WO2022042248A1

WO2022042248A1 - Console, surgeon console, and surgical robot

Info

Publication number: WO2022042248A1
Application number: PCT/CN2021/110685
Authority: WO
Inventors: 李明; 江卫; 胡忠华; 何超; 王旭光
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2020-08-31
Filing date: 2021-08-04
Publication date: 2022-03-03
Also published as: CN114098974A

Abstract

A console, a surgeon console, and a surgical robot. The surgeon console (100) comprises an open display device (110), an immersive display device (120), and a base (130); the open display device (110) and the immersive display device (120) are respectively connected to the base (130), and the open display device (110) and the immersive display device (120) are used for an operator to selectively use and observe. In such a configuration, two intraoperative observation modes of open observation and immersive observation can be compatible with; on the one hand, different operating requirements and preference of different operators can be met, and on the other hand, by switching observation and interaction fashions, the work fatigue of an operator caused by operating in a single posture for a long time can be avoided.

Description

Console, Doctor Console and Surgical Robot

technical field

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

Background technique

In recent years, with the application and development of robotics-related technologies, especially the development of computing technology, the role of medical patient-side robots in clinical practice has attracted more and more attention. Among them, the micro-traumatic surgical robot can reduce the operator's manual labor during the operation through interventional treatment, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery.

The minimally invasive surgical robot enables the operator to observe the tissue characteristics of the patient through a two-dimensional or three-dimensional display device at the main console, and to control the robotic arm and surgical tools and instruments on the slave operating robot by remote control or remote control. operation of surgery. The operator can perform the operation of the micro-traumatic surgery in the same way and feeling as the traditional surgery, which greatly reduces the difficulty of the operator when performing the micro-trauma surgery, and also improves the efficiency and safety of the surgery. In minimally invasive surgery, the display device can provide the operator with intuitive images, which is a very important part. The display devices of the existing surgical robots all use a single mode for the operator to observe and interact; due to the different operation needs and preferences of different operators, the human eye has different operation feel under different observation angles. Using a display mode, the operator needs to maintain a single posture for a long time during the operation, which is easy to cause work fatigue; in addition, in order to enable the display device to provide high-quality images to the operator, the display device of the current surgical robot is composed of an open-type display device. Develop into immersive, and gradually replace open display devices with immersive display devices.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a console, a doctor's console and a surgical robot to solve one or more of the problems in the prior art.

In order to solve the above technical problems, according to a first aspect of the present invention, a doctor console is provided for a surgical robot, which includes: an open display device, an immersive display device and a base; the open display device The immersive display device and the immersive display device are respectively connected to the base, and the open display device and the immersive display device are used for selective observation by the operator.

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

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

Optionally, in the doctor's console, when the open display device is in the second position, the image displayed by the open display device is for the operator to observe, and the open display device The distance between the displayed image and the operator is a first distance; when the open display device is in the first position and the immersive display device is in the third position, the open The optical path distance from the image displayed by the display device to the operator through the immersive display device is a second distance; the first distance is equal to the second distance.

Optionally, in the doctor's console, when the open display device is in the first position and the immersive display device is in the third position, the open display device is reflected to the reflection. The light path between the modules is the incident light path, and the light path from the reflection module to the operator is the outgoing light path; the angle between the incident light path and the open display device is the same as the open display device. When the device is in the second position, the observation line of sight of the operator in the horizontal direction is the same as the angle between the open display device.

Optionally, in the doctor's console, the angle between the outgoing optical path and the horizontal direction ranges from 30° to 80°.

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

Optionally, in the doctor console, the doctor console further includes a switching device, and the switching device is used for the operator to switch and select between the open display device and the immersive display device.

Optionally, in the doctor's console, the immersive display device is movably connected to the base by means of folding, sliding, rotating, lifting, or translation.

In order to solve the above technical problem, according to the second aspect of the present invention, there is also provided a surgical robot, which includes: the above-mentioned doctor console.

