WO2023046185A1 - 穿刺手术主控台及穿刺机器人 - Google Patents

穿刺手术主控台及穿刺机器人 Download PDF

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Publication number
WO2023046185A1
WO2023046185A1 PCT/CN2022/121468 CN2022121468W WO2023046185A1 WO 2023046185 A1 WO2023046185 A1 WO 2023046185A1 CN 2022121468 W CN2022121468 W CN 2022121468W WO 2023046185 A1 WO2023046185 A1 WO 2023046185A1
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WIPO (PCT)
Prior art keywords
puncture
main
assembly
operator
console
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PCT/CN2022/121468
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English (en)
French (fr)
Inventor
路壮壮
朱龙泉
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武汉联影智融医疗科技有限公司
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Publication of WO2023046185A1 publication Critical patent/WO2023046185A1/zh

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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
    • A61B34/37—Master-slave robots

Definitions

  • This manual relates to the technical field of medical equipment, in particular to a puncture operation console and a puncture robot.
  • CT computed tomography
  • CT no longer exists as a simple imaging examination. Under the impetus of modern medical science constantly breaking the boundaries of various departments, interdependence and joint exploration and other diversified models, CT also cooperates with clinical departments to achieve various examinations and treatments, and has achieved remarkable medical effects.
  • CT-guided percutaneous puncture is a technology that is widely used in clinical practice. This technology is actually a technology that accurately penetrates the puncture needle into the lesion in the body and obtains the diseased tissue under the precise guidance of CT scan.
  • Puncture surgery is to insert a puncture instrument into the patient's body to complete the biopsy or resection of the lesion.
  • the current puncture surgery is blind puncture, and the doctor completes the puncture surgery without knowing the exact location of the lesion based on clinical experience.
  • This method generally has a lower success rate. Low, it is easy to cause multiple injuries to the patient and puts forward higher requirements for the operating doctor of the puncture operation.
  • CT image-guided puncture is on the premise of CT imaging (human tissue and puncture needle), it can judge the direction of the puncture device in real time and make timely adjustments, which greatly improves the success rate of surgery, reduces the risk of surgery, and improves the recovery speed of patients and quality of life.
  • the master-slave teleoperation robot-assisted puncture surgery mode is a front-end surgical method.
  • the puncture operation main console (placed in the operating room) naturally plays a very important role as a system component that directly observes the attitude of the puncture needle and controls the slave manipulator to complete the puncture operation.
  • the operating box of the current master-slave teleoperated robot is hand-held, and the movement direction of the puncture needle is adjusted by the remote rod. Hand-holding the operation box to complete the operation process during a long operation may easily lead to fatigue of the operator, which may lead to problems such as a decrease in the success rate of puncture.
  • the operator may touch the main manipulator, which poses a safety hazard.
  • One aspect of the embodiments of this specification provides a main console for puncture surgery, including: an operation table, a hidden structure and a main operator; the hidden structure and the main operator are arranged on the operation table; in the first state In the second state, the main operator is exposed from the operation table, and in the second state, the main operator is hidden in the hidden structure.
  • the main operator is movably arranged in the hidden structure, and in the first state, the main operator protrudes out of the hidden structure and exposes the operation table, and in the second state In the second state, the main operator retracts from the operation table and is hidden in the hidden structure.
  • the hidden structure includes a connection assembly and a drive assembly
  • the connection assembly rotatably connects the main operator to the operation table
  • the drive assembly drives the main operator to rotate relative to the operation table , so that the main operator is accommodated in the operation table or extends out of the operation table.
  • the connecting assembly includes a connecting base and a rotating base, the rotating base is rotatably connected to one end of the connecting base, the main operator is fixedly installed on the rotating base, and the other end of the connecting base is One end is fixedly installed on the operation table.
  • the main manipulator includes a first driving motor and a rotating shaft
  • the first driving motor is arranged in the hidden structure, and is used to drive the rotating shaft to rotate so that the main manipulator can switching between the first state and the second state.
  • the main operator further includes a first brake, an adapter and a main control panel connector, the first brake is arranged at one end of the rotating shaft, and is used to control the relative movement of the adapter Locking or unlocking of the main control panel connector.
  • the drive assembly further includes a puncture assembly, an attitude adjustment assembly and a second brake, the attitude adjustment assembly is arranged on the rotating shaft, and the second brake is arranged on the other end of the rotating shaft , for controlling the locking or unlocking of the rotating shaft relative to the connecting part of the main control panel.
  • the puncture surgery main console further includes a controller, the controller is used to perform at least one of the following operations: a. After the main manipulator moves to the first state, the control The controller controls the first brake to lock and controls the second brake to unlock; b. When adjusting the state of the main operator, the controller controls the first brake to unlock and controls the second brake to lock; c. When the main operator moves to the second state, the controller controls both the first brake and the second brake to be locked.
  • the hidden structure includes a connection assembly and a drive assembly
  • the connection assembly movably connects the main operator to the operation table
  • the drive assembly drives the main operator to operate
  • the table moves linearly, so that the main operator is accommodated in the operation table or extends out of the operation table.
  • the main operator includes a puncture assembly and an attitude adjustment assembly, and the puncture assembly is detachably arranged in the attitude adjustment assembly.
  • the operation table has an operation platform, the operation platform is provided with a through hole, the hidden structure is arranged under the operation platform, and the main operator at least partially protrudes through the through hole Above the operation platform, or entirely stored in the hidden structure below the operation platform, the puncture operation main console also includes a closed casing, and the closed casing covers the through hole.
  • the puncture operation console further includes a release enclosure, the release enclosure is rotatably connected to the operating platform, and the release enclosure partially The vias are blocked (1111).
  • the linear movement direction of the guide rail is parallel to the intra-layer rotation axis or the inter-layer rotation axis of the master manipulator.
  • the supporting assembly includes a supporting bracket and a rotating member, and the bottom of the supporting bracket is rotatably disposed on the moving slider through the rotating member.
  • the second aspect of the embodiments of this specification provides a puncture robot, including a robot host, a puncture end, and a puncture operation console as described in any one of the foregoing embodiments, the puncture end is used to carry a puncture needle and is arranged on the The robot host, the puncture operation main console is electrically connected to the robot host, and is used to control the puncture end to drive the puncture needle to perform the puncture operation.
  • Fig. 4 is the configuration in which the main console of the puncture operation shown in Fig. 1 controls the puncture robot arm to connect the puncture end;
  • Fig. 5 is a working principle diagram of the posture adjustment at the puncture end shown in Fig. 4;
  • Fig. 6 is a specific schematic diagram of the main manipulator connected to the hidden structure in the puncture operation main console shown in Fig. 1;
  • Fig. 8 is a perspective view of a second closed casing in the closed casing shown in Fig. 7;
  • Fig. 10 is a side view of the puncture operation main console shown in Fig. 1, wherein the main operator protrudes through the second closed casing;
  • Fig. 11 is a schematic diagram of the main console of puncture surgery shown in Fig. 10, in which the attitude of the main manipulator is adjusted;
  • Fig. 13 is a schematic diagram of the puncture operation main console shown in Fig. 12, wherein the main operator is hidden;
  • Fig. 14 is a side view of the main console of the puncture system shown in Fig. 1, wherein the operator's elbow is placed on the supporting structure;
  • Fig. 16 is a working principle diagram of the support structure when the puncture console system shown in Fig. 14 is adjusting the posture in the layer;
  • Fig. 18 is a schematic diagram of cutting the support structure shown in Fig. 17;
  • Fig. 19 is a schematic perspective view of the three-dimensional structure of the main manipulator in some embodiments of the present specification.
  • Fig. 21 is a schematic diagram of the puncture surgery main console in which the main manipulator is hidden in some embodiments of the present specification;
  • Figure 23 is a schematic diagram of the installation of spring components, electromagnets and photoelectric switches in some embodiments of this specification;
  • Fig. 24 is a schematic diagram of the installation of the hidden trigger button and the release trigger button in some embodiments of the present specification
  • Fig. 25 is a schematic diagram of the release closed shell in a hidden state in some embodiments of the present specification (looking up from the front and bottom of the operation table);
  • FIG. 26 is an exemplary functional block diagram of a puncture robot 2600 using the puncture operation console 100 according to some embodiments of the present specification.
  • 100 puncture operation main console; 110, operation table; 111, operation platform; 1111, through hole; 112, bracket; 113, wiring hole; 114, wiring trough; 115, adjustable feet; 120, Hidden structure; 121, connecting component; 1211, connecting seat; 1212, rotating seat; 122, driving component; 1221, brake; 1222, rotating power source; 123, spring component; 124, electromagnet; 125, photoelectric switch; 126, Hidden trigger button; 127, release trigger button; 130, main operator; 130-1, main control panel; 130-2, rotating shaft; 130-3, first drive motor; 130-4, hidden attitude limit protection switch ; 130-5, release attitude limit protection switch; 130-6, first brake; 130-7, adapter; 130-8, wire rope wheel; 130-9, second brake; 130-10, main control panel Connector; 130-11, main manipulator fixed base; 130-12, angle sensor; 131, puncture assembly; 1311, handle; 1312, hand-held slider; 1313, linear movement shaft assembly; 132, attitude adjustment assembly
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • connection In this specification, unless otherwise clearly specified and limited, the terms “installation”, “connection”, “connection”, “fixation” and other terms should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in this specification according to specific situations.
  • a first feature being “on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the puncture operation main console 100 is applied in a puncture robot, and can realize remote control of the puncture end of the puncture robot, so that the puncture needle 300 carried by the puncture end can penetrate the target puncture target in the patient's body.
  • the puncture robot can be used with imaging equipment such as CT, so that remote puncture operations based on real-time imaging guidance can be realized, and radiation from imaging equipment can be avoided from affecting the health of operators.
  • the puncture operation main console 100 can prevent the puncture needle 300 from moving under non-puncture working conditions, reducing potential safety hazards. At the same time, the puncture operation main console 100 can also support the patient's arm and elbow 400, reducing the fatigue of the operator during the puncture operation. sense, to ensure the puncture effect.
  • the specific structure of the puncture control console is introduced in detail below.
  • the puncture surgery console 100 includes an operation table 110 , a hidden structure 120 and a main operator 130 .
  • the hidden structure 120 is disposed on the operation table 110 .
  • the main manipulator 130 is movably arranged on the hidden structure 120. In the first state (such as the puncture working condition), the main manipulator 130 extends out of the hidden structure 120 and exposes the operation table 110. In the second state (such as the non-puncturing working condition) Next, the main operator 130 retracts from the operation table 110 and is hidden in the hidden structure 120 .
  • the operation table 110 acts as a bearing, and is used to carry various components of the puncture operation console 100 .
  • the operator can sit in front of the operation table 110 in a sitting position, so that when the operator controls the operation of the puncture end through the puncture operation console 100, the operator's elbow 400 can be placed on the surface of the operation table 110 To prevent the operator's elbow 400 from being suspended in the air and reduce the fatigue of the operator's elbow 400, thereby ensuring the effect of the puncture operation.
  • the main operator 130 is the main component that controls the movement of the puncture needle 300 by controlling the puncture end (the schematic diagram of the puncture end is shown in Figure 4 and Figure 5 ). , enabling the master operator 130 to move into or out of the hidden structure 120 .
  • the operator can control the movement of the puncture end by holding the main manipulator 130 to drive the puncture needle 300 to perform the puncture operation.
  • the main manipulator 130 does not expose the operation table 110, and the operator will not touch it when performing other operations.
  • the main operator 130 ensures the safety of use. That is to say, when a puncture operation is required, the main manipulator 130 is removed from the hidden structure 120 , and the main manipulator 130 is moved into the hidden structure 120 after the puncture is completed or other operations such as imaging are performed.
  • the bottom of the main operator 130 is rotatably arranged in the hidden structure 120 , and the top of the main operator 130 can rotate around the bottom of the main operator 130 , so that the top of the main operator 130 moves into or out of the operation table 110 .
  • the bottom of the main manipulator 130 rotates, and drives the top of the main manipulator 130 to move out of the operation table 110 , and the operator can operate the main manipulator 130 .
  • the rotation of the bottom of the main manipulator 130 can drive the top of the main manipulator 130 to move into the operation table 110 , preventing the operator from touching the main manipulator 130 accidentally.
  • the operation table 110 is a hollow structure.
  • the operation table 110 may also be a solid structure, and the hidden structure 120 may be disposed inside the operation table 110 or on the surface of the operation table 110 .
  • the operation table 110 is described as an example with a hollow structure.
  • the operation table 110 includes an operation platform 111 and a support 112 disposed below the operation platform 111 .
  • the hidden structure 120 and the main operator 130 are supported by the operating platform 111 .
  • the form of the bracket 112 is not limited in principle, as long as the stable support of the operation platform 111 can be realized.
  • the hidden structure 120 can be arranged on the upper surface of the operation platform 111 of the operation table 110 , and can also be arranged on the lower surface of the operation platform 111 of the operation table 110 .
  • the operating table 110 has a through hole 1111, the bottom of the main operator 130 is rotatably disposed in the hidden structure 120, and the top of the main manipulator 130 moves out of the hidden structure 120 through the through hole 1111 during puncturing. After the puncturing is completed or when no puncturing is required, the top of the main operator 130 moves into the hidden structure 120 through the via hole 1111 .
  • the main manipulator 130 is the main part that controls the movement of the puncture needle 300 at the end of the puncture, and can realize the remote control of the puncture end. At the same time, the main manipulator 130 can also simulate clinical puncture conditions, so that the medical staff can feel that the puncture needle 300 is entering the needle.
  • the constant resistance makes the whole puncture process safer and more efficient, improves the operation accuracy, and thus improves the puncture success rate.
