WO2022042248A1 - Console, console de chirurgien et robot chirurgical - Google Patents

Console, console de chirurgien et robot chirurgical Download PDF

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Publication number
WO2022042248A1
WO2022042248A1 PCT/CN2021/110685 CN2021110685W WO2022042248A1 WO 2022042248 A1 WO2022042248 A1 WO 2022042248A1 CN 2021110685 W CN2021110685 W CN 2021110685W WO 2022042248 A1 WO2022042248 A1 WO 2022042248A1
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WIPO (PCT)
Prior art keywords
display device
open
operator
immersive
console
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PCT/CN2021/110685
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English (en)
Chinese (zh)
Inventor
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
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Publication of WO2022042248A1 publication Critical patent/WO2022042248A1/fr

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    • 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
    • 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
    • A61B34/35—Surgical robots for telesurgery

Definitions

  • the invention relates to the field of robot-assisted surgical systems, in particular to a console, a doctor's console and a surgical robot.
  • 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.
  • 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.
  • the display device of the current surgical robot is composed of an open-type display device.
  • the display device of the current surgical robot is composed of an open-type display device.
  • 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.
  • a doctor console 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.
  • 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 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.
  • the open display device 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.
  • the open display device 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.
  • the observation line of sight of the operator in the horizontal direction is the same as the angle between the open display device.
  • the angle between the outgoing optical path and the horizontal direction ranges from 30° to 80°.
  • 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 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.
  • the immersive display device is movably connected to the base by means of folding, sliding, rotating, lifting, or translation.
  • a surgical robot which includes: the above-mentioned doctor console.
  • 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.
  • the relative positional relationship between the first display device and the second display device is variable.
  • 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.
  • the first display device is an open display device
  • the second display device is an immersive display device
  • 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 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.
  • 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.
  • the open display device 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 first display device is the same as the first display device.
  • the observation line of sight of the operator in the horizontal direction is the same as the angle between the first display device.
  • the angle between the outgoing optical path and the horizontal direction ranges from 30° to 80°.
  • the second display device is movably connected to the base by folding, sliding, rotating, lifting or translating.
  • 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.
  • FIG. 1 is a schematic diagram of a usage scene of a surgical robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a doctor console according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a doctor's console in an open observation mode according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a doctor console in an immersive observation mode according to an embodiment of the present invention.
  • FIG. 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
  • FIG. 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.
  • FIG. 7 is a schematic diagram of another immersive display device according to an embodiment of the present invention.
  • FIG. 8A is a schematic diagram of a doctor's console of a first preferred example of an embodiment of the present invention.
  • FIG. 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.
  • FIG. 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.
  • FIG. 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;
  • FIG. 11D is a schematic diagram of a usage scenario of the doctor console of FIG. 11B;
  • FIG. 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.
  • FIG. 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.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 shows the surgical robot and its surgical application scenario.
  • 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.
  • the master operator, the robotic arm 201 and the surgical instrument constitute a master-slave control relationship.
  • 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.
  • 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.
  • auxiliary components such as an image trolley 300, an instrument table 400, a ventilator and an anesthesia machine 500 for use in the operation.
  • 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.
  • the operator 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 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.
  • 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.
  • the single-mode immersive display device makes the operator have to keep his head down for a long time, which is prone to fatigue.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the open display device 110 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.
  • 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.
  • the open display device 110 is The state is set to be 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.
  • the immersive display The state of the device 120 is set to be in the third position.
  • 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.
  • 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.
  • 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.
  • 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.
  • the open display device 110 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.
  • 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 .
  • 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.
  • the first distance and the second distance are equal, and should be broadly understood to be roughly equal.
  • 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.
  • 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.
  • 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.
  • the open viewing mode the operator directly observes the image displayed by the open display device 110 from the same viewing angle.
  • the viewing angles in the two observation modes are the same, and should be broadly understood to be roughly equal, rather than strictly limiting the exact sameness.
  • 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.
  • 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.
  • 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.
  • 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.
  • doctor console 100 The specific structure of the doctor console 100 provided in this embodiment will be correspondingly described below through several preferred examples.
  • FIGS. 8A to 8C 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.
  • FIGS. 9A to 9C 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.
  • FIGS. 10A to 10C 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.
  • 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 .
  • the immersive display device 120 is movably connected to the base 130 by sliding.
  • 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 .
  • the sliding slot 131 is in the shape of a circular arc, so that the sliding of the immersive display device 120 is smoother.
  • 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.
  • 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.
  • the immersive display device 120 is movably connected to the base 130 by means of translation.
  • 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.
  • the immersive display device 120 is movably connected to the base 130 by rotating.
  • 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.
  • FIGS. 14A to 14C show a seventh 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.
  • FIGS. 15A to 15C illustrate an eighth preferred example, in which the immersive display device 120 is movably connected to the base 130 by lifting and lowering.
  • 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.
  • 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
  • the second display device is used for the operator to use and observe in a second posture
  • the first posture is different from the second posture.
  • 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.
  • the relative positional relationship between the first display device and the second display device is variable.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Console, console de chirurgien et robot chirurgical. La console de chirurgien (100) comprend un dispositif d'affichage ouvert (110), un dispositif d'affichage immersif (120), et une base (130) ; le dispositif d'affichage ouvert (110) et le dispositif d'affichage immersif (120) sont respectivement connectés à la base (130), et le dispositif d'affichage ouvert (110) et le dispositif d'affichage immersif (120) sont utilisés pour qu'un opérateur utilise et observe de manière sélective. Dans une telle configuration, deux modes d'observation peropératoire, qui sont l'observation ouverte et l'observation immersive peuvent être compatibles avec ; d'une part, différentes exigences de fonctionnement et une préférence de différents opérateurs pouvant être satisfaites, et d'autre part, par commutation des modes d'observation et d'interaction, la fatigue de travail d'un opérateur provoquée par le fonctionnement dans une seule posture sur une longue période pouvant être évitée.
PCT/CN2021/110685 2020-08-31 2021-08-04 Console, console de chirurgien et robot chirurgical WO2022042248A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08131399A (ja) * 1994-11-07 1996-05-28 Olympus Optical Co Ltd 内視鏡用画像表示システム
CN108472097A (zh) * 2016-09-21 2018-08-31 威博外科公司 用于机器人手术的用户控制台系统
EP3443923A1 (fr) * 2017-08-15 2019-02-20 Holo Surgical Inc. Système de navigation chirurgical de fourniture d'une image de réalité augmentée pendant une opération
CN110169822A (zh) * 2018-02-19 2019-08-27 格罗伯斯医疗有限公司 用于与机器人外科手术系统一起使用的增强现实导航系统及其使用方法
CN212574961U (zh) * 2020-08-31 2021-02-23 微创（上海）医疗机器人有限公司 控制台、医生控制台及手术机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08131399A (ja) * 1994-11-07 1996-05-28 Olympus Optical Co Ltd 内視鏡用画像表示システム
CN108472097A (zh) * 2016-09-21 2018-08-31 威博外科公司 用于机器人手术的用户控制台系统
EP3443923A1 (fr) * 2017-08-15 2019-02-20 Holo Surgical Inc. Système de navigation chirurgical de fourniture d'une image de réalité augmentée pendant une opération
CN110169822A (zh) * 2018-02-19 2019-08-27 格罗伯斯医疗有限公司 用于与机器人外科手术系统一起使用的增强现实导航系统及其使用方法
CN212574961U (zh) * 2020-08-31 2021-02-23 微创（上海）医疗机器人有限公司 控制台、医生控制台及手术机器人

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