In order to solve the above technical problems, according to a third aspect of the present invention, a console is also provided for a master-slave robot, which includes: a first display device, a second display device and a base; the first display device The display device and the second display device are connected to the base, the first display device is used for the operator to use and observe in the first posture, and the second display device is used for the operator to use in the second posture Using the observation below, the first pose is different from the second pose.

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

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

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

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

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

Optionally, in the console, when the first display device is in the second position, the image displayed by the first display device is for the operator to observe, and the image displayed by the first display device The distance between the image of , and the operator is the first distance; when the first display device is in the first position and the second display device is in the third position, the first display The optical path distance from the image displayed by the device to the operator through the second display device is a second distance; the first distance is equal to the second distance.

Optionally, in the console, when the first display device is in the first position and the second display device is in the third position, the open display device to the reflection module The light path between them is the incident light path, and the light path from the reflection module to the operator is the outgoing light path; the angle between the incident light path and the first display device is the same as the first display device. When in the second position, the observation line of sight of the operator in the horizontal direction is the same as the angle between the first display device.

Optionally, in the console, the angle between the outgoing optical path and the horizontal direction ranges from 30° to 80°.

Optionally, in the console, the second display device is movably connected to the base by folding, sliding, rotating, lifting or translating.

To sum up, in the console, doctor console and surgical robot provided by the present invention, the doctor console includes an open display device, an immersive display device and a base; the open display device and the immersive display device The open-type display device and the immersive display device are respectively connected to the base, and the open-type display device and the immersive display device are used for the operator to selectively use and observe. This configuration can be compatible with the two intraoperative observation modes of open observation and immersive observation. On the one hand, it can adapt to the different operating needs and preferences of different operators, and on the other hand, by switching the observation interaction mode, the operator can avoid staying in a single operation for a long time. Posture operation causes work fatigue.

Description of drawings

Those of ordinary skill in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. in:

FIG. 1 is a schematic diagram of a usage scene of a surgical robot according to an embodiment of the present invention;

2 is a schematic diagram of a doctor console according to an embodiment of the present invention;

3 is a schematic diagram of a doctor's console in an open observation mode according to an embodiment of the present invention;

4 is a schematic diagram of a doctor console in an immersive observation mode according to an embodiment of the present invention;

5 is a schematic diagram of an optical path of a doctor's console in an open observation mode according to an embodiment of the present invention;

6 is a schematic diagram of an optical path of a doctor console in an immersive observation mode according to an embodiment of the present invention;

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

8A is a schematic diagram of a doctor's console of a first preferred example of an embodiment of the present invention;

8B is a schematic diagram of mode switching of the doctor console of FIG. 8A;

Figure 8C is a schematic diagram of a usage scenario of the doctor console of Figure 8B;

Fig. 9A is a schematic diagram of a doctor's console of a second preferred example of an embodiment of the present invention;

9B is a schematic diagram of mode switching of the doctor console of FIG. 9A;

Figure 9C is a schematic diagram of a usage scenario of the doctor console of Figure 9B;

Fig. 10A is a schematic diagram of a doctor's console of a third preferred example of an embodiment of the present invention;

10B is a schematic diagram of mode switching of the doctor console of FIG. 10A;

Figure 10C is a schematic diagram of a usage scenario of the doctor console of Figure 10B;

11A is a schematic diagram of a doctor's console of a fourth preferred example of an embodiment of the present invention;

FIG. 11B is a schematic diagram of mode switching of the doctor console of FIG. 11A;

Figure 11C is an enlarged view of the chute of the physician console of Figure 11A;

11D is a schematic diagram of a usage scenario of the doctor console of FIG. 11B;

12A is a schematic diagram of a doctor's console of a fifth preferred example of an embodiment of the present invention;

Figure 12B is an enlarged view of the chute of the physician console of Figure 12A;

Figure 12C is a schematic diagram of mode switching of the doctor console of Figure 12A;

Figure 12D is a schematic diagram of a usage scenario of the doctor console of Figure 12C;

Fig. 13A is a schematic diagram of a doctor's console of a sixth preferred example of an embodiment of the present invention;

13B is a schematic diagram of mode switching of the doctor console of FIG. 13A;

Figure 13C is a schematic diagram of a usage scenario of the doctor console of Figure 13B;

Fig. 14A is a schematic diagram of a doctor's console of a seventh preferred example of an embodiment of the present invention;

14B is a schematic diagram of mode switching of the doctor console of FIG. 14A;

Figure 14C is a schematic diagram of a usage scenario of the doctor console of Figure 14B;

Fig. 15A is a schematic diagram of a doctor's console of an eighth preferred example of an embodiment of the present invention;

Figure 15B is a schematic diagram of mode switching of the doctor console of Figure 15A;

Figure 15C is a schematic diagram of a usage scenario of the doctor console of Figure 15B.