  • the main operator 130 includes a piercing component 131 and an attitude adjustment component 132 .
  • the puncturing assembly 131 is a main structure for the main operator 130 to control the puncturing needle 300 to perform a puncturing operation.
  • the main manipulator 130 can be connected with the robot host of the puncturing robot, where the transmission connection refers to an electrical connection or a communication connection.
  • the puncture component 131 can feed back the puncture signal to the robot host, so that the robot host controls the puncture end to prepare for the puncture action, and then, when the puncture component 131 moves, the motion of the puncture component 131 can be fed back to the robot host in real time, and then the robot host can follow the puncture assembly.
  • the motion control puncture tip of 131 drives the puncture needle 300 to perform the puncture operation.
  • the posture adjustment component 132 is the main structure for adjusting the posture of the puncture needle 300 for the main manipulator 130 .
  • the piercing assembly 131 is rotatably arranged in the posture adjustment assembly 132 .
  • the puncture assembly 131 can rotate relative to the attitude adjustment assembly 132, and then the attitude adjustment assembly 132 can detect the inclination information of the puncture assembly 131, and after the attitude adjustment assembly 132 feeds back the inclination information to the robot host, the robot host can The posture of the puncture end is adjusted according to the inclination information of the puncture assembly 131, so as to achieve the purpose of adjusting the posture of the puncture needle 300, so that the puncture needle 300 can be aligned with the target puncture target, and the accuracy of the puncture operation is ensured.
  • the main manipulator 130 When using the main manipulator 130 to perform puncture control, first determine the attitude of the puncture needle 300 in space according to the target puncture target point, then, the main manipulator 130 controls the puncture assembly 131 to rotate a preset angle relative to the attitude adjustment assembly 132, and then adjust The attitude component 132 feeds back the inclination information to the robot host, and the robot host adjusts the attitude of the puncture needle 300 on the puncture end according to the inclination information, so that the puncture needle 300 can be aimed at the target puncture target. Then, the puncture assembly 131 works, and the puncture assembly 131 moves and feeds back to the robot host, and the robot host controls the puncture needle 300 to drive the puncture end to perform the puncture operation.
  • the bottom of the posture adjustment assembly 132 is in the hidden structure 120 and is connected with the rotating parts of the hidden structure 120 , and the puncture assembly 131 is arranged on the top of the posture adjustment assembly 132 .
  • the rotating part of the hidden structure 120 is the drive assembly 122 hereinafter.
  • the handle 1311 is the hand-held part of the operator when adjusting the posture; the hand-held slider 1312 is used for the operator to perform the puncture action, which can move up and down along the linear movement shaft assembly 1313, and the linear movement shaft assembly 1313 is embedded with a force feedback part, so The main manipulator 130 can not only simulate the puncture process, but also can feed back to the operator the force between the puncture needle 300 and the human tissue.
  • the hand-held slider 1312 is integrated with a puncture enabling button (which may be mechanical or electrical), which is used for the operator to trigger the execution of the puncture process, that is, to control the puncture needle 300 at the end of the puncture to perform linear motion at the same speed as the hand-held slider 1312 .
  • the piercing tip configuration is shown in Figures 4 and 5.
  • Piercing assembly 131 may include degrees of freedom for sliding up and down, degrees of freedom for movement within layers, and degrees of freedom for movement between layers.
  • the puncture assembly 131 simulates the operation of advancing and retreating the needle during the puncture operation in the degree of freedom of sliding up and down, and simulates the posture adjustment process of the puncture needle in the degree of freedom of intra-layer movement and/or inter-layer movement.
  • the degree of freedom of vertical sliding of the piercing assembly 131 may be the degree of freedom of the vertical movement of the hand-held slider 1312 along the linear movement shaft assembly 1313 .
  • the interlayer rotation axis 13211 and the intralayer rotation axis 13221 in Fig. 2 and Fig. 3 are connected in series, and the two are coplanar. What is important is that the interlayer rotation axis 13211 and the intralayer rotation axis 13221 intersect the linear movement at a point A, Therefore, any point on the handle 1311 during posture adjustment is on the spherical surface with the intersection point A of the three axes as the center of the sphere.
  • the connection mode of the interlayer rotating shaft 13211 and the intralayer rotating shaft 13221 in series is the same as that of the puncturing robot arm 200, and the configuration of the puncturing robot arm 200 is shown in Fig. 4 and Fig. 5 .
  • the inter-layer rotation axis 13211 controls the fifth rotation joint 220 of the puncturing robot arm 200
  • the intra-layer rotation axis 13221 controls the fourth rotation joint 210 of the robot arm 200 .
  • the fourth rotary joint 210 of the puncturing robot arm 200 rotates, the direction of the axis of the fifth rotary joint 220 in space will change. This is consistent, and both the inter-layer rotating shaft 13211 and the intra-layer rotating shaft 13221 have force feedback functions, that is, the interaction force between the puncture needle 300 and human tissue can be simulated during the posture adjustment process.
  • the main manipulator 130 sets the full force feedback (all degrees of freedom have force feedback function) so that the operator can feel the same feeling as when actually holding the needle for puncture on the operation platform 111, and the master-slave teleoperation puncture with only image feedback
  • the surgical system cannot identify tissue properties and lesions by touching the tissue with the master manipulator 130, and the doctor’s lack of force perception for operation will increase the risk and uncertainty of the operation, increase the operation time, and reduce the operation efficiency; studies have shown that in the master-slave remote Providing real-time force feedback to the operator during operation can make the operation process safer and more efficient, and can improve the accuracy of the operation.
  • connection assembly 121 is rotatably connected to the bottom of the attitude adjustment assembly 132 of the main operator 130 , and the other part of the connection assembly 121 is fixed to the lower surface of the operation platform 111 of the operation table 110 .
  • the drive assembly 122 is the power source of the hidden structure 120 , and the drive assembly 122 is connected to the bottom of the posture adjustment assembly 132 through the rotating part of the connection assembly 121 .
  • the drive assembly 122 when the drive assembly 122 outputs rotational motion, the drive assembly 122 can drive the posture adjustment assembly 132 to rotate through the rotating part of the connection assembly 121, and then the posture adjustment assembly 132 can drive the puncture assembly 131 to move when the posture adjustment assembly 132 rotates, so that the puncture assembly 131 moves in or out for operation
  • the inner side of the operating platform 111 of the table 110 The inner side of the operating platform 111 of the table 110 .
  • the driving assembly 122 drives the attitude adjustment assembly 132 to drive the puncturing assembly 131 to rotate, so that the puncturing assembly 131 rotates at a preset angle to move out of the operating platform 111 .
  • the operator can control the puncture end to drive the puncture needle 300 to perform the puncture operation through the puncture assembly 131 .
  • the driving assembly 122 drives the attitude adjustment assembly 132 to drive the puncture assembly 131 to rotate a preset angle, so that the puncture assembly 131 moves into the operating platform 111 .
  • the preset angle is about 90°. In some embodiments, the preset angle may be 85°-95°.
  • the preset angle may be 89°-91°. In some embodiments, the preset angle may be 90°. In other embodiments of the present specification, the preset angle may also be other angles, as long as the piercing assembly 131 can be hidden under the operating platform 111 of the operating table 110 .
  • the connecting assembly 121 includes a connecting base 1211 and a rotating base 1212, the rotating base 1212 is rotatably connected to one end of the connecting base 1211, the main operator 130 is fixedly installed on the rotating base 1212, The other end of the connection base 1211 is fixedly installed on the operation table 110 , and the driving assembly 122 is connected with the rotating base 1212 for driving the rotating base 1212 to drive the main operator 130 to rotate.
  • the connection base 1211 is installed on the operating platform 111 through a screw.
  • connection base 1211 is rotatably connected to the rotating base 1212 , and the other end of the connection base 1211 is fixedly installed on the lower surface of the operation platform 111 .
  • the rotating base 1212 is fixedly connected to the bottom of the attitude adjustment assembly 132 , and the output end of the driving assembly 122 is rotatably connected to the rotational connection between the rotating base 1212 and the connecting base 1211 . That is to say, the output end of the driving assembly 122 is equivalent to a rotating shaft, and the output end of the driving assembly 122 is rotatable and protrudes through the connecting base 1211 , and is connected with the rotating base 1212 .
  • the driving assembly 122 can drive the rotating base 1212 to move and rotate relative to the connecting base 1211, and then when the rotating base 1212 rotates, it can drive the attitude adjustment assembly 132 and the puncturing assembly 131 to rotate, so that the puncturing assembly 131 moves into or out of the operating platform 111.
  • connection base 1211 includes a vertical connection part and a horizontal connection part, the vertical connection part is arranged along the vertical direction, one end of the vertical connection part is connected to the horizontal connection part, and the other end of the vertical connection part is rotatably mounted.
  • the vertical connection part and the horizontal connection part are vertically arranged, and the horizontal connection part is used to be installed on the lower surface of the operation platform 111 .
  • the vertical connecting portion and the horizontal connecting portion are flat plates.
  • the vertical connecting portion and the horizontal connecting portion may also be other components capable of rotatably installing the rotating base 1212 and connecting the operating platform 111 .
  • the number of connecting assemblies 121 is two, and the two connecting assemblies 121 are arranged symmetrically on both sides of the posture adjustment assembly 132, and the active connecting assembly 121 is connected with the driving assembly 122 , and the other is a passive connection component 121 .
  • Two sets of connection assemblies 121 connect the attitude adjustment assembly 132 and the operating platform 111 on both sides of the attitude adjustment assembly 132 respectively.
  • the driving assembly 122 drives the rotating base 1212 connected thereto to rotate relative to the connecting base 1211, and then the rotating base 1212 drives the attitude adjusting assembly 132 to rotate, and the attitude adjusting assembly 132 can drive the other rotating base 1212 to rotate relative to the connecting base 1211.
  • the brake 1221 is arranged at the output end of the rotating power source 1222, and is used to control the locking of the rotating power source 1222 after power failure, so that the posture adjustment assembly 132 can maintain the position after the rotation. Specifically, when the rotating power source 1222 drives the rotating seat 1212 to drive the posture adjustment assembly 132 to move to the position, the controller of the puncture operation console 100 controls the rotating power source 1222 to be powered off, and then the brake 1221 is energized to lock the output of the rotating power source 1222. end, to prevent the output end of the rotating power source 1222 from shifting and affecting the position of the attitude adjustment assembly 132 .
  • the controller controls the power-off of the brake 1221 to unlock the output end of the rotating power source 1222.
  • the rotating power source 1222 can drive the rotating base 1212 to drive the attitude adjustment assembly 132 and the puncturing assembly 131 to rotate.
  • the rotational power source 1222 is a rotational motor or other power source that outputs rotational motion.
  • the controller controls the brake 1221 to be powered off, the rotating power source 1222 is electrified, and the rotating power source 1222 is energized to drive the rotating seat 1212 to rotate.
  • the rotating seat 1212 rotates, it can drive the posture adjustment assembly 132 and The piercing assembly 131 rotates, so that the piercing assembly 131 rotates 90° to move into the operating platform 111 .
  • the limit switch When the puncture assembly 131 extends out of the operating platform 111, the limit switch can be triggered, and the limit switch controls the electrification of the brake 1221 through the controller, so as to hold the output end of the rotating power source 1222 tightly and prevent the rotating power source 1222 from driving the rotating base 1212 to rotate. So that the rotating base 1212 is fixed.
  • the limit switch can also be triggered. The limit switch controls the electrification of the brake 1221 through the controller, so as to hold the output end of the rotating power source 1222 tightly and prevent the rotating power source 1222 from driving the rotating seat 1212 to rotate, so that The swivel seat 1212 is fixed.
  • the hidden structure 120 further includes a protective shell, which is disposed on the operation table 110 and covers the attitude adjustment structure of the main operator 130 .
  • the protective casing is disposed under the operating platform 111 and covers the connecting assembly 121 and the driving assembly 122 , and the posture adjustment assembly 132 is located in the protective casing. This can prevent the operator from accidentally touching the attitude adjustment assembly 132 , and at the same time prevent debris from entering the attitude adjustment assembly 232 , ensuring the performance of the attitude adjustment assembly 132 .
  • the operating platform 111 of the operating table 110 has a through hole 1111
  • the hidden structure 120 is disposed under the operating platform 111
  • the main operator 130 protrudes at least partially above the operating platform 111 through the through hole 1111 , or the whole is stored in the hidden structure 120 below the operating platform 111 .
  • the piercing assembly 131 When the piercing assembly 131 protrudes out of the operating platform 111 through the through hole 1111 , the piercing assembly 131 exposes the end of the operating platform 111 , which is convenient for the operator to operate the piercing assembly 131 .
  • the puncture surgery console 100 further includes a closed casing 140 , and the closed casing 140 covers the via hole 1111 .
  • the closed shell 140 can cover the via hole 1111 , which can shield the structure below the operation platform 111 and avoid accidental touch.
  • the closed casing 140 opens the through hole 1111 , and after the piercing assembly 131 moves, the closed casing 140 closes the through hole 1111 .
  • the closure housing 140 is telescopingly configured.
  • the puncture assembly 131 can move into or out of the operating platform 111; the closed shell 140 is stretched to close the via hole 1111, and the closed shell 140 blocks the posture adjustment assembly 132 located on the operating platform 111, or the closed shell 140 has an escape channel for the piercing assembly 131 to protrude.
  • the closed casing 140 shrinks, the through hole 1111 is exposed, the puncture assembly 131 can be moved into the operating platform 111 through the through hole 1111, and then the closed casing 140 is stretched, and the closed casing 140 can The via hole 1111 is covered, thereby hiding the puncture component 131 .
