，即控制器在纵向方向和数值方方向上均被约束，使控制器与支撑座的连接紧密可靠，在三个方向(纵向方向、水平方向以及竖直方向)上均无法产生位移，因此能够避免长时间使用后控制器会在重力的作用下发生偏移，而导致控制器发出的位置信息不准确的现象，剔除了影响手术成功的因素，保证影响手术的成功率。
附图说明
在下文中将基于实施例并参考附图来对本发明进行更详细的描述。
图1是本发明的第一实施例中用于操纵执行机构的控制台的立体结构示意图；
图2是图1所示A处的放大图；
图3是图1所示控制器的立体结构示意图；
图4是图1所示支撑座的立体结构示意图；
图5是图4所示C处的放大图；
图6是本发明的第二实施例中用于操纵执行机构的控制台的立体结构示意图；
图7是图6所示B处的放大图；
图8是图6所示控制器的立体结构示意图。
附图标记：
1-控制器；           2-扶肘平台；             3-支撑座；
4-机架               11-连接构件；            12-控制手柄；
31-面板；            32-安装梁；              33-悬臂；
34-观测平台；        35-第一开口部；          36-第二开口部；
41-踏板；            111-锥台；               112-环形压板；
113-安装槽；         114-连接块；             115-延伸部；
116-固定卡圈；       121-夹板；               122-握持部；
123-扳机；           311-锥形孔；             312-紧急操作按钮；
313-指示灯；         314-扬声器。
具体实施方式
下面将结合附图对本发明作进一步说明。
首先对本发明中的方向进行定义如下：如图1所示，将控制台直立于右手直角坐标系中，竖直方向(面板的延伸方向)即Y轴方向，水平方向(安装梁的延伸方向)即X轴方向，纵向方向(滑轨的延伸方向)即Z轴方向。医生所站立的方向为Y轴方向，医生进行操作时，其面部正对着操控平台的前端。
如图1和图6所示，本发明的实施例提供了一种用于操纵执行机构的控制台，其包括用于操纵执行机构的控制器1以及用于固定控制器1的支撑座3。
其中，支撑座3包括沿竖直方向延伸的面板31以及位于面板31的下方且沿水平方向延伸的观测平台34，即面板31的延伸方向与观测平台34的延伸方向垂直；控制器1包括连接构件11，连接构件11分别与面板31和观测平台34相连。如图4所示(图4中未示出控制器1)，连接构件11与面板31相连，使连接构件11受到纵向方向(Z轴方向)的约束力；此外，连接构件11与观测平台34相连，使连接构件11受到竖直方向(Y轴方向)的约束力。
进一步地，连接构件11包括锥台111，锥台111的轴线垂直于面板31所在的平面；面板31上设置有锥形孔311，锥台111设置在锥形孔311中。其中，锥台111靠近观测平台34的一端的直径大于另一端的直径，使锥台111能方便地放入到锥形孔311之间。
此外，为了使锥形孔311对锥台111起到限制作用，使锥形孔311的锥度与锥台111的锥度相同，当锥台111放入锥形孔311中时，锥台111的外壁与锥形孔311的内壁完全贴合。
通过将锥台111设置在锥形孔311中，使连接构件11受到水平方向(X轴方向)和竖直方向(Y轴方向)的约束力，至此，控制器1在三个方向(纵向方向、水平方向以及竖直方向)上完全被约束，使控制器1与支撑座3的连接紧密可靠，在三个方向上均无法产生位移，因此能够避免长时间使用后控制器会在重力的作 用下发生偏移，而导致控制器发出的位置信息不准确的现象，剔除了影响手术成功的因素，保证影响手术的成功率。
如图3和8所示，连接构件11还包括与观测平台34固定连接的环形压板112，环形压板112与观测平台34之间设置有固定卡圈116，其中，固定卡圈116由金属材料制成，以保证其耐磨性。