In the picture:

100-Doctor Console; 110-Open Display Unit; 120-Immersive Display Unit; 130-Base; 131-Chute; 132-Slide Rail Assembly; 133-Suspension Bracket; 141-Main Operator; 142- Armrest; 143-Lifting and Adjusting Mechanism; 200-Surgical Cart; 201-Robot; 300-Image Cart; 400-Instrument Table; 500-Ventilator and Anesthesia Machine.

detailed description

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, each drawing needs to show different emphases, and sometimes different scales are used.

As used herein, the singular forms "a," "an," and "the" include plural referents, the term "or" is generally employed in its sense including "and/or", and the term "a number" It is usually used in the sense including "at least one", the term "at least two" is usually used in the sense including "two or more", in addition, the terms "first", "the second" "Second" and "Third" are for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second", "third" may expressly or implicitly include one or at least two of these features, the term "proximal" is generally the end close to the operator, the term "proximal" "Distal" usually refers to the end close to the object to be operated, "one end" and "the other end" and "proximal end" and "distal end" usually refer to the corresponding two parts, which not only include the end point, the terms "installation", "Connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated body; it can be a mechanical connection or an electrical connection; it can be directly connected or through the middle. The medium is indirectly connected, which can be the internal communication between two elements or the interaction relationship between the two elements. In addition, as used in the present invention, the arrangement of an element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or through intermediate elements. Indirect connection, coupling, cooperation or transmission, and should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of the other element, unless The content is clearly stated otherwise. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The core idea of the present invention is to provide a console, a doctor's console and a surgical robot, so as to solve the problem that the existing single-mode display device tends to cause operator fatigue.

The following description is made with reference to the accompanying drawings.

An embodiment of the present invention provides a surgical robot. FIG. 1 shows the surgical robot and its surgical application scenario. In an exemplary embodiment, the surgical robot includes a doctor console 100 and an operating trolley 200. A master operator is provided on the console 100 . The operating trolley 200 has several robotic arms 201 on which surgical instruments and endoscopes can be mounted respectively. The main operation process of the surgical robot is that an operator (eg, a surgeon) performs a minimally invasive surgical treatment on a patient on a hospital bed through remote operation by the doctor console 100 and the main operator. Among them, the master operator, the robotic arm 201 and the surgical instrument constitute a master-slave control relationship. Specifically, the robotic arm 201 and the surgical instrument move according to the movement of the main operator during the operation, that is, according to the operation of the operator's hand. Further, the main operator also accepts the force information of human tissues and organs on the surgical instrument and feeds it back to the operator's hand, so that the operator can feel the surgical operation more intuitively. The doctor console 100 has a display device, which is connected in communication with the endoscope mounted on the robotic arm of the operating trolley 200 , and can receive and display images collected by the endoscope. The operator controls the movement of the robotic arm and the surgical instrument through the main operator according to the image displayed by the display device on the doctor's console 100 . Endoscopes and surgical instruments are respectively introduced into the patient site through wounds on the patient's body.

Optionally, in some operations, the surgical robot further includes auxiliary components such as an image trolley 300, an instrument table 400, a ventilator and an anesthesia machine 500 for use in the operation. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described here.