  • the puncture operation is performed, the closed shell 140 shrinks, the through hole 1111 is exposed, the puncture assembly 131 can move out of the operating platform 111 with the posture adjustment assembly 132, and then the closed shell 140 is extended to avoid the puncture assembly 131 through the avoidance channel, so that the puncture assembly 131 The operating platform 111 is exposed.
  • the closed casing 140 can cover the through hole 1111 without affecting the use of the piercing assembly 131 .
  • the closed case 140 further includes a first closed case 141, the first closed case 141 is detachably arranged on the operation table 110, and the first closed case 141 is used for
  • the via hole 1111 is covered under the non-puncture working condition.
  • the first closed casing 141 is detachably arranged on the operating platform 111 and covered with a through hole 1111 to cover and hide in the operating platform 111 and prevent the piercing assembly 131 from being exposed. That is to say, the first closed casing 141 can cover the puncturing assembly 131 in the operating platform 111 when the puncturing assembly 131 is not working.
  • the second closed casing 142 is detachably arranged on the operating platform 111 and blocks the through hole 1111 on the operating platform 111, and the second closed casing 142 can block the through hole 1111 when the puncture assembly 131 extends out of the operating platform 111 That is, the piercing assembly 131 can protrude through the second closed casing 142 , and when the piercing assembly 131 drives the attitude adjusting assembly 132 to adjust the posture of the piercing end, the piercing assembly 131 can move in the second closed casing 142 . That is to say, the second closed casing 142 can cover the via hole 1111 under the puncture condition, so as to avoid exposure of the posture adjustment component 132 .
  • the driving assembly 122 first drives the rotating seat 1212 to drive the attitude adjustment assembly 132 to rotate, so that the piercing assembly 131 moves out of the operating platform 111, and then the second closed casing 142 passes through the piercing assembly 131 cover set in the via hole 1111 .
  • the second closed casing 142 is disassembled, and the rotating seat 1212 is driven by the drive assembly 122 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111 .
  • the second closed housing 142 includes a shielding shell 1421 and an embedded shell 1422, the shielding shell 1421 has a handle movement hole 14211, and the built-in shell 1422 can be movably arranged on the shielding
  • the casing 1421 is set corresponding to the handle movement hole 14211.
  • the piercing assembly 131 is connected to the embedded casing 1422 and protrudes through the handle movement hole 14211. The piercing assembly 131 can drive the embedded casing 1422 to move in the handle movement hole 14211.
  • the second closed casing 142 has a double-layer structure
  • the shielding casing 1421 is the outer layer
  • the embedded casing 1422 is the inner layer.
  • the shielding shell 1421 is disposed on the operation platform 111 and covers the via hole 1111 .
  • the shielding shell 1421 has a handle movement hole 14211
  • the embedded shell 1422 is arranged inside the shielding shell 1421 and is movably arranged in the handle movement hole 14211 .
  • the embedded shell 1422 can block the handle movement hole 14211 and move relative to the handle movement hole 14211 .
  • the driving assembly 122 first drives the rotating seat 1212 to drive the attitude adjustment assembly 132 to rotate, so that the piercing assembly 131 moves out of the operating platform 111, and then the embedded shell 1422 is fixed on the piercing assembly 131 to block the
  • the housing 1421 is installed on the operating platform 111 through the handle movement hole 14211 to cover the through hole 1111 .
  • the embedded housing 1422 corresponds to the handle movement hole 14211 .
  • the puncture assembly 131 can drive the embedded shell 1422 in the handle movement hole 14211 through the posture adjustment assembly 132 .
  • the shielding shell 1421 and the embedded shell 1422 are dismantled in sequence, and then the driving assembly 122 drives the rotating seat 1212 to drive the attitude adjustment assembly 132 to rotate, so that the puncturing assembly 131 moves into the operating platform 111 .
  • the arc portion of the embedded housing 1422 is a part of a spherical surface, and correspondingly, the shape of the shielding housing 1421 at the handle movement hole 14211 is also a part of a spherical surface. This can facilitate the piercing assembly 131 to drive the embedded housing 1422 to rotate in the handle movement hole 14211 .
  • the piercing assembly 131 drives the posture adjustment assembly 132 to rotate to adjust the pose of the piercing end, the piercing assembly 131 can drive the embedded housing 1422 to rotate.
  • the outer diameter of the embedded housing 1422 is consistent with the inner diameter of the shielding housing 1421 .
  • the puncture operation console 100 only uses the first closed casing 141 to cover the via hole 1111 . In this way, when the puncture assembly 131 is not in use, the first closed housing 141 is covered on the via hole 1111, and the puncture assembly 131 is hidden on the operating platform 111. After disassembly, the rotating seat 1212 is driven by the drive assembly 122 to drive the attitude adjustment assembly 132 to rotate, so that the piercing assembly 131 moves out of the operating platform 111 . At this time, the puncture assembly 131 can be operated to perform a puncture operation.
  • the rotating seat 1212 is driven by the drive assembly 122 to drive the attitude adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111, and then the first closed casing 141 is covered on the through hole 1111 . That is to say, in this embodiment, the through hole 1111 is covered by the first closed casing 141 under the non-puncturing working condition, and the through hole 1111 is exposed and not blocked under the puncturing working condition.
  • the second closed housing 142 is installed in the through hole 1111 through the piercing component 131 .
  • the piercing assembly 131 can be operated to perform the piercing operation.
  • the piercing assembly 131 drives the posture adjustment assembly 132 to rotate, the piercing assembly 131 can drive the embedded housing 1422 to cover the handle movement hole 14211 of the housing 1421 .
  • the second closed casing 142 is disassembled from the operating platform 111; That is to say, in this embodiment, the through hole 1111 is covered by the second closed casing 142 under the puncture working condition, and the through hole 1111 is exposed and not blocked under the non-puncturing working condition.
  • the puncture operation console 100 can also use a combination of the first closed case 141 and the second closed case 142 . That is to say, when the puncture assembly 131 is in different states/positions, the structure of the covering hole 1111 is different.
  • the first closed casing 141 is covered with a through hole 1111 .
  • the through hole 1111 is covered by the second closed casing 142 .
  • the piercing assembly 131 When the piercing assembly 131 is not in use, the piercing assembly 131 is hidden on the operating platform 111 , and the first closed casing 141 is covered on the operating platform 111 to cover the piercing assembly 131 .
  • the first closed casing 141 When performing a puncture operation, the first closed casing 141 is disassembled from the operating platform 111 , and then the driving assembly 122 drives the rotating seat 1212 to drive the attitude adjustment assembly 132 to rotate, so that the puncturing assembly 131 moves out of the operating platform 111 .
  • the second closed housing 142 is installed in the through hole 1111 through the piercing component 131 .
  • the piercing assembly 131 can be operated to perform the piercing operation.
  • the piercing assembly 131 drives the posture adjustment assembly 132 to rotate, the piercing assembly 131 can drive the embedded housing 1422 to cover the handle movement hole 14211 of the housing 1421 .
  • the second closed casing 142 is disassembled from the operating platform 111; then the driving assembly 122 drives the rotating seat 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111, Then the first closed casing 141 is covered on the through hole 1111 , and the piercing assembly 131 is hidden on the operation platform 111 through the first closed casing 141 .
  • the through hole 1111 includes a first through hole and a second through hole connected to each other.
  • the first through hole corresponds to the posture adjustment component 132 of the main operator 130, and the piercing component 131 enters the operation through the second through hole In the table 110, when the main manipulator 130 adjusts the posture of the puncturing end, the main manipulator 130 rotates in the first through hole.
  • the cross-sectional size of the first through hole is different from that of the second through hole, and the cross-sectional size of the first through hole is larger than that of the second through hole.
  • the first through hole corresponds to the attitude adjustment component 132 of the main operator 130 .
  • the posture adjustment assembly 132 can drive the piercing assembly 131 to rotate, so that the piercing assembly 131 is located in the first through hole, and the piercing assembly 131 can perform the piercing operation at the first through hole And the operation of driving the posture adjustment component 132 to move to adjust the posture of the puncture end.
  • the posture adjustment assembly 132 drives the piercing assembly 131 to move into the operating platform 111 from the second through hole.
  • the shielding housing 1421 includes a first cover 14212 and a second cover 14213, the first cover 14212 is used to cover the first through hole, the second cover 14213 is used to cover the second through hole, the first cover 14212 It is connected with the second cover 14213, and the middle area of the first cover 14212 has a movement hole 14211, and the first cover 14212 is a part of the spherical surface.
  • the edge of the first cover 14212 has a flange to facilitate the installation of the first cover 14212 on the operating platform 111 .
  • the second closed casing 142 may also include a third cover and a fourth cover, the third cover is connected to the fourth cover, the third cover is disposed on the first through hole, and the fourth cover is disposed on the second through hole.
  • the puncture surgery main console 100 further includes a support structure 150, the support structure 150 is arranged on the operation table 110, and is used to support the operator's elbow 400, and the operator operates the main operator At 130, the supporting structure 150 can follow the movement of the elbow 400.
  • the supporting structure 150 is arranged on the operating platform 111 and is used to support the user's elbow 400 .
  • the operator's elbow 400 can be located in the support structure 150 .
  • the operator controls the puncture assembly 131 to lift or rotate the operator's elbow 400 can drive the support structure 150 to move synchronously, so as to avoid the operator's arm 400 being suspended in the air and reduce the fatigue of the operator.
  • the supporting structure 150 includes a moving component 151 and a supporting component 152
  • the moving component 151 is arranged in the operation table 110, and is connected to the moving supporting component 152
  • the supporting component 152 is used to support the operator
  • the elbow is 400.
  • the moving component 151 is arranged on the operating platform 111 , and the moving component 151 can output moving motions.
  • the output end of the moving component 151 is equipped with a supporting component 152 , which can drive the supporting component 152 to move relative to the operating platform 111 .
  • the support assembly 152 is used to support the operator's elbow 400 .
  • the operator's elbow 400 is placed on the support assembly 152 , and the operator's hand holds the puncture assembly 131 .
  • the hand-held slider 1312 can move up and down, and the height of the operator's hand also changes.
  • the elbow 400 will be made to approach or move away from the puncture assembly 131.
  • the middle arm elbow 400 drives the support assembly 152 to move synchronously, so that the support assembly 152 can always support the operator's elbow 400 .
  • the position of the arm elbow 400 will change relative to the position of the operating platform 111. If the arm elbow 400 is directly in contact with the operating platform 111 Contact, then there will be friction between the elbow 400 and the operating platform 111 , making the operator's elbow 400 feel uncomfortable. If the arm and elbow 400 is suspended in the air, the fatigue degree of the operator's arm and elbow 400 will be increased, which will affect the puncture effect. Therefore, in this specification, the arm elbow 400 is supported through the cooperation of the moving component 151 and the supporting component 152 . When the arm elbow 400 moves, it can drive the support assembly 152 to move relative to the moving assembly 151 to adjust the position of the support assembly 152 so that the support assembly 152 can reliably support the arm elbow 400 .
  • the strength of the movement of the supporting component 152 relative to the moving component 151 can be adjusted to meet the needs of different users. For example, different strengths can be achieved by changing the coefficient of friction of the contact surface between the supporting component 152 and the moving component 151 . For another example, by adjusting the tightness of the screws connecting the supporting component 152 and the moving component 151 , the moving frictional force between them can be changed.
  • the support assembly 152 can be fixed on the operation table 110 .
  • the moving assembly 151 includes a guide rail 1511 and a moving slider 1512
  • the guide rail 1511 is arranged on the operation table 110
  • the moving slider 1512 is slidably arranged on the guide rail 1511
  • the support assembly 152 is installed on the Move the slider 1512 as described above.
  • the guide rail 1511 is fixedly arranged on the operation platform 111
  • the moving slider 1512 is slidably arranged on the guide rail 1511
  • the support assembly 152 is mounted on the top of the moving slider 1512 .
  • the arm elbow 400 can drive the support assembly 152 to move along the guide rail 1511 through the moving slider 1512 .
  • the moving assembly 151 further includes an installation base 1513 , the operation platform 111 has an installation hole, the installation base 1513 is fixed in the installation hole, and the guide rail 1511 is disposed on the installation base 1513 .
  • the linear movement direction of the guide rail 1511 is parallel to the intra-layer rotation axis or the inter-layer rotation axis of the main manipulator 130 . That is to say, the moving direction of the support device 150 along with the elbow 400 is the direction of the intra-layer rotation axis or the inter-layer rotation axis.
  • the support assembly 152 is rotatably disposed on the moving slider 1512 . That is, the support assembly 152 can rotate relative to the moving slider 1512 . In this way, when the operator adjusts the posture of the puncture end through the puncture assembly 131 , the operator needs to control the puncture assembly 131 to drive the posture adjustment assembly 132 to rotate, and at this time, the angle of the elbow 400 will also change. The support effect can be guaranteed by the rotatable support assembly 152 to meet the requirements of different working conditions.
  • the supporting assembly 152 includes a supporting bracket 1521 and a rotating member 1522 , and the bottom of the supporting bracket 1521 is rotatably disposed on the moving slider 1512 through the rotating member 1522 .
  • the rotating part 1522 is arranged at the bottom of the supporting bracket 1521. After the supporting bracket 1521 bears the arm elbow 400, the force of the arm elbow 400 can make the supporting bracket 1521 drive the rotating part 1522 to rotate relative to the moving slider 1512.
  • FIG. 15 it is a working principle diagram of the support assembly 152 when the main manipulator 130 only works around the interlayer rotation axis 13211 .
  • the support assembly 152 includes two movements: a rotational movement around the rotating member 1522 and a linear movement along the guide rail 1511 .
  • the point is that the linear movement direction along the guide rail 1511 is parallel to the inner rotation axis 13221 and the two axes are in the same vertical plane.