此外，环形压板112的轴线与观测平台34上观测孔341的轴线相互重合。如图2和7所示，观测孔341的轴线方向为平行于Y轴方向，因此医生通过观测孔341可对其脚部所控制的部件(如脚踏41等)进行监控，因此设置环形压板112一方面能够与观测平台固定连接，另一方面由于环形压板112的中间设置有孔，因此不会阻挡医生的视线。
锥台111与环形压板112是通过下述的方式进行连接的：环形压板112的内环中设置有安装槽113，安装槽113沿环形压板112的径向方向延伸；锥台111的外壁与设置在安装槽113中的连接块114相连(如图3和8所示)。
为了避免锥形孔311与连接块114产生干涉，在锥形孔311上设置有第一开口部35，连接块114设置在第一开口部35中(如图5所示)。
进一步地，为了防止环形压板112产生轴向跳动，在环形压板112的外环上设置有沿其径向方向延伸的延伸部115，面板31与观测平台34之间设置有第二开口部36，延伸部115设置在第一开口部36中；第一开口部35与第二开口部36相互连通。
将控制器1与支撑座3相连的具体步骤如下：
第一步：在观测平台34上放置固定卡圈116，并将环形压板112放置在观测平台34上。
第二步，使控制器1沿纵向方向移动，直至锥台111伸入到锥形孔311中，使环形压板112、定卡圈116以及观测孔341的轴线相互重合，并使延伸部115伸入到第二开口部36中、连接块114置于第一开口部35中。
第三步，将环形压板112、定卡圈116以及观测平台34通过螺纹固定连接。
在本发明的第一实施例中，如图3所示，控制器1还包括设置在锥台111上的控制手柄12，且控制手柄12为夹持式。
进一步地，控制手柄12的末端为夹板121，夹板121能够形象地反应末端执 行器的形状，使医生能够真实的感受到手术过程中的各种信息，从而使控制手柄的可操作性更强。
此外，控制手柄12的末端还可根据应用对象设置为手术刀、手术剪、针持、分离钳等多种方式，在此不再赘述。
在本发明的第二实施例中，如图8所示，控制器1还包括设置在锥台111上的控制手柄12，控制手柄12为手握式。
进一步地，控制手柄12的末端设置有握持部122和扳机123，在进行手术时，医生用手握住握持部122，并扣动扳机123，使其改变位置状态，在此过程中医生的抓握感较强，使控制手柄12的可操作性好。
在上述两个实施例的基础上，支撑座3可升降地设置在机架4上。可在支撑座3的底部设置升降支架，通过升降支架能够调整支撑座3在竖直方向上的位置，使其能够适合不同身高的医生。
如图4所示(图4中未示出控制器1)，机架4的底部设置有踏板41，观测孔341用于使踏板41暴露于医生的视野中。
支撑座3还包括安装梁32和悬臂33，悬臂33的一端与面板31相连，另一端与安装梁32相连。悬臂33的数量为两个，分别关于支撑座3的中心对称设置，以充分与人体的构造相适应。
安装梁32上还设置有扶肘平台2，扶肘平台2与安装梁32均构造为外侧面向着远离面板31的方向弯曲的弧形结构；扶肘平台2与安装梁32的弯曲程度相同。由于安装梁32起到支撑扶肘平台2的作用，并且安装梁32不能对医生的身体部位产生影响，因此安装梁32的结构大致与扶肘平台2的相同，但略小于扶肘平台2，使扶肘平台2能够完全将安装梁32遮盖起来，但又不影响安装梁32对扶肘平台2的支撑。
扶肘平台2朝向图1所示的Z轴正方向弯曲，是充分考虑到将手臂放置在扶肘平台2上后，身体与肘关节之间存在一定的间距，因此通过该弧形弯曲结构，能够防止手臂受到身体的压迫，使手臂始终保持放松的姿态进行手术。
此外，弧形结构的扶肘平台2还能保持一定的美观性。
扶肘平台2于安装梁32之间滑动连接，使扶肘平台2能够沿Z方向调整其位置，以便适应不同身高的医生。
面板31上设置有紧急操作按钮312、指示灯313以及扬声器314。其中面板31的内部设置有空腔，一是为了减轻操控平台的重量，二是为上述的紧急操作按钮311、指示灯312以及扬声器313提供安装的空间。
虽然已经参考优选实施例对本发明进行了描述，但在不脱离本发明的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (14)

  1. 一种用于操纵执行机构的控制台，其特征在于，包括用于操纵执行机构的控制器(1)以及用于固定所述控制器(1)的支撑座(3)；