Based on the above surgical robot, please refer to FIG. 2 , this embodiment provides a doctor console 100 , which includes: an open display device 110 , an immersive display device 120 and a base 130 ; the open display device 110 and the The immersive display device 120 is respectively connected to the base 130 , and the open display device 110 and the immersive display device 120 are used for the operator to selectively use and observe. This configuration can be compatible with the two intraoperative observation modes of open observation and immersive observation. On the one hand, it can adapt to the different operating needs and preferences of different operators, and on the other hand, by switching the observation interaction mode, the operator can avoid staying in a single operation for a long time. Posture operation causes work fatigue. Specifically, the general operator adopts a sitting posture during the operation. When the open observation is used, the operator generally looks up at the open display device 110, and when the immersive observation is used, the operator generally lowers his head to observe the immersive display device 120. It is necessary to select and switch between the two observation modes, so that the operator can change the working posture and reduce the fatigue caused by holding a single posture for a long time.

The inventors found that during the evolution and updating process of the display device of the doctor's console, the single-mode open display device is in the early stage of evolution, while the display device is gradually evolving to the single-mode immersive display device. The display panel of the open-type display device adopted in the early days has weak resistance to disturbances such as ambient light, and the operator is easily disturbed by the surrounding ambient light and the like when observing. In addition, in order to obtain a larger field of view, a larger display panel is often used. For this reason, the display device gradually evolves into an immersive display device, and the immersive display device gradually replaces the open display device, which overcomes the problem of being susceptible to interference existing in the open display device. However, the single-mode immersive display device makes the operator have to keep his head down for a long time, which is prone to fatigue. For this reason, the inventors of the present application have overcome the conventional technical development thinking only to improve the visual effect of doctors, and instead consider how to effectively solve the technical problem of relieving fatigue without affecting the operation. Although the usual way to relieve fatigue is to use other devices to act on the body, such as massage chairs, these inventions are not suitable for use during surgery, especially for doctors during surgery. Therefore, this application The inventor also found that by integrating the open display device 110 and the immersive display device 120 in the doctor console 100, fatigue can be relieved by changing the doctor's posture, which solves the problem that the existing single-mode display device is easy for the operator to make. The problem of fatigue does not affect the entire surgical operation process. In addition, there is no need to increase the volume of the entire doctor's console, because in a single mode, a separate open display device requires a larger screen, and a separate immersive display device also needs to be A larger display area, and after combining an open display device with an immersive display device, doctors can relieve physical fatigue and eye fatigue by changing their posture, and a smaller display area can also achieve good display effects.

Optionally, in an exemplary example, the doctor console 100 further includes a main operator 141 , an armrest 142 and a lift adjustment mechanism 143 , the armrest 142 is used to support the operator's arm, the main operator 141 and the armrest 142 is connected to the base 130 in a liftable manner through a lift adjustment mechanism 143, so that the main operator 141 and the armrest 142 can be adjusted in height to suit different operators.

Please refer to FIG. 3 and FIG. 4 , which illustrate the open observation mode and the immersive observation mode of the doctor console 100 , respectively. The open viewing mode mainly utilizes the open display device 110, which can be optionally a display or a projection screen, and the operator can directly observe the displayed image. Generally, the operator adopts a sitting posture during the operation. At this time, the operator's observation line generally extends in the horizontal direction. Therefore, the open display device 110 is preferably arranged in a certain angle range along the vertical direction to suit the operator's observation. The immersive observation mode mainly uses the immersive display device 120. The immersive display device 120 has an observation port. Generally, during use, the doctor's head is partially immersed in the observation port, and the operation process is observed through the two visual windows in the observation port. At this time, as shown in FIG. 4 , the observation port is generally arranged in the oblique upward direction, and the operator can lower his head when using the immersive display device 120 to observe, which is more suitable for the operator's observation and operation mode.

As shown in FIG. 7 , in an optional embodiment, the immersive display device 120 and the open display device 110 are respectively connected to a same signal source for displaying the same image respectively. With this configuration, when the operator switches between the immersive display device 120 and the open display device 110 to select and observe, he can see the same image, which ensures the continuity of image switching and observation.