  • the default support assembly 152 is also perpendicular to the operating platform 111, but the forearm lengths of different operators are inconsistent and the sitting postures are inconsistent, so in most cases The support assembly 152 may not be perpendicular to the operating platform 111 , which is determined by the operator's comfort level when placing the arm 400 .
  • the operator When it is necessary to adjust the inter-layer attitude, the operator holds the puncture assembly 131 and rotates around the inter-layer rotation axis 13211, as shown in position 1 and position 2 in Figure 16. At this time, the support assembly 152 will simultaneously produce The linear movement along the guide rail 1511 and the rotational movement around the rotating member 1522 prevent the operator's forearm from being stretched and uncomfortable from friction between the elbow 400 and the operating platform 111 .
  • FIG. 16 shows the working principle diagram of the follower support assembly 152 of the arm elbow 400 when the main manipulator 130 only works around the inner rotation axis 13221 . It can be seen from the figure that when the main manipulator 130 performs intra-layer attitude adjustment, the support assembly 152 can be considered to only rotate around the rotating member 1522, as shown in position 1 and position 2 in Figure 16. At this time, the forearm will not produce obvious The feeling of being stretched, but considering that the linear movement part is an unconstrained movement mode, there may be relatively small linear movement on the linear movement axis.
  • Fig. 15 and Fig. 16 are both the motion modes of the support assembly 152 during the one-way attitude adjustment movement. In actual work, there will also be working conditions in which the inter-layer attitude adjustment and the intra-layer attitude adjustment are carried out at the same time. At this time, the movement of the support assembly 152 is as described above The superposition of motion produced during unidirectional posture adjustment motion.
  • the main operator 130 may include a first driving motor 130-3 and a rotating shaft 130-2, and the first driving motor 130-3 is arranged in the hidden structure 120 for driving
  • the rotating shaft 130-2 rotates to drive the main operator 130 to switch between the first state and the second state.
  • the main manipulator 130 exposes the operation table 110, and at this time the main manipulator can be in a puncturing state.
  • the main manipulator 130 is hidden in the hidden structure 120, and at this time the main manipulator can be in a non-puncturing working condition.
  • both ends of the rotating shaft 130 - 2 are rotatably disposed in the hidden structure 120 .
  • a wire sheave is set on the rotating shaft 130-2.
  • the power transmission can be realized between the output end of the first driving motor 130-3 and the wire rope pulley 130-8 through a wire rope (not shown in Fig. 19 and Fig. 20 ). Therefore, when the first driving motor 130-3 outputs power, it can drive the rotating shaft 130-2 to rotate.
  • the main operator 130 may include a first brake 130-6, an adapter 130-7 and a main control panel connector 130-10, and the first brake 130-6 is disposed at one end of the rotating shaft 130-2 , for controlling the locking or unlocking of the adapter 130-7 relative to the main control panel connecting member 130-10.
  • the first stopper 130-6 can be disposed at any position between the two ends of the 130-2, such as the middle.
  • the master operator 130 may include a piercing component 131 and an attitude adjustment component 132 .
  • the attitude adjustment component 132 is arranged on the rotating shaft 130-2.
  • the primary operator 130 may include a secondary brake 130-9.
  • the second brake 130-9 is disposed at the other end of the rotating shaft 130-2.
  • the second brake 130-9 can be set at any position between the two ends of the rotating shaft 130-2, such as the middle, to control the rotation of the rotating shaft 130-2 relative to the main control. Locking or unlocking of the panel connector 130-10.
  • the wire rope wheel 130-8 is coaxially connected with the main control panel connector 130-10, the rotating shaft 130-2, the first brake 130-6, and the second brake 130-9 of the main operator 130.
  • the wire rope pulley 130-8 rotates, and then drives the main control panel connector 130-10 to move together, thereby connecting the main control panel connector 130-10 to 10.
  • the connected main control panel 130-1 rotates to the first state.
  • the piercing assembly 131 can be perpendicular to the operating platform 111 .
  • the first brake 130-6 can be fixed to the main operator fixing base 130-11 through an adapter 130-7.
  • the second stopper 130-9 may be fixed on the main control panel connector 130-10.
  • the first brake 130-6 and/or the second brake 130-9 can be unlocked when powered on and braked when powered off, that is, unlocked after powered on and locked after powered off. Since the use time of using the main operator 130 for state transition is relatively short, adopting this unlocking and locking method can effectively save energy.
  • the puncture surgery console 100 may include a controller for performing at least one of the following operations:
  • the controller controls the first brake 130-6 to lock and controls the second brake 130-9 to unlock.
  • the controller controls the first drive motor 130-3 to enable .
  • the main control panel 130-1 of the main operator 130 is fixed together with the main operator fixed base 130-11 through the main control panel connector 130-10, the first brake 130-6, the adapter 130-7, Available for normal work. Due to the unlocking of the second brake 130-9, the movement between the piercing assembly 131 and the main control panel 130-1 is independent of each other, that is, the piercing assembly 131 can work in a normal posture adjustment mode.
  • the controller can control the first brake 130-6 to lock and control the second brake 130-9 to unlock, and the controller can further control the first drive motor 130-3
  • the piercing assembly 131 is provided with force feedback in degrees of freedom of movement within layers and/or degrees of freedom of movement between layers.
  • the controller controls the first brake 130-6 to unlock and controls the second brake 130-9 to lock, and at the same time, controls it to control the first drive motor 130-3 to enable.
  • the first driving motor 130-3 under the action of the force transmission of the wire rope, makes the wire rope wheel 130-8 rotate, and then drives the main control panel connector 130-10 and the puncture assembly 131 to move together, thereby turning the main control panel 130-1 and the puncture assembly 131 together.
  • the piercing assembly 131 rotates to the first state or the second state.
  • the controller controls both the first brake and the second brake to be locked, and at this time, the main operator 130 is in a locked posture in the hidden mode.
  • the main operator 130 may include a hidden posture limit protection switch 130 - 4 , a released posture limit protection switch 130 - 5 and an angle sensor 130 - 12 .
  • the hidden posture limit protection switch 130-4 and the released posture limit protection switch 130-5 can be installed on the main operator fixing base 130-11.
  • the angle sensor 130-12 may be installed on the rotation shaft 130-2, and the angle sensor 130-12 is used to collect the rotation angle signal of the rotation shaft 130-2, and transmit the rotation angle signal data to the controller, The controller then controls the first actuator 130-6 based on the angle signal data. For example, when the rotation angle signal data is less than the set angle, the controller controls the first brake 130-6 to keep unlocked. For another example, when the rotation angle signal data reaches the set angle, the controller controls the first brake 130-6 to lock.
  • angle sensor 130-12 may be a single-turn absolute encoder.
  • the angle sensor 130-12 can be installed on the first drive motor 130-3, and the angle sensor 130-12 is used to collect the rotation angle signal of the first drive motor 130-3, and transmit the rotation angle signal data to the controller, and then the controller controls the first driving motor 130-3 based on the rotation angle signal data. For example, when the rotation angle signal data of the first driving motor 130-3 is less than the set angle, the controller controls the first driving motor 130-3 to continue to rotate. For another example, when the rotation angle signal data of the first driving motor 130-3 reaches the set angle, the controller controls the first driving motor 130-3 to stop rotating.
  • the hidden posture limit protection switch 130-4 and the released posture limit protection switch 130-5 can play a second layer of protection.
  • the controller controls the first The driving motor 130-3 stops rotating, so that the damage caused by the continuous stalling of the first driving motor 130-3 can be avoided.
  • the hidden structure 120 may include a connecting component 121 and a driving component 122, the connecting component 121 is movably connected the main operator 130 to the operation desk 110, and the driving component 122 can drive the main operator 130 relative to the operation desk. 110 moves linearly, so that the main operator 130 is accommodated in the operation table 110 or extends out of the operation table 110 .
  • the driving assembly 122 may include a linear motion assembly such as a hydraulic cylinder, an air cylinder, a rack and pinion, and a screw nut. output connection.
  • the controller When the controller controls the driving assembly 122 to extend or shorten, it will drive the main operator 130 to move linearly through the connecting assembly 121 , so as to protrude upward from the operation table 110 or store it downward in the operation table 110 .
  • the main operator 130 protrudes or is accommodated in the operation table 110 in a linear motion, which can make the overall structure of the hidden structure 120 relatively simple, and the via hole 1111 opened on the operation table 110 can be smaller and shorter.
  • the controller can adjust the height at which the main operator 130 protrudes from the operation table 110 through linear motion, so that the main operator 130 can be adapted to users of different heights and shapes.
  • the paracentesis surgery console 100 may include a display 160 and a CT control panel 170, as shown in FIG. 21 .
  • the operator can perform control operations on the CT control panel 170 , such as performing operations such as moving the hospital bed and controlling CT scans.
  • the piercing operation console 100 may include a concealment structure 120, a closed shell 140 and a release closed shell 180, as shown in FIGS. 22 and 23 .
  • the hidden structure 120 is used to seal the main operator 130 under the operating platform 111 .
  • the closed casing 140 is rotatably disposed on the operating platform 111 and covered with a through hole 1111 to prevent the piercing assembly 131 from being exposed.
  • the release enclosure 180 is rotatably arranged on the operation platform 111 and can partially cover the through hole 1111 on the operation platform 111 , and the release enclosure 180 can partially cover the through hole 1111 when the puncture assembly 131 extends out of the operation platform 111 .
  • the piercing assembly 131 is located under the desktop of the operating platform 111 , and at this time the closed casing 140 is closed.
  • the main manipulator 130 needs to be used for puncture surgery, it should be adjusted from the hidden state to the released state, that is, first open the closed casing 140, rotate the main manipulator 130 to the released state as a whole, and then release the closed casing 180 and the main control panel 130.
  • the shape forms a form fit, and as shown in FIG. 22 , the lower part of the main operator 130 in the working state is sealed inside the operation table 110 .
  • the concealment structure 120 may include a spring assembly 123 and an electromagnet 124, and the electromagnet 124 is arranged on the operating platform 111 for attracting the closed casing 140, as shown in FIG. 23 .
  • the spring assembly 123 and the electromagnet 124 may be installed between the operating platform 111 and the enclosure 140 .
  • the electromagnet 124 may be a power-on degaussing type component, that is, the magnetic force disappears when the power is turned on, and the magnetic force is generated when the power is turned off.
  • the spring assembly 123 bounces the closed casing 140 and is in an open state.
  • the electromagnet 124 When the closed casing 140 is in a closed state, the electromagnet 124 generates a magnetic force to fix the closed casing 140 .
  • the hidden structure 120 may include a photoelectric switch 125, as shown in FIG. 23 .
  • the photoelectric switch 125 can be installed on the operating platform 111 .
  • the photoelectric switch 125 is used to detect the state of the closed casing 140 and output the state data to the controller.
  • the photoelectric switch 125 may be a reflective photoelectric switch. After the photoelectric switch 125 detects that the closed casing 140 is in a safe open state, it transmits the detection information to the controller, and the controller can control the output torque of the first drive motor 130-3 according to the detection information, and rotate the main operator 130 to a normal working state , the first state.
  • the concealment structure 120 may include a concealment trigger button 126 and a release trigger button 127 .
  • the hidden trigger button 126 and the release trigger button 127 can be arranged on the upper surface of the operating platform 111 .
  • the hidden trigger button 126 and the release trigger button 127 may be arranged on the lower surface and/or the front side of the operating platform 111 , as shown in FIG. 24 .
  • the operator triggers the release trigger button 127, the electromagnet 124 is powered on, the magnetic force to the closed shell 140 disappears, and the spring assembly 123 bounces the closed shell 140.
  • the closure housing 140 after the closure housing 140 has popped up, it can be rotated to the open position by the operator.
  • the hidden trigger button 126 When it needs to be adjusted from the released state to the hidden state, press the hidden trigger button 126, first rotate the main manipulator 130 through the controller, and after the main manipulator 130 rotates to be positioned under the desktop of the operating platform 111, the controller makes the electromagnet go down. Electricity, magnetic force to the closed housing 140 is generated.
  • the closed shell 140 may be rotatably connected to the desktop of the operation platform 111 .
  • the enclosure 140 can be closed manually, and the magnetic force of the electromagnet can hold the enclosure 140 in place.
  • the closed shell 140 can be driven to rotate by the controller and the fourth driving motor (not shown in the figure), so as to realize automatic opening and closing of the closed shell 140 .
  • the release enclosure 180 can be rotated under the control of the release control assembly, so as to make room for the rotation of the piercing assembly 131 and to move the main operator 130 out of the operation platform 111.
  • Hole 1111 is partially covered.
  • the release control assembly can be installed on the edge of the through hole 1111 to rotatably connect the release enclosure 180 to the operating platform 111 .
  • the release control assembly may be controlled by a controller.
  • the release control assembly may include a second driving motor 181 , a third brake 182 and a speed reducer 183 .
  • the output end of the second driving motor 181 is provided with a third brake 182
  • a speed reducer 183 is provided between the third brake 182 and the release enclosure 180 .
  • the second driving motor 181 can integrate an angle sensor to determine the rotation angle of the release enclosure 180 .
  • the third brake 182 can be in the form of power-up unlocking and power-down braking, and when the release enclosure 180 moves to the target position (which can be the position in the hidden state, it can also be in the release state to cover the through hole.
  • the speed reducer 183 is provided at the rear end of the third brake 182 , and the braking torque of the third brake 182 can be amplified by the speed reducer 183 .
  • a limit protection switch (not shown in FIG. 25 ) can be set at the two limit positions of the release enclosure 180 rotation, so as to prevent the release enclosure 180 from continuing to stall after being applied to the target position and causing the second The drive motor 181 is damaged.