    所述支撑座(3)包括沿竖直方向延伸的面板(31)以及位于所述面板(31)的下方且沿水平方向延伸的观测平台(34)；
    所述控制器(1)包括连接构件(11)，所述连接构件(11)分别与所述面板(31)和所述观测平台(34)相连。
  2. 根据权利要求1所述的用于操纵执行机构的控制台，其特征在于，所述连接构件(11)包括锥台(111)，所述锥台(111)的轴线垂直于所述面板(31)所在的平面；
    所述面板(31)上设置有锥形孔(311)，所述锥台(111)设置在所述锥形孔(311)中。
  3. 根据权利要求2所述的用于操纵执行机构的控制台，其特征在于，所述连接构件(11)还包括与所述观测平台(34)固定连接的环形压板(112)，所述环形压板(112)与所述观测平台(34)之间设置有固定卡圈(116)；
    所述环形压板(112)的轴线与所述观测平台(34)上观测孔(341)的轴线相互重合。
  4. 根据权利要求3所述的用于操纵执行机构的控制台，其特征在于，所述环形压板(112)的内环中设置有安装槽(113)，所述锥台(111)的外壁与设置在所述安装槽(113)中的连接块(114)相连；
    所述锥形孔(311)上设置有第一开口部(35)，所述连接块(114)设置在所述第一开口部(35)中。
  5. 根据权利要求4所述的用于操纵执行机构的控制台，其特征在于，所述环形压板(112)的外环上设置有沿其径向方向延伸的延伸部(115)，所述面板(31)与所述观测平台(34)之间设置有第二开口部(36)，所述延伸部(115)设置在所述第一开口部(36)中；
    所述第一开口部(35)与所述第二开口部(36)相互连通。
  6. 根据权利要求5所述的用于操纵执行机构的控制台，其特征在于，所述控制器(1)还包括设置在所述锥台(111)上的控制手柄(12)，所述控制手柄 (12)为手握式或夹持式。
  7. 根据权利要求3所述的用于操纵执行机构的控制台，其特征在于，所述支撑座(3)可升降地设置在机架(4)上，所述机架(4)的底部设置有踏板(41)，所述观测孔(341)用于使所述踏板(41)暴露于医生的视野中。
  8. 根据权利要求4所述的用于操纵执行机构的控制台，其特征在于，所述支撑座(3)可升降地设置在机架(4)上，所述机架(4)的底部设置有踏板(41)，所述观测孔(341)用于使所述踏板(41)暴露于医生的视野中。
  9. 根据权利要求1所述的用于操纵执行机构的控制台，其特征在于，所述支撑座(3)还包括安装梁(32)和悬臂(33)，所述悬臂(33)的一端与所述面板(31)相连，另一端与所述安装梁(32)相连。
  10. 根据权利要求2所述的用于操纵执行机构的控制台，其特征在于，所述支撑座(3)还包括安装梁(32)和悬臂(33)，所述悬臂(33)的一端与所述面板(31)相连，另一端与所述安装梁(32)相连。
  11. 根据权利要求9所述的用于操纵执行机构的控制台，其特征在于，所述安装梁(32)上还设置有扶肘平台(2)，所述扶肘平台(2)与所述安装梁(32)均构造为外侧面向着远离所述面板(31)的方向弯曲的弧形结构；
    所述扶肘平台(2)与所述安装梁(32)的弯曲程度相同。
  12. 根据权利要求10所述的用于操纵执行机构的控制台，其特征在于，所述安装梁(32)上还设置有扶肘平台(2)，所述扶肘平台(2)与所述安装梁(32)均构造为外侧面向着远离所述面板(31)的方向弯曲的弧形结构；
    所述扶肘平台(2)与所述安装梁(32)的弯曲程度相同。
  13. 根据权利要求1所述的用于操纵执行机构的控制台，其特征在于，所述面板(31)上设置有紧急操作按钮(312)、指示灯(313)以及扬声器(314)。
  14. 根据权利要求2所述的用于操纵执行机构的控制台，其特征在于，所述面板(31)上设置有紧急操作按钮(312)、指示灯(313)以及扬声器(314)。
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