As shown in FIG. 6 , in another optional embodiment, the immersive display device 120 is connected with the open display device 110 through an optical path, and the immersive display device 120 uses the open display device 110 The displayed image serves as the source. The immersive display device 120 and the open-type display device 110 are connected by an optical path, and the image displayed by the open-type display device 110 can be used as a signal source, and no additional separate display is required, which is beneficial to reduce the volume of the entire display device. Generally, in the existing immersive display device 120, an independent display screen is generally used as the signal source. The entire display device is huge in size and basically occupies the space in front of the operator, and there is no condition to add other display devices. However, the immersive display device 120 and the open display device 110 are connected by an optical path, and the open display device 110 is used as a signal source, which effectively reduces the volume of the entire display device, and also solves the problem of the existing single-mode display device. The problem of operator fatigue.

Referring to FIG. 3 to FIG. 6 , in an exemplary example, the open display device 110 is rotatably connected to the base 130 between a first position and a second position around an axis arranged in a horizontal direction, and the The immersive display device 120 is movably arranged between a third position and a fourth position relative to the base 130; when the open display device 110 is in the first position, and the immersive display device 120 is in the In the third position, the immersive display device 120 reflects the image displayed by the open display device 110 through the reflection module for the operator to observe. As mentioned above, in the open observation mode, the open display device 110 is used for direct observation by the operator, and it is preferably arranged vertically, and at this time, its state is set to the second position. In the immersive viewing mode, the open display device 110 rotates around the horizontal axis to form a downward tilt, so that the display panel can be adapted to the reflection module of the immersive display device 120. At this time, the open display device 110 is The state is set to be in the first position. Compatible with the open display device 110 in the first position, the immersive display device 120 can reflect the image displayed by the open display device 110 , and can be suitable for the operator to look down and observe the line of sight. At this time, the immersive display The state of the device 120 is set to be in the third position. On the other hand, in the open viewing mode, the immersive display device 120 does not need to be used, and the immersive display device 120 needs to avoid blocking the open display device 110 as much as possible, so the immersive display device 120 can be configured in the Fourth position.

In an alternative embodiment, for example, the reflection module of the immersive display device 120 may include a plane mirror. Using the plane mirror for imaging will not cause damage to the monocentricity of the light beam, and will not cause problems such as chromatic aberration and aberration that affect the imaging effect. , which is beneficial to improve the image quality. Of course, in some other embodiments, the reflection module is not limited to include only a flat mirror, but may also include common optical components such as a convex lens, a concave lens, a convex mirror, a concave mirror, etc. Those skilled in the art can appropriately perform the reflection module according to the existing technology. configuration to suit the needs. In addition, it can be understood that in the immersive observation mode, the image displayed by the open display device 110 should be upside down with the image displayed by the open display device 110 in the open observation mode according to the principle of reflected light path. The control system of the doctor console 100 can adapt and adjust the front and back of the image displayed by the open display device 110 according to the switching of the operator's observation mode.

Further, please refer to FIG. 5 and FIG. 6 , when the open display device 110 is in the second position, the image displayed by the open display device 110 is for the operator to observe, the open display The distance between the image displayed by the device 110 and the operator is the first distance; when the open display device 110 is in the first position and the immersive display device 120 is in the third position , the optical path distance from the image displayed by the open display device 110 to the operator through the immersive display device 120 is a second distance; the first distance is equal to the second distance. Specifically, the first distance is the distance D1 from the operator's observation point (eg, eyes) to the image of the open display device 110 ; the second distance includes the distance between the image of the open display device 110 and the reflection module of the immersive display device 120 . The sum of the distance D2 of the incident light path and the distance D3 of the exit light path from the reflection module of the immersive display device 120 to the operator's observation point. This configuration ensures that the observation distances before and after the observation mode switching are consistent, and can avoid the operator's visual spatial deviation in the mode switching. It should be understood that the first distance and the second distance here are equal, and should be broadly understood to be roughly equal. For example, the first distance and the second distance are both within the deviation range of 5cm, which can be considered as no effect for the focal length adjustment of the human eye. influence, the first distance and the second distance should be understood as equal distances.