  • the hidden trigger button 126 shown in FIG. The closure shell 180 is turned down to under the operation platform 111 and is inside the hidden structure 120 . After the closed shell 180 is released and reaches the designated position inside the hidden structure 120, the first brake 130-6 is powered on to unlock, and the second brake 130-9 is powered off to brake.
  • the rotating shaft 130-2 coaxial with the wire rope wheel 130-8 drives the main control panel 130-1 and the puncture assembly 131 of the main operator 130 to rotate to a hidden state, as shown in Figure 24, Figure 25 shows.
  • the first brake 130-6 is powered off to brake
  • the first drive motor 130-3 is powered off to enable
  • the operator rotates the closed
  • the detection information is transmitted to the controller, and the controller controls the electromagnet 124 to generate magnetic force according to the detection information so that the closed housing 140 is fixed on the operating platform 111, realizing Concealment of the main operator 130 .
  • the puncture assembly 131 is detachably arranged in the posture adjustment assembly 132 , and the posture adjustment assembly 132 is installed in the hidden structure 120 .
  • the hidden structure 120 may be a housing for accommodating the attitude adjustment component 132 .
  • an accommodating space (not shown) for accommodating the puncturing assembly 131 may be provided on the operation table 110 , and the puncturing assembly 131 may be placed in the accommodating space after it is disassembled.
  • both the receiving space and the main control panel 130 - 1 can be covered by the enclosure 140 . After the piercing assembly 131 is disassembled, the piercing assembly 131 can be placed in the accommodation space, and the main operator 130 can be hidden by covering the closed casing 140 .
  • the puncture assembly 131 When the puncture assembly 131 needs to be used, the closed casing 140 is opened to expose the posture adjustment assembly 132 in the hidden structure 120, and then the puncture assembly 131 is installed on the posture adjustment assembly 132, at this moment the normal puncture assembly 131 can be used.
  • the detachable connection between the puncture assembly 131 and the posture adjustment assembly 132 can simplify the structure, improve the reliability of the entire puncture operation console 100, and reduce the manufacturing cost.
  • the puncturing component 131 and the posture adjusting component 132 can be detachably connected by clamping, screwing or the like.
  • the paracentesis surgery console 100 may include a display 160, as shown in FIG. 1 .
  • the display 160 is arranged on the operation platform 111 of the operation table 110 and can be used to display the images of the human tissue and the puncture needle 300 by the imaging device, which is convenient for the operator to observe.
  • the operation table 110 further includes a wiring trough 114 and a wiring hole 113, the wiring trough 114 is arranged in the bracket 112 of the operation table 110, the wiring hole 113 is set through the operation platform 111, and the wiring trough 114 is used for For power supply lines and signal lines.
  • the operation table 110 further includes adjustable feet 115 , and the adjustable feet 115 are disposed on the bottom of the bracket 112 for adjusting the levelness of the operation table 110 .
  • the above description about the puncture operation console 100 is only for illustration and illustration, and does not limit the scope of application of this specification.
  • various modifications and changes can be made to the puncture operation console 100 under the guidance of this specification.
  • the support structure 150 shown in Figures 14-18 may be used in the embodiment shown in Figures 21-25.
  • the embodiment shown in Fig. 14-Fig. 18 may adopt the master operator 130 shown in Fig. 21- Fig. 25 .
  • the embodiment shown in FIGS. 21-25 can adopt the closed casing 140 shown in FIGS. 1-9 .
  • a puncture robot 2600 may include a robot host, a puncture end, and the puncture operation console 100 in any of the above-mentioned embodiments.
  • the puncture end is arranged on the main body of the robot, and the puncture end can be used to carry the puncture needle 300 .
  • the puncture operation main console 100 is electrically connected with the robot host, and is used to control the puncture end to drive the puncture needle 300 to perform the puncture operation.
  • the puncturing robot 2600 can be distributed in the operation room and the scanning room, the puncture surgery main console 100 and the active system can be set in the operation room, and the scanning device and the robot host can be set in the scanning room.
  • an active system can be used to control a robotic host.
  • an active system may include a master hand, a first processor, and a piercing parameter planning module.
  • the master hand may include the master operator 130 described in any of the foregoing embodiments.
  • a robotic host may be used to perform lancing operations.
  • the robot host may include a slave hand, a second processor, and the piercing tip described in any of the preceding embodiments.
  • the operator can control the master hand in the operation room and remotely control the slave hand in the scanning room by operating the puncture operation main console 100 in the operation room.
  • the first processor is used to communicate with the puncture operation console 100 and the second processor respectively, so as to control the scanning device, the slave hand and the puncture end.
  • mechanical and electrical connections are made between the hand and the end of the piercing device.
  • the second processor is configured to receive a control signal sent by the first processor and send a feedback signal to the first processor. In some embodiments, the second processor may send a control signal to the slave hand and/or the puncture tip to enable the slave hand and/or the puncture tip to complete the puncture needle and the procedure.
  • Scanning devices are used to acquire image data, such as images of a tumor site in a patient.
  • the scanning device can receive a control signal from the puncture operation console 100 and acquire image data according to the control signal, and then transmit the image data to the puncture operation console 100 .
  • the display 160 of the puncture operation console 100 can display the received image data.
  • the scanning device may be a CT scanning device. In some embodiments, the scanning device may be other devices such as RT, PET, MRI, etc.
  • the puncture operation console 100 can serve as a control system of the scanning device.
  • the puncture surgery main console 100 can receive control commands from the active system and send control signals to the scanning device according to the control commands, so as to control the scanning device to perform scanning operations to acquire image data.
  • the puncture operation console 100 can receive the image data transmitted by the scanning device.
  • the puncture operation console 100 can display the received image data.
  • the paracentesis surgery console 100 may transmit the received image data to the active system.
  • the master hand is used to allow the operator to remotely control the slave hand in the scanning room in the operating room, and under the guidance of the image data of the scanning device, the slave hand sends the puncture end to the planned target point position and perform surgery.
  • the planned target location may refer to a location related to the tumor on the body of the puncture subject.
  • the puncture object may refer to a patient with a tumor.
  • the puncture parameter planning module can be used to plan the path from the current position of the puncture end to the planned target position, and plan the action of the puncture needle 300 and the puncture parameters according to the shape and size of the tumor.
  • the puncture parameter planning module may, after receiving the control command from the puncture operation console 100, calculate the distance and direction between the two positions and The moving path and action of the puncture needle 300 are determined.
  • the planned target location may refer to a body surface location corresponding to the patient's tumor.
  • the puncture parameter planning module can determine the depth and number of needle insertion of the puncture needle 300 according to the shape and size of the tumor, and/or determine the 300 discharge time and discharge intensity.
  • the puncture robot 2600 of this specification adopts the puncture surgery main console 100 of the above-mentioned embodiment, it can make the main manipulator 130 be located in the hidden structure 120 when the main manipulator 130 is not in use (such as using the imaging device alone), and will not The operation table 110 is exposed, so that the operator will not touch the main operator 130, reducing the potential safety hazard during the process.
  • the main manipulator 130 is carried by the operation table 110, without holding the main manipulator 130, and the operator's elbow can be placed on the surface of the operation table 110, which can reduce the operator's fatigue and ensure the puncture effect.

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  • Heart & Thoracic Surgery (AREA)
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Abstract

本说明书实施例提供了一种穿刺手术主控台及穿刺机器人。其中，穿刺手术主控台包括：操作桌、隐藏结构和主操作器；所述隐藏结构和所述主操作器设置于所述操作桌；在第一状态下，所述主操作器露出所述操作桌，在第二状态下，所述主操作器隐藏于所述隐藏结构中。

Description

穿刺手术主控台及穿刺机器人
交叉引用
本申请要求2021年09月26日提交的中国专利申请202111130569.6的优先权，其内容全部通过引用并入本文。
技术领域
本说明书涉及医疗设备技术领域，特别是涉及一种穿刺手术主控台及穿刺机器人。
背景技术
近年来，X射线计算机断层扫描成像技术(CT)无论是在基本技术方面，还是在新的临床应用方面都取得了巨大的进展。CT的各个组成部分，如球管、探测器、滑环、数据获取系统和算法等方面都取得了很大的进步。自从螺旋CT和多层CT面世以来，出现了许多新的临床应用，且具备扫描时间快、图像清晰等优点，可用于多种疾病的检查。CT技术经过三十多年的发展，再次成为医学图像领域中最令人兴奋的诊断方法之一。
如今CT已不再作为一项单纯的影像检查而存在。在现代医学科学不断打破各科界限、互相依存共同探索等各种多元化模式的推动下，CT也配合着临床各科实现各种检查和治疗，并取得显著的医疗效果。CT引导下经皮穿刺就是现在临床应用较多的一项技术，该技术其实就是在CT扫描的精确引导下，将穿刺针准确穿入体内病灶并获取病变组织的一项技术。
穿刺手术是将穿刺器械插入患者体内从而完成病灶的活检或者切除，目前的穿刺手术均为盲穿，由医生根据临床经验在没有确切知道病灶位置的情况下完成穿刺手术，该方式一般成功率较低，容易对病人造成多次伤害且对穿刺手术的操作医生提出较高要求。CT图像引导下的穿刺术是在CT成像(人体组织和穿刺针)的前提下，可以实时判断穿刺器械方向并及时做出调整，大大提高了手术成功率、降低手术风险，提高患者的康复速度和生活质量。
由于CT设备均采用X射线、γ射线等完成工作，在CT旁边配备穿刺手术主控台并完成穿刺手术会让医生长期暴露在辐射环境中，对身体健康造成极大威胁。主从遥操作式机器人辅助穿刺手术系统应运而生。通过主从遥操作式机器人辅助穿刺手术系统可以在CT间外(操作间)通过穿刺手术主控台远程操作从手机械臂，同时通过CT实时成像并传输至操作间的显示器上，操作人员可以观察到当前穿刺器械的姿态是否满足进一步穿刺的要求，从而根据显示器图像实时调整穿刺器械的姿态。该系统在避免医生手术过程遭受X射线辐射照射的同时，可以大幅提高穿刺成功率，降低手术风险。
主从遥操作式机器人辅助穿刺手术模式作为比较前端的一种手术方式。穿刺手术主控台(放置于操作间)作为直接观测穿刺针姿态并控制从手机械臂以完成穿刺手术的系统组成部件，自然扮演了非常重要角色。目前的主从遥操作式机器人的操作盒为手持式，并通过遥杆调整穿刺针的运动方向。在长时间的手术过程中手持操作盒完成手术过程容易导致操作人员疲劳，从而可能导致穿刺成功率的下降等问题。而且，在不进行穿刺手术仅进行扫描时，操作人员可能会触碰到主操作器，存在安全隐患。
基于此，有必要针对目前不进行穿刺(即非穿刺工况)时容易碰到主操作器导致的安全隐患问题，提供一种穿刺手术主控台及穿刺机器人。
发明内容
本说明书实施例的一方面提供了一种穿刺手术主控台，包括：操作桌、隐藏结构和主操作器；所述隐藏结构和所述主操作器设置于所述操作桌；在第一状态下，所述主操作器露出所述操作桌，在第二状态下，所述主操作器隐藏于所述隐藏结构中。
在一些实施例中，所述主操作器可运动设置于所述隐藏结构，在所述第一状态下，所述主操作器伸出所述隐藏结构并露出所述操作桌，在所述第二状态下，所述主操作器缩回所述操作桌并隐藏于所述隐藏结构中。
在一些实施例中，所述隐藏结构包括连接组件以及驱动组件，所述连接组件将所述主操作器可转动连接于操作桌，所述驱动组件驱动所述主操作器相对所述操作桌转动，使所述主操作器收纳于所述操作桌内或伸出所述操作桌。
在一些实施例中，所述连接组件包括连接座以及转动座，所述转动座可转动连接所述连接座的一端，所述主操作器固定安装于所述转动座，所述连接座的另一端固定安装于所述操作桌。
在一些实施例中，所述主操作器包括第一驱动电机及旋转轴，所述第一驱动电机设置于所述隐藏 结构中，用于驱动所述旋转轴转动从而实现所述主操作器在所述第一状态和所述第二状态之间切换。
在一些实施例中，所述主操作器还包括第一制动器、转接件和主控面板连接件，所述第一制动器设置于所述旋转轴的一端，用于控制所述转接件相对于所述主控面板连接件的锁定或解锁。
在一些实施例中，所述驱动组件还包括穿刺组件、调姿组件和第二制动器，所述调姿组件设置在所述旋转轴上，所述第二制动器设置于所述旋转轴的另一端，用于控制所述旋转轴相对于所述主控面板连接件的锁定或解锁。
在一些实施例中，穿刺手术主控台还包括控制器，所述控制器用于执行以下操作中的至少一种：a、当所述主操作器运动到所述第一状态后，所述控制器控制所述第一制动器锁定并控制所述第二制动器解锁；b、当调整所述主操作器的状态时，所述控制器控制所述第一制动器解锁并控制所述第二制动器锁定；c、当所述主操作器运动至所述第二状态时，所述控制器控制所述第一制动器和所述第二制动器均锁定。
在一些实施例中，所述隐藏结构包括连接组件以及驱动组件，所述连接组件将所述主操作器可移动连接于所述操作桌，所述驱动组件驱动所述主操作器相对所述操作桌直线运动，使所述主操作器收纳于所述操作桌内或伸出所述操作桌。
在一些实施例中，所述主操作器包括穿刺组件以及调姿组件，所述穿刺组件可拆卸设置在所述调姿组件中。
在一些实施例中，所述操作桌具有操作平台，所述操作平台设置有过孔，所述隐藏结构设置于所述操作平台下方，所述主操作器穿过所述过孔至少部分伸出到所述操作平台上方，或整体收纳到所述操作平台下方的所述隐藏结构中，所述穿刺手术主控台还包括封闭外壳，所述封闭外壳盖设于所述过孔。
在一些实施例中，所述隐藏结构包括弹簧组件和电磁铁，所述电磁铁设置在所述操作平台上以用于吸住所述封闭外壳，当电磁铁磁力消失后，所述弹簧组件将所述封闭外壳弹起并处于打开状态，当所述封闭外壳处于关闭状态时，电磁铁磁力产生，对所述封闭外壳进行固定。
在一些实施例中，所述隐藏结构还包括光电开关，所述光电开关用于检测所述封闭外壳状态并将状态数据输出给控制器。
在一些实施例中，所述光电开关检测到所述封闭外壳处于安全的打开状态后，将检测信息传输给控制器，所述控制器根据检测信息控制第一驱动电机输出力矩，将所述主操作器旋转至正常工作状态；所述主操作器旋转到位于所述操作平台的桌面之下后，第一制动器下电制动，所述第一驱动电机下电去使能，操作者转动所述封闭外壳，所述光电开关检测到所述封闭外壳处于关闭状态后，将检测信息传输给所述控制器，所述控制器根据检测信息控制所述电磁铁下电产生磁力从而将所述封闭外壳固定在所述操作平台上，实现所述主操作器的隐藏。
在一些实施例中，所述穿刺手术主控台还包括释放封闭壳，所述释放封闭壳与所述操作平台转动连接，所述释放封闭壳在穿刺组件伸出所述操作平台的情况下部分遮挡所述过孔(1111)。
在一些实施例中，所述穿刺手术主控台还包括支撑结构，所述支撑结构设置于所述操作桌，用于支撑操作人员的臂肘，操作人员操作主操作器时所述支撑结构可跟随所述臂肘运动。
在一些实施例中，所述支撑结构包括移动组件与支撑组件，所述移动组件包括导轨与移动滑块，所述导轨设置于操作平台，所述移动滑块可滑动设置于所述导轨，所述支撑组件安装于所述移动滑块。
在一些实施例中，所述导轨的直线移动方向与所述主操作器的层内旋转轴或层间旋转轴平行。
在一些实施例中，所述支撑组件可旋转设置于所述移动滑块。
在一些实施例中，所述支撑组件包括支撑托以及旋转件，所述支撑托的底部通过所述旋转件可旋转设置于所述移动滑块。
在一些实施例中，还包括CT控制面板和显示器。
本说明书实施例的第二方面提供了一种穿刺机器人，包括机器人主机、穿刺末端以及如前述任一实施例所述的穿刺手术主控台，所述穿刺末端用于承载穿刺针并设置于所述机器人主机，所述穿刺手术主控台与所述机器人主机电连接，用于控制所述穿刺末端带动所述穿刺针执行穿刺操作。
前述实施例可以实现的技术效果包括而不限于：
使用穿刺手术主控台进行穿刺手术时，操作主操作器，使得主操作器的穿刺组件露出隐藏结构并伸出操作桌，操作人员操作穿刺组件控制穿刺末端带动穿刺针执行穿刺操作；当穿刺手术完成后或者不进行穿刺手术时，主操作器转动进入隐藏结构中，使得主操作器的穿刺组件不露出隐藏结构以及操作桌，操作人员不会触碰到主操作器，从而有效地解决了不进行穿刺时容易碰到主操作器导致的安全隐患问题；通过操作桌承载主操作器，操作人员无需手持主操作器，并且，操作人员的手肘可以放置在操作桌的表面，这样能够降低操作人员的疲劳度，保证穿刺效果；可以通过主操作器控制穿刺末端带动穿刺针执行穿刺操作。
附图说明
本说明书将以示例性实施例的方式进一步说明，这些示例性实施例将通过附图进行详细描述。这些实施例并非限制性的，在这些实施例中，相同的编号表示相同的结构，其中：
图1为本说明书一实施例的穿刺手术主控台的立体图，其中，主操作器露出；
图2为图1所示的穿刺手术主控台中主操作器的立体图；
图3为图2所示的主操作器的工作原理图；
图4为图1所示的穿刺手术主控台控制穿刺机械臂连接穿刺末端的构型；
图5为图4所示的穿刺末端调姿的工作原理图；
图6为图1所示的穿刺手术主控台中隐藏结构连接主操作器的具体示意图；
图7为图1所示的穿刺手术主控台中封闭外壳的示意图；
图8为图7所示的封闭外壳中第二封闭壳体的立体图；
图9为图8所示的第二封闭壳体的切开后的示意图；
图10为图1所示的穿刺手术主控台的侧视图，其中，主操作器穿过第二封闭壳体伸出；
图11为图10所示的穿刺手术主控台的示意图，其中主操作器调姿；
图12为图1所示的穿刺手术主控台的侧视图，其中隐藏结构露出；
图13为图12所示的穿刺手术主控台的示意图，其中主操作器隐藏；
图14为图1所示的穿刺系统主控台的侧视图，其中，操作人员的臂肘放置于支撑结构；
图15为图14所示的穿刺主控台系统在层间调姿时支撑结构的工作原理图；
图16为图14所示的穿刺主控台系统在层内调姿时支撑结构的工作原理图；
图17为图14所示的穿刺主控台系统中支撑结构的立体图；
图18为图17所示的支撑结构切开的示意图；
图19为本说明书一些实施例的主操作器的立体结构示意图；
图20为图19所示的主操作器的结构示意图；
图21为本说明书一些实施例的主操作器处于隐藏状态下的穿刺手术主控台的示意图；
图22为本说明书一些实施例的主操作器处于释放状态下的穿刺手术主控台的示意图；
图23为本说明书一些实施例中弹簧组件、电磁铁以及光电开关的安装示意图；
图24为本说明书一些实施例中的隐藏触发按键和释放触发按键的安装示意图；
图25为本说明书一些实施例中的释放封闭壳处于隐藏状态的示意图(从操作桌的前下方往上看)；
图26是本说明书一些实施例应用穿刺手术主控台100的穿刺机器人2600的示例性原理框图。
其中：100、穿刺手术主控台；110、操作桌；111、操作平台；1111、过孔；112、支架；113、走线孔；114、走线槽；115、可调地脚；120、隐藏结构；121、连接组件；1211、连接座；1212、转动座；122、驱动组件；1221、制动器；1222、旋转动力源；123、弹簧组件；124、电磁铁；125、光电开关；126、隐藏触发按键；127、释放触发按键；130、主操作器；130-1、主控面板；130-2、旋转轴；130-3、第一驱动电机；130-4、隐藏姿态限位保护开关；130-5、释放姿态限位保护开关；130-6、第一制动器；130-7、转接件；130-8、钢丝绳轮；130-9、第二制动器；130-10、主控面板连接件；130-11、主操作器固定底座；130-12、角度传感器；131、穿刺组件；1311、把手；1312、手持滑块；1313、直线移动轴组件；132、调姿组件；1321、层间部件；13211、层间旋转轴；1322、层内部件；13221、层内旋转轴；140、封闭外壳；141、第一封闭壳体；142、第二封闭壳体；1421、遮挡外壳；14211、运动孔；14212、第一盖；14213、第二盖；1422、内嵌外壳；150、支撑结构；151、移动组件；1511、导轨；1512、移动滑块；1513、安装基座；152、支撑组件；1521、支撑托；1522、旋转件；153、封边板；160、显示器；170、CT控制面板；200、穿刺机械臂；210、第四个旋转关节；220、第五个旋转关节；300、穿刺针；400、臂肘；180、释放封闭壳；181、第二驱动电机；182、第三制动器；183、减速器。