Furthermore, when the open display device 110 is in the first position and the immersive display device 120 is in the third position, the distance between the incident light path and the open display device 110 is The included angle is the same as the included angle between the open display device 110 and the operator's viewing line in the horizontal direction when the open display device 110 is in the second position. Specifically, in the immersive viewing mode, the image displayed by the open display device 110 forms a virtual image in the reflection module of the immersive display device 120, and the viewing angle of the virtual image observed by the operator bowing his head in the reflection module is configured to be the same as that of the reflection module. In the open viewing mode, the operator directly observes the image displayed by the open display device 110 from the same viewing angle. This configuration ensures that the observation angles before and after the switching of the observation modes are consistent, and the deviation of the operator's sense of visual space in the mode switching can be avoided. It should also be understood that the viewing angles in the two observation modes here are the same, and should be broadly understood to be roughly equal, rather than strictly limiting the exact sameness. For example, the angle of view in the two observation modes is within the deviation range of plus or minus 5°, which can be considered as having no effect on the focal length adjustment of the human eye, and the angle of view in the two observation modes should be understood as the same angle of view. Preferably, the included angle between the outgoing optical path and the horizontal direction is in the range of 30° to 80°, so as to adapt to the operator's bowing angle.

Optionally, the doctor console 100 further includes a switching device (not shown), and the switching device is used for the operator to switch between the open display device 110 and the immersive display device 120. For example, the switching device can be a physical switching switch, such as a foot button set at the bottom of the base or a button set near the main operator, or a virtual switching switch controlled by software, such as sensing the operator's observation state The sensor obtains the operator's observation state, and the software controls the switching between the open observation mode and the immersive observation mode.

The specific structure of the doctor console 100 provided in this embodiment will be correspondingly described below through several preferred examples.

Please refer to FIGS. 8A to 8C , which show a first preferred example. The immersive display device 120 is movably connected to the base 130 by folding. Specifically, the immersive display device 120 is rotatably connected to the top of the open display device 110 through a horizontally arranged hinge, and then the open display device 110 is rotatably connected to the base 130 . In the open viewing mode, the immersive display device 120 rotates around the hinge, and is folded and stored above the open display device 110, as shown in FIG. 8A; in the immersive viewing mode, the open display device 110 is tilted downward to the first position, the immersive display device 120 is folded down to the third position. Please refer to FIGS. 9A to 9C , which show a second preferred example. The immersive display device 120 is also movably connected to the base 130 by folding. Specifically, the immersive display device 120 is connected to the base 130 through a horizontally arranged hinge. It is rotatably connected with the side frame of the open display device 110, and the first preferred example can be referred to for the realization effect.

Please refer to FIGS. 10A to 10C , which show a third preferred example. The base 130 is set in an inverted L shape, that is, the top of the base 130 has a cantilever, and the immersive display device 120 is connected to the immersive display device 120 through a horizontally arranged hinge. The cantilever is rotatably connected. In actual use, in the open viewing mode, the immersive display device 120 rotates around the hinge and is folded and stored in the cantilever, as shown in Figure 10A; in the immersive viewing mode, the immersive display device 120 rotates toward the It is folded down to the third position, and at the same time, the open display device 110 is tilted downward and rotated to the first position, as shown in FIGS. 10A and 10B .

Please refer to FIGS. 11A to 11D , which show a fourth preferred example. The immersive display device 120 is movably connected to the base 130 by sliding. Specifically, the doctor console 100 further includes a slide rail assembly 132, which is fixedly connected to the left and right sides of the open display device 110 and protrudes toward the display direction of the open display device 110. The edge is provided with a chute 131 , and the immersive display device 120 can slide along the chute 131 . Optionally, the sliding slot 131 is in the shape of a circular arc, so that the sliding of the immersive display device 120 is smoother. In actual use, in the open observation mode, the immersive display device 120 slides up along the chute 131 to a fourth position that does not block the operator from directly observing the open display device 110; in the immersive observation mode, the immersive display The display device 120 slides down along the chute 131 to the third position. In this preferred example, the two wings of the slide rail assembly also have the function of shielding external stray light, which can effectively prevent the operator from observing ambient light and further improve the observation effect.