具体实施方式
为使本说明书的上述目的、特征和优点能够更加明显易懂，下面结合附图对本说明书的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本说明书。但是本说明书能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本说明书内涵的情况下做类似改进，因此本说明书不受下面公开的具体实施例的限制。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述 本说明书和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本说明书的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本说明书的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本说明书中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本说明书中的具体含义。
在本说明书中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
参见图1、图11至图13，本说明书提供一种穿刺手术主控台100。该穿刺手术主控台100应用于穿刺机器人中，能够实现穿刺机器人的穿刺末端的进行远程控制，使得穿刺末端承载的穿刺针300能够刺入患者体内的目标穿刺靶点。而且，该穿刺机器人可以配合CT等成像设备使用，这样可以实现基于实时成像引导的远程穿刺操作，避免成像设备的辐射对操作人员的身体健康产生影响。
目前通过主从遥操式机器人控制穿刺针执行穿刺动作。但是，在不进行穿刺手术只进行扫描时，操作人员可能会碰到主操作器，进而导致穿刺针发生窜动，存在安全隐患；而且，主从遥操时机器人的操作盒为手持式，操作人员在使用时容易疲劳，不便于穿刺手术的顺利进行。
为此，本说明书提供一种新型的穿刺手术主控台100。该穿刺手术主控台100能够在非穿刺工况下避免穿刺针300窜动，降低安全隐患，同时，穿刺手术主控台100还能够支撑患者的臂肘400，降低穿刺手术时操作人员的疲劳感，保证穿刺效果。以下详细介绍穿刺控制主控台的具体结构。
参见图1、图11至图13，在一些实施例中，穿刺手术主控台100包括操作桌110、隐藏结构120以及主操作器130。隐藏结构120设置于操作桌110。主操作器130可运动设置于隐藏结构120，在第一状态(例如穿刺工况)下，主操作器130伸出隐藏结构120并露出操作桌110，在第二状态(例如非穿刺工况)下，主操作器130缩回操作桌110并隐藏于隐藏结构120中。
操作桌110起承载作用，用于承载穿刺手术主控台100的各零部件。设置操作桌110后，操作人员能以坐姿的方式坐在操作桌110前，这样操作人员通过穿刺手术主控台100控制穿刺末端运行时，操作人员的臂肘400可以放置在操作桌110的表面，避免操作人员的臂肘400悬空减轻操作人员的臂肘400的疲劳程度，进而保证穿刺操作的效果。
主操作器130为控制穿刺末端(穿刺末端的示意图如4和图5所示)带动穿刺针300运动的主要部件，隐藏结构120设置于操作桌110，主操作器130可运动设置于隐藏结构120，使得主操作器130能够移入或移出隐藏结构120。穿刺时，转动主操作器130使主操作器130移出隐藏结构120，并露出操作桌110，操作人员握持主操作器130即可实现穿刺末端运动的控制，以带动穿刺针300执行穿刺操作。穿刺完成后或者不需要穿刺时，转动主操作器130使主操作器130移入隐藏结构120，此时，主操作器130不露出操作桌110，操作人员在进行其他操作时，不会碰触到主操作器130，保证使用的安全性。也就是说，需要进行穿刺手术时，主操作器130从隐藏结构120中移出，穿刺完成后或进行其他操作如成像等，将主操作器130移入隐藏结构120中。
具体的，主操作器130的底部可转动设置在隐藏结构120中，主操作器130的顶部能够绕主操作器130的底部转动，使得主操作器130的顶部移入或移出操作桌110。穿刺时，主操作器130的底部转动，并带动主操作器130的顶部移出操作桌110，操作人员可以操作主操作器130。穿刺完成后或不进行穿刺操作时，主操作器130的底部转动能够带动主操作器130的顶部移入操作桌110，避免操作人员意外碰到主操作器130。
上述实施例的穿刺手术主控台100，通过主操作器130露出或隐藏在隐藏结构120中，有效的解决目前不进行穿刺时容易碰到主操作器导致的安全隐患问题，使得主操作器130在不使用时位于隐藏结构 120中，不会露出操作桌110，进而操作人员不会触碰到主操作器130，降低使用过程中的安全隐患。同时，通过操作桌110承载主操作器130，无需手持主操作器130，并且，操作人员的手肘可以放置在操作桌110的表面，这样能够降低操作人员的疲劳度，保证穿刺效果。
在一些实施例中，操作桌110为中空结构。当然，在本说明书的其他实施方式中，操作桌110也可为实心结构，隐藏结构120可以设置在操作桌110的内部或操作桌110的表面。本说明书中以操作桌110为中空结构为例进行说明。在一些实施例中，操作桌110包括操作平台111以及设置于操作平台111下方的支架112。通过操作平台111支撑隐藏结构120以及主操作器130。支架112的形式原则上不受限制，只要能够实现操作平台111的稳定支撑即可。
在一些实施例中，隐藏结构120可以设置于操作桌110的操作平台111的上表面，也可设置在操作桌110的操作平台111的下表面。本说明书中，以隐藏结构120设置在操作桌110的下表面为例进行说明。操作桌110上具有过孔1111，主操作器130的底部可转动设置于隐藏结构120中，穿刺时，主操作器130的顶部穿过过孔1111移出隐藏结构120。穿刺完成后或不需要穿刺时，主操作器130的顶部穿过过孔1111移入隐藏结构120。
主操作器130为控制穿刺末端带动穿刺针300运动的主要部件，能够实现穿刺末端的远程控制，同时，该主操作器130还能模拟临床穿刺工况，使得医护人员感受到穿刺针300进针时的阻力，让整个穿刺过程更加安全、高效，提高操作精度，进而提高穿刺成功率。
参见图1至图3，主操作器130包括穿刺组件131以及调姿组件132。穿刺组件131为主操作器130控制穿刺针300执行穿刺操作的主体结构。主操作器130能够与穿刺机器人的机器人主机传输连接，这里的传输连接是指电连接或通信连接。穿刺组件131能够将穿刺信号反馈给机器人主机，使得机器人主机控制穿刺末端准备穿刺动作，然后，穿刺组件131运动时，穿刺组件131的运动能够实时反馈到机器人主机上，进而机器人主机能够根据穿刺组件131的运动控制穿刺末端带动穿刺针300执行穿刺操作。
调姿组件132为主操作器130调节穿刺针300姿态的主要结构。穿刺组件131可转动设置在调姿组件132中。调节穿刺针300姿态时，穿刺组件131能够相对于调姿组件132转动，进而调姿组件132能够检测到穿刺组件131的倾角信息，调姿组件132将倾角信息反馈给机器人主机后，机器人主机能够根据穿刺组件131的倾角信息调节穿刺末端的姿态，以达到调节穿刺针300姿态的目的，使得穿刺针300能够对准目标穿刺靶点，保证穿刺操作的准确性。
使用该主操作器130进行穿刺控制时，先根据目标穿刺靶点确定穿刺针300在空间中的姿态，然后，主操作器130控制穿刺组件131相对于调姿组件132转动预设角度，随后调姿组件132将倾角信息反馈给机器人主机，机器人主机根据倾角信息调节穿刺末端上穿刺针300的姿态，使得穿刺针300能够对准目标穿刺靶点。然后，穿刺组件131工作，穿刺组件131运动并反馈至机器人主机上，通过机器人主机控制穿刺针300带动穿刺末端执行穿刺操作。
在主操作器130中，调姿组件132的底部在隐藏结构120中，并与隐藏结构120的转动部件连接，调姿组件132的顶部设置穿刺组件131。隐藏结构120的转动部件即为后文中的驱动组件122，驱动组件122驱动调姿组件132转动时，调姿组件132能够带动穿刺组件131运动，使得穿刺组件131能够移入或移出隐藏结构120。
参见图1至图3，在一些实施例中，穿刺组件131包括把手1311、手持滑块1312、直线移动轴组件1313，调姿组件132包括层间部件1321和层内部件1322，层间部件1321包括层间旋转轴13211，层内部件1322包括层内旋转轴13221。其中把手1311为操作人员在调姿时的手持部分；手持滑块1312用于操作人员执行穿刺动作，其可以沿直线移动轴组件1313上下移动，该直线移动轴组件1313内嵌力反馈部分，所以该主操作器130不仅可以模拟穿刺过程，还可以反馈给操作人员穿刺针300与人体组织之间的作用力。手持滑块1312集成有穿刺使能按键(可以是机械式或者电气式)，用于操作人员触发执行穿刺过程，即控制穿刺末端的穿刺针300执行与手持滑块1312相同速度的直线运动。穿刺末端构型如图4和图5所示。
穿刺组件131可以包括上下滑动自由度、层内移动自由度和层间移动自由度。其中，穿刺组件131在上下滑动自由度上模拟穿刺手术过程中的进退针操作，穿刺组件131在层内移动自由度和/或层间移动自由度上模拟穿刺针的姿态调整过程。穿刺组件131的上下滑动自由度可以为手持滑块1312沿直线移动轴组件1313上下移动的自由度。
图2和图3中的层间旋转轴13211和层内旋转轴13221为串联连接，且二者共平面，重要的是层间旋转轴13211和层内旋转轴13221与直线移动相交于一点A，故调姿时把手1311上面的任一点都处于以三轴线交点A为球心的球面上面。层间旋转轴13211和层内旋转轴13221的串联方式与穿刺机械臂200的关节连接方式相同，穿刺机械臂200构型如图4和图5所示。层间旋转轴13211控制穿刺机械臂200的第五个旋转关节220，层内旋转轴13221控制机械臂200的第四个旋转关节210。当穿刺机械臂200的第四个旋转关节210旋转时，第五个旋转关节220的轴线在空间中的方向会改变，主操作器130的层间旋转 轴13211与层内旋转轴13221工作原理与此一致，且层间旋转轴13211和层内旋转轴13221都具备力反馈功能，即在调姿过程中可以模拟穿刺针300与人体组织之间的相互作用力。
主操作器130设置全力反馈(所有自由度都具有力反馈功能)的目的是操作人员能够在操作平台111端感受到与实际握针穿刺时相同的感觉，只有图像反馈的主从遥操作式穿刺手术系统无法通过主操作器130触摸组织来鉴别组织属性和病变，医生缺乏操作的力觉感知会增加手术的风险和不确定性，同时增加手术时间、降低手术效率；研究表明，在主从遥操作中为操作人员提供实时力觉反馈能让操作过程更加安全、高效，并且能够提高操作精度。
参见图1和图6，在一些实施例中，隐藏结构120包括连接组件121以及驱动组件122，连接组件121将主操作器130可转动连接于操作桌110，驱动组件122驱动主操作器130相对于操作桌110转动，使主操作器130收纳于操作桌110内或伸出操作桌110。
连接组件121的一部位可转动连接主操作器130的调姿组件132的底部，连接组件121的另一部位固定到操作桌110的操作平台111的下表面。驱动组件122为隐藏结构120的动力源，驱动组件122通过连接组件121的转动部分连接到调姿组件132的底部。这样，驱动组件122输出转动运动时，驱动组件122能够通过连接组件121的转动部分带动调姿组件132转动，进而调姿组件132转动时能够带动穿刺组件131运动，使得穿刺组件131移入或移出操作桌110的操作平台111的内侧。
当需要进行穿刺手术时，驱动组件122驱动调姿组件132带动穿刺组件131转动，使得穿刺组件131转动预设角度以移出操作平台111。此时，操作人员可以通过穿刺组件131控制穿刺末端带动穿刺针300执行穿刺操作。当穿刺手术完成或者不需要进行穿刺手术时，驱动组件122驱动调姿组件132带动穿刺组件131转动预设角度，使得穿刺组件131移入操作平台111。在一些实施例中，预设角度为90°左右。在一些实施例中，预设角度可以为85°～95°。在一些实施例中，预设角度可以为89°～91°。在一些实施例中，预设角度可以为90°。在本说明书的其他实施方式中，预设角度也可为其他角度，只要能够保证穿刺组件131隐藏在操作桌110的操作平台111的下方即可。
参见图1和图6，在一些实施例中，连接组件121包括连接座1211以及转动座1212，转动座1212可转动连接所述连接座1211的一端，主操作器130固定安装于转动座1212，连接座1211的另一端固定安装于操作桌110，驱动组件122与转动座1212连接，用于驱动转动座1212带动主操作器130转动。在一些实施例中，连接座1211通过螺纹件安装于操作平台111。
连接座1211的一端与转动座1212可转动连接，连接座1211的另一端固定安装在操作平台111的下表面。转动座1212固定连接调姿组件132的底部，驱动组件122的输出端转动连接转动座1212与连接座1211的转动连接处。也就是说，驱动组件122的输出端相当于转轴，驱动组件122的输出端可转动穿过连接座1211伸出，并与转动座1212连接。这样，驱动组件122的输出端输出运动时，驱动组件122能够驱动转动座1212运动并相对于连接座1211转动，进而转动座1212转动时能够带动调姿组件132及穿刺组件131转动，使得穿刺组件131移入或移出操作平台111。
在一些实施例中，连接座1211包括竖直连接部以及水平连接部，竖直连接部沿竖直方向设置，竖直连接部的一端连接水平连接部，竖直连接部的另一端可转动安装转动座1212，竖直连接部与水平连接部垂直设置，水平连接部用于安装于操作平台111的下表面。在一些实施例中，竖直连接部与水平连接部为平板状。当然，在本说明书实施方式中，竖直连接部与水平连接部也可为其他能够实现可转动安装转动座1212并连接操作平台111的部件。
参见图1和图6，在一些实施例中，连接组件121的数量为两个，两个连接组件121对称设置于调姿组件132的两侧，与驱动组件122连接的为主动的连接组件121，另一为被动的连接组件121。两组连接组件121分别在调姿组件132的两侧连接调姿组件132与操作平台111。驱动组件122驱动与其连接的转动座1212相对于连接座1211转动，进而转动座1212带动调姿组件132转动，调姿组件132转动时能够带动另一转动座1212相对于连接座1211转动。两个连接组件121能够保证调姿组件132转动平稳，便于调姿组件132带动穿刺组件131移入或移出操作平台111。当然，在本说明书的其他实施方式中，连接组件121的数量也可为一个。此时，连接组件121通过悬臂的方式连接调姿组件132。
参见图1和图6，在一些实施例中，驱动组件122包括旋转动力源1222以及制动器1221，旋转动力源1222设置于操作桌110中，并与转动座1212连接，制动器1221设置于旋转动力源1222的输出端，用于控制旋转动力源1222锁定或解锁。旋转动力源1222为驱动组件122的动力部件，旋转动力源1222固定在操作平台111的底部，并且，旋转动力源1222的输出端可转动穿过连接座1211，并与转动座1212连接。旋转动力源1222输出旋转运动时，能够带动转动座1212转动，以带动调姿组件132转动，进而调姿组件132带动穿刺组件131移入或移出操作平台111。
制动器1221设置在旋转动力源1222的输出端，用于控制旋转动力源1222掉电后的锁定，以使得调姿组件132能够保持于转动后所处的位置。具体的，当旋转动力源1222驱动转动座1212带动调姿组 件132运动到位后，穿刺手术主控台100的控制器控制旋转动力源1222断电，随后制动器1221通电抱死旋转动力源1222的输出端，避免旋转动力源1222的输出端窜动而影响调姿组件132的位置。当需要调整穿刺组件131的位置时，控制器控制制动器1221掉电以解锁旋转动力源1222的输出端，旋转动力源1222通电后能够驱动转动座1212带动调姿组件132及穿刺组件131转动。在一些实施例中，旋转动力源1222为旋转电机或者其他输出旋转运动的动力源。
参见图1和图6、图10至图13，具体的，进行穿刺手术时，旋转动力源1222通电驱动转动座1212转动，转动座1212转动时能够带动调姿组件132及穿刺组件131转动，使得穿刺组件131转动90°，以移出操作平台111。当穿刺组件131运动到位后，控制器控制旋转动力源1222掉电、制动器1221带电，制动器1221抱死旋转动力源1222的输出端，从保证穿刺组件131所处的位置固定，便于后期进行手术操作。此时，操作人员可以操作穿刺组件131控制穿刺末端带动穿刺针300执行穿刺操作。
当穿刺手术完成后或不需要进行穿刺手术时，控制器控制制动器1221掉电、旋转动力源1222带电，旋转动力源1222通电驱动转动座1212转动，转动座1212转动时能够带动调姿组件132及穿刺组件131转动，使得穿刺组件131转动90°，以移入操作平台111。当穿刺组件131运动到位后，控制器控制旋转动力源1222掉电、制动器1221带电，制动器1221抱死旋转动力源1222的输出端，从而保证穿刺组件131所处的位置固定，避免穿刺组件131移出操作平台111。此时，操作人员可以进行其他操作，无需担心触碰穿刺组件131而影响使用的安全性。