Please refer to FIGS. 12A to 12D , which show a fifth preferred example. The immersive display device 120 is movably connected to the base 130 by means of translation. Specifically, the slide rail assembly 132 is configured in a cylindrical shape surrounding the open display device 110 , and the end of the cylindrical slide rail assembly is provided with a linear slide slot 131 , and the immersive display device 120 can translate up and down along the slide slot 131 . It is also possible to switch between the two observation modes. The slide rail assembly arranged in this way can protect the open display device during the use of the immersive display device, such as blocking foreign objects such as dust.

Please refer to FIGS. 13A to 13C , which show a sixth preferred example. The immersive display device 120 is movably connected to the base 130 by rotating. Specifically, the base 130 further includes a suspension bracket, and the immersive display device 120 is rotatably disposed on the suspension bracket 133 around the axis of rotation in the vertical direction. The vertical position of the type display device 120 is adapted to the height of the operator. In this configuration, by rotating the immersive display device 120, switching between the two viewing modes can be achieved.

Please refer to FIGS. 14A to 14C , which show a seventh preferred example. Based on the sixth preferred example, the structure can also be simplified, the suspension bracket is cancelled, and the immersive display device 120 can be rotatably directly rotated around the axis of rotation in the vertical direction. Connected to the base 130 , in use, you only need to rotate the immersive display device 120 to the front of the open display device 110 to switch to the immersive viewing mode, and rotate the immersive display device 120 to the side or rear of the open display device 110 to switch to open observation mode.

Please refer to FIGS. 15A to 15C , which illustrate an eighth preferred example, in which the immersive display device 120 is movably connected to the base 130 by lifting and lowering. Specifically, the base 130 further includes a bracket on which the immersive display device 120 can be raised and lowered in a vertical direction. The display device 110 is tilted downward to the first position, that is, the doctor console 100 is configured in the immersive observation mode. The immersive display device 120 is lowered down to the fourth position along the vertical direction, and at the same time the open display device 110 is tilted upward to the second position, so that the immersive display device 120 does not block the operator's observation of the open display device 110 , That is, the doctor console 100 is configured in an open viewing mode.

It can be understood that the above-mentioned eight preferred examples are only examples rather than limitations on the structure of the doctor's console 100. Those skilled in the art can make other configurations of the structure of the doctor's console 100 according to the prior art. limit.

It should be noted that the above embodiment is described by taking a doctor's console in a surgical robot as an example, and the present invention is not limited to a doctor's console in a surgical robot. The table is used in other master-slave robots to achieve a similar effect and reduce operator fatigue.

In an exemplary embodiment, a console includes: a first display device, a second display device, and a base; the first display device and the second display device are connected to the base, the first display device The display device is used for the operator to use and observe in a first posture, and the second display device is used for the operator to use and observe in a second posture, and the first posture is different from the second posture. It can be understood that the first display device and the second display device here are displayed in different ways for the operator to observe in different postures, for example, the first display device is for the operator to look up and the second display device is for the operator to observe. Looking down, the operator can selectively observe through the first display device and the second display device during use, so that the operator's observation posture can be changed, and the effect of reducing fatigue can be achieved.

Preferably, the relative positional relationship between the first display device and the second display device is variable. For example, the position of at least one of the first display device and the second display device relative to the base is adjustable. , the operator can easily select one of them for observation.

Of course, in some embodiments, similar to the above-mentioned embodiments, the first display device can be selected as an open display device, and the second display device can be selected as an immersive display device. Taichung's configuration in this way can also achieve the effect of reducing operator fatigue.

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

It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. In addition, Different parts among the various embodiments can also be used in combination with each other, which is not limited in the present invention.

To sum up, in the console, doctor console and surgical robot provided by the present invention, the doctor console includes an open display device, an immersive display device and a base; the open display device and the immersive display device The open-type display device and the immersive display device are respectively connected to the base, and the open-type display device and the immersive display device are used for the operator to selectively use and observe. This configuration can be compatible with the two intraoperative observation modes of open observation and immersive observation. On the one hand, it can adapt to the different operation needs and preferences of different operators. Posture operation causes work fatigue.

The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosure all belong to the protection scope of the claims.

Claims

A doctor console for a surgical robot, characterized by comprising: an open display device, an immersive display device and a base; the open display device and the immersive display device are respectively connected to the base , the open display device and the immersive display device are used for selective observation by the operator.
The doctor's console according to claim 1, wherein the immersive display device is connected to the open display device through an optical path, and the immersive display device uses the image displayed by the open display device as a signal source.
The doctor's console according to claim 2, wherein the open display device is rotatably connected to the base between a first position and a second position about an axis disposed in a horizontal direction, the immersion The open-type display device is movably arranged between a third position and a fourth position relative to the base; when the open-type display device is in the first position, and the immersive display device is in the third position , the immersive display device reflects the image displayed by the open display device through the reflection module for the operator to observe.
The doctor's console according to claim 3, wherein when the open display device is in the second position, the image displayed by the open display device is used for the operator to observe, and the open display device is in the second position. The distance between the image displayed by the open-type display device and the operator is the first distance; when the open-type display device is in the first position and the immersive display device is in the third position, The optical path distance between the image displayed by the open display device and the operator through the immersive display device is a second distance; the first distance is equal to the second distance.
The doctor's console according to claim 3, wherein when the open display device is in the first position and the immersive display device is in the third position, the open display device The light path to the reflection module is the incident light path, and the light path from the reflection module to the operator is the outgoing light path; the angle between the incident light path and the open display device is the same as that of the open display device. When the open-type display device is in the second position, the observation line of sight of the operator along the horizontal direction is the same as the angle between the open-type display device.
The doctor's console according to claim 5, wherein the angle between the outgoing optical path and the horizontal direction ranges from 30° to 80°.
The doctor's console according to claim 1, wherein the immersive display device and the open display device are respectively connected to a same signal source for displaying the same image respectively.
The doctor's console according to claim 1, wherein the doctor's console further comprises a switching device for an operator to switch between the open display device and the immersive display device Toggle selection.
The doctor's console according to claim 1, wherein the immersive display device is movably connected to the base by folding, sliding, rotating, lifting or translating.
A surgical robot, characterized by comprising the doctor console according to any one of claims 1 to 9.
A console for a master-slave robot, comprising: a first display device, a second display device and a base; the first display device and the second display device are connected to the base , the first display device is used for the operator to observe in the first posture, the second display device is used for the operator to observe in the second posture, the first posture and the second posture different.
The console according to claim 11, wherein the relative positional relationship between the first display device and the second display device is variable.
The console according to claim 11, wherein the display area of the first display device is larger than the display area of the second display device, and when in use, the second display device is relative to the first display device. The device is closer to the operator.
The console according to claim 11, wherein the first display device is an open display device, and the second display device is an immersive display device.
The console according to claim 11, wherein the first display device is connected to the second display device through an optical path, and the second display device uses an image displayed by the first display device as a signal source.
The console of claim 15, wherein the first display device is rotatably connected to the base between a first position and a second position about an axis disposed in a horizontal direction, the second The display device is movably arranged relative to the base between a third position and a fourth position; when the first display device is in the first position and the second display device is in the third position , the second display device reflects the image displayed by the first display device through the reflection module for the operator to observe.
The console according to claim 16, wherein when the first display device is in the second position, the image displayed by the first display device is for the operator to observe, and the first display device is in the second position. The distance between the image displayed by the display device and the operator is a first distance; when the first display device is in the first position and the second display device is in the third position, the The optical path distance from the image displayed by the first display device to the operator through the second display device is a second distance; the first distance is equal to the second distance.
The console according to claim 16, wherein when the first display device is in the first position and the second display device is in the third position, the open display device reaches The light path between the reflection modules is the incident light path, and the light path from the reflection module to the operator is the outgoing light path; the angle between the incident light path and the first display device is the same as the angle between the incident light path and the first display device. When the first display device is in the second position, the observation line of sight of the operator in the horizontal direction is the same as the angle between the first display device.
The console according to claim 18, wherein the angle between the outgoing optical path and the horizontal direction is in the range of 30°˜80°.
The console according to claim 11, wherein the second display device is movably connected to the base by folding, sliding, rotating, lifting or translating.