在一些实施例中，隐藏结构120还包括两个限位开关，其中一个限位开关设置于穿刺组件131在伸出操作平台111的位置，另一个限位开关设置在穿刺组件131移入操作平台111的位置。通过限位开关与制动器1221的配合实现制动器1221的控制，避免旋转动力源1222一直处于扭矩输出状态。
当穿刺组件131伸出操作平台111时，能够触发限位开关，限位开关通过控制器控制制动器1221带电，以抱紧旋转动力源1222的输出端，避免旋转动力源1222驱动转动座1212转动，使得转动座1212被固定。当穿刺组件131移入操作平台111时也能够触发限位开关，限位开关通过控制器控制制动器1221带电，以抱紧旋转动力源1222的输出端，避免旋转动力源1222驱动转动座1212转动，使得转动座1212被固定。
在一些实施例中，隐藏结构120还包括防护外壳，防护外壳设置于操作桌110，并罩设主操作器130的调姿结构。防护外壳设置在操作平台111的下方，并罩设连接组件121、驱动组件122，进而调姿组件132位于防护壳体中。这样能够避免操作人员误触调姿组件132出现意外情况，同时还能够避免杂物进入调姿组件232中，保证调姿组件132的使用性能。
参见图1，在一些实施例中，操作桌110的操作平台111具有过孔1111，隐藏结构120设置于操作平台111下方，主操作器130穿过过孔1111至少部分伸出到操作平台111上方，或整体收纳到操作平台111下方的隐藏结构120中。
过孔1111穿过操作平台111的内壁，调姿组件132设置操作平台111的下方，驱动组件122驱动调姿组件132转动时，调姿组件132能够带动穿刺组件131通过过孔1111至少部分伸出操作平台111的上方，或者整体收纳到操作平台111的下方。当穿刺组件131穿过过孔1111移入操作平台111的下方，实现穿刺组件131的隐藏，避免穿刺完成后或不进行穿刺时碰触穿刺组件131而导致安全隐患，保证使用的安全性。当穿刺组件131穿过过孔1111伸出操作平台111时，穿刺组件131露出操作平台111的端部，便于操作人员操作穿刺组件131。
参见图1、图7至图9，在一些实施例中，穿刺手术主控台100还包括封闭外壳140，封闭外壳140盖设于过孔1111。封闭外壳140能够盖设过孔1111，能够遮挡操作平台111下方的结构，避免误触碰。穿刺组件131移入或移出操作平台111的过程中，封闭外壳140打开过孔1111，穿刺组件131运动完成后，封闭外壳140关闭过孔1111。
在一些实施例中，封闭外壳140可伸缩设置。封闭外壳140收缩以打开过孔1111时，穿刺组件131能够移入或移出操作平台111；封闭外壳140伸展以关闭过孔1111，封闭外壳140遮挡位于操作平台111的调姿组件132，或者，封闭外壳140具有避位通道供穿刺组件131伸出。
具体的，穿刺手术完成后或不使用穿刺组件131时，封闭外壳140收缩，过孔1111被露出，穿刺组件131能够穿过过孔1111移入操作平台111，随后封闭外壳140伸展，封闭外壳140能够遮挡过孔1111，进而隐藏穿刺组件131。当进行穿刺手术时，封闭外壳140收缩，过孔1111被露出，穿刺组件131能够随调姿组件132移出操作平台111，随后封闭外壳140伸展，通过避位通道避让穿刺组件131，使得穿刺组件131露出操作平台111。此种情况下，封闭外壳140能够遮挡过孔1111，同时还不会影响穿刺组件131的使用。
参见图1、图7至图9，在一些实施例中，封闭外壳140还包括第一封闭壳体141，第一封闭壳体141可拆卸设置于操作桌110，第一封闭壳体141用于在非穿刺工况下盖设过孔1111。第一封闭壳体141 可拆卸设置在操作平台111，并盖设过孔1111，以遮挡隐藏在操作平台111中，避免穿刺组件131露出。也就是说，第一封闭壳体141能够在穿刺组件131不工作时，将穿刺组件131遮挡于操作平台111中。
穿刺组件131在使用时，先将第一封闭壳体141拆卸，随后，通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111，此时，可以进行穿刺操作。
参见图1、图7至图9，在一些实施例中，封闭外壳140包括第二封闭壳体142，第二封闭壳体142可拆卸设置于操作桌110，第二封闭壳体142用于在穿刺工况下盖设过孔1111，主操作器130的穿刺组件131穿过第二封闭壳体142伸出。
第二封闭壳体142可拆卸设置在操作平台111上，并遮挡操作平台111上的过孔1111，而且第二封闭壳体142能够在穿刺组件131伸出操作平台111的情况下遮挡过孔1111，即穿刺组件131能够穿过第二封闭壳体142伸出，并且，穿刺组件131带动调姿组件132调整穿刺末端的姿态时，穿刺组件131能够在第二封闭壳体142中运动。也就是说，第二封闭壳体142能够在穿刺工况下盖设过孔1111，避免露出调姿组件132。
第二封闭壳体142在使用时，先通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111后，再将第二封闭壳体142穿过穿刺组件131盖设在过孔1111中。当穿刺手术完成后或不需要进行穿刺手术时，拆卸第二封闭壳体142，再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移入操作平台111。
参见图1、图7至图13，在一些实施例中，第二封闭壳体142包括遮挡外壳1421以及内嵌外壳1422，遮挡外壳1421具有把手运动孔14211，内嵌外壳1422可运动设置于遮挡外壳1421中，并对应把手运动孔14211设置，穿刺组件131与内嵌外壳1422连接，并穿过把手运动孔14211伸出，穿刺组件131能够带动内嵌外壳1422在把手运动孔14211中运动。
也就是说，第二封闭壳体142为双层结构，遮挡外壳1421为外层，内嵌外壳1422为内层。遮挡外壳1421设置在操作平台111，并盖设过孔1111。遮挡外壳1421具有把手运动孔14211，内嵌外壳1422设置在遮挡外壳1421的内侧，并可运动设置在把手运动孔14211中。内嵌外壳1422能够遮挡把手运动孔14211，并相对于把手运动孔14211运动。
第二封闭壳体142使用时，先通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111后，再将内嵌外壳1422固定在穿刺组件131上，将遮挡外壳1421通过把手运动孔14211安装在操作平台111，以盖设过孔1111，此时，内嵌外壳1422对应于把手运动孔14211。操作穿刺末端的位姿时，穿刺组件131通过调姿组件132能够带动内嵌外壳1422在把手运动孔14211中。当穿刺手术完成或不进行穿刺手术时，顺次拆卸遮挡外壳1421与内嵌外壳1422，再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移入操作平台111。
在一些实施例中，内嵌外壳1422的弧形部分为球形面的一部分，相应的，把手运动孔14211处的遮挡外壳1421的形状也为球形面的一部分。这样能够方便穿刺组件131带动内嵌外壳1422在把手运动孔14211中转动。穿刺组件131带动调姿组件132转动以调整穿刺末端的位姿时，穿刺组件131能够带动内嵌外壳1422转动。在一些实施例中，内嵌外壳1422的外径与遮挡外壳1421处的内径尺寸相一致。在一些实施例中，内嵌外壳1422与遮挡外壳1421之间为间隙配合。这样能够避免内嵌外壳1422与遮挡外壳1421之间摩擦，进而避免影响力反馈的效果。
在一些实施例中，穿刺手术主控台100只采用第一封闭壳体141盖设过孔1111。这样，未使用穿刺组件131时，第一封闭壳体141盖设于过孔1111，并将穿刺组件131隐藏于操作平台111，在进行穿刺手术时，将第一封闭壳体141从操作平台111拆卸，再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111。此时，可以操作穿刺组件131进行穿刺操作。当穿刺手术完成后或不进行穿刺手术时，通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移入操作平台111，随后将第一封闭壳体141盖设于过孔1111。也就是说，本实施例通过第一封闭壳体141在非穿刺工况下盖设过孔1111，在穿刺工况下，过孔1111外露，不被遮挡。
在一些实施例中，穿刺手术主控台100只采用第二封闭壳体142盖设过孔1111。这样，未使用穿刺组件131时，穿刺组件131隐藏于操作平台111，过孔1111不被遮挡，操作人员通过过孔1111能够看到操作平台111内的穿刺组件131。在进行穿刺手术时，将第一封闭壳体141从操作平台111拆卸，再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111。随后，将第二封闭壳体142穿过穿刺组件131安装于过孔1111。此时，可以操作穿刺组件131进行穿刺操作，穿刺组件131带动调姿组件132转动时，穿刺组件131能够带动内嵌外壳1422以遮挡外壳1421的把手运动孔14211。当穿刺手术完成后或不进行穿刺手术时，将第二封闭壳体142从操作平台111拆卸；再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移入操作平台111。也就是说，本实施例通过第二封闭壳体142在穿刺工况下盖设过孔1111，在非穿刺工况下，过孔1111外露，不被遮挡。
在一些实施例中，穿刺手术主控台100也可采用第一封闭壳体141与第二封闭壳体142的组合。也就是说，穿刺组件131处于不同状态/位置时，盖设过孔1111的结构是不同的。当穿刺组件131移入操作平台111内，第一封闭壳体141盖设过孔1111。当穿刺组件131移出操作平台111，通过第二封闭壳体142盖设过孔1111。
未使用穿刺组件131时，穿刺组件131隐藏于操作平台111，第一封闭壳体141盖设于操作平台111，并遮挡穿刺组件131。在进行穿刺手术时，将第一封闭壳体141从操作平台111拆卸，再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移出操作平台111。随后，将第二封闭壳体142穿过穿刺组件131安装于过孔1111。此时，可以操作穿刺组件131进行穿刺操作，穿刺组件131带动调姿组件132转动时，穿刺组件131能够带动内嵌外壳1422以遮挡外壳1421的把手运动孔14211。
当穿刺手术完成后或不进行穿刺手术时，将第二封闭壳体142从操作平台111拆卸；再通过驱动组件122驱动转动座1212带动调姿组件132转动，使得穿刺组件131移入操作平台111，随后将第一封闭壳体141盖设于过孔1111，通过第一封闭壳体141将穿刺组件131隐藏于操作平台111。
也就是说，在主操作器130处于工作状态时，拆卸第一封闭壳体141，更换第二封闭壳体142；当主操作器130处于非工作状态时，拆卸第二封闭壳体142，更换第一封闭壳体141。而且，第一封闭壳体141及第二封闭壳体142与操作平台111之间通过摩擦连接，方便更换。
在一些实施例中，过孔1111包括相连通的第一通孔以及第二通孔，第一通孔对应主操作器130的调姿组件132，穿刺组件131隐藏时经第二通孔进入操作桌110中，主操作器130调节穿刺末端的位姿时，主操作器130在第一通孔中转动。
在一些实施例中，第一通孔与第二通孔的截面尺寸不同，第一通孔的截面尺寸大于第二通孔的截面尺寸。第一通孔对应于主操作器130的调姿组件132。当穿刺组件131通过第二通孔移出操作平台111时，调姿组件132能够带动穿刺组件131转动，使得穿刺组件131位于第一通孔中，穿刺组件131能够在第一通孔处执行穿刺操作以及带动调姿组件132运动调节穿刺末端的位姿的操作。当穿刺操作完成后，调姿组件132带动穿刺组件131从第二通孔移入操作平台111。
在一些实施例中，遮挡外壳1421包括第一盖14212以及第二盖14213，第一盖14212用于盖设第一通孔，第二盖14213用于盖设第二通孔，第一盖14212与第二盖14213相连接，并且，第一盖14212的中部区域具有运动孔14211，第一盖14212为球形面的一部分。第一盖14212的边缘具有翻边，方便第一盖14212安装于操作平台111。当然，第二封闭壳体142也可包括第三盖和第四盖，第三盖与第四盖连接，第三盖盖设于第一通孔，第四盖盖设于第二通孔。
参见图14至图18，在一些实施例中，穿刺手术主控台100还包括支撑结构150，支撑结构150设置于操作桌110，用于支撑操作人员的臂肘400，操作人员操作主操作器130时支撑结构150可跟随臂肘400运动。
支撑结构150设置在操作平台111，用于支撑用户的臂肘400。当操作人员操作主操作器130时，操作人员的臂肘400能够位于支撑结构150中。操作人员控制穿刺组件131升降或转动时，操作人员的臂肘400能够带动支撑结构150同步运动，避免操作人员的臂肘400悬空，降低操作人员的疲劳感。
参见图14至图18，在一些实施例中，支撑结构150包括移动组件151与支撑组件152，移动组件151设置于操作桌110中，并移动连接支撑组件152，支撑组件152用于支撑操作人员的臂肘400。移动组件151设置在操作平台111中，移动组件151能够输出移动运动，移动组件151的输出端安装支撑组件152，能够带动支撑组件152相对于操作平台111移动。支撑组件152用于支撑操作人员的臂肘400。
在实际使用时，操作人员的臂肘400放置于支撑组件152上，操作人员的手握持穿刺组件131。当操作穿刺组件131执行穿刺操作时，手持滑块1312能够上下移动，进而操作人员的手高度也发生变化，手的高度发生变化时，会使得臂肘400靠近或远离穿刺组件131，在此过程中臂肘400带动支撑组件152同步移动，使得支撑组件152能够始终支撑操作人员的臂肘400。
而且，当操作穿刺组件131执行穿刺或调姿(如层间、层内或同时进行)时，臂肘400的位置会相对于操作平台111的位置发生变化，如果臂肘400直接与操作平台111接触，那么臂肘400与操作平台111之间会存在摩擦，使得操作人员的臂肘400产生不舒适感。若臂肘400悬空会增加操作人员臂肘400的疲劳程度，影响穿刺效果。所以，本说明书中通过移动组件151与支撑组件152的配合支撑臂肘400。臂肘400移动时能够带动支撑组件152相对于移动组件151运动，以调节支撑组件152的位置，使得支撑组件152能够可靠支撑臂肘400。
在一些实施例中，支撑组件152相对于移动组件151运动的力度可以调节，以满足不同用户的需求。例如，可以通过改变支撑组件152与移动组件151之间的接触面的摩擦系数实现不同的力度。又例如，通过调节连接支撑组件152与移动组件151的螺钉的松紧度，改变二者之间的移动摩擦力。
在一些实施例中，支撑组件152可以固定在操作桌110上。
参见图14至图18，在一些实施例中，移动组件151包括导轨1511与移动滑块1512，导轨1511设置于操作桌110，移动滑块1512可滑动设置于导轨1511，支撑组件152安装于所述移动滑块1512。导轨1511固定设置在操作平台111，移动滑块1512可滑动设置于导轨1511上，移动滑块1512的顶部安装支撑组件152。支撑组件152支撑操作人员的臂肘400时，臂肘400能够带动支撑组件152通过移动滑块1512沿导轨1511移动。
在一些实施例中，移动组件151还包括安装基座1513，操作平台111具有安装孔，安装基座1513固定在安装孔中，导轨1511设置在安装基座1513上。
在一些实施例中，导轨1511的直线移动方向与主操作器130的层内旋转轴或层间旋转轴平行。也就是说，支撑装置150随臂肘400的移动方向为层内旋转轴或层间旋转轴的方向。
参见图14至图18，在一些实施例中，支撑组件152可旋转设置于移动滑块1512。也就是说，支撑组件152能够相对于移动滑块1512旋转。这样，当操作人员通过穿刺组件131调节穿刺末端的位姿时，操作人员需要控制穿刺组件131带动调姿组件132转动，此时，臂肘400的角度也会发生变化。通过可转动的支撑组件152能够保证支撑效果，满足不同工况的需求。
在一些实施例中，支撑组件152包括支撑托1521以及旋转件1522，支撑托1521的底部通过旋转件1522可旋转设置于移动滑块1512。旋转件1522设置在支撑托1521的底部，支撑托1521承载臂肘400后，臂肘400的作用力能够使得支撑托1521带动旋转件1522相对于移动滑块1512转动。
在一些实施例中，支撑托1521呈碗形，当然，支撑托1521也可为弧形板或者其他能够支撑臂肘400的部件。在一些实施例中，支撑组件152还包括封边板153，封边板153上设置通孔，移动滑块1512具有球形槽，旋转件1522穿过通孔安装于球形槽，封边板153固定在移动滑块1512上，以此保证旋转件1522转动平稳。在一些实施例中，旋转件1522呈球形设置，可以为球铰或者球轴承等等。
如图15所示，该图为主操作器130仅绕层间旋转轴13211工作时的支撑组件152工作原理图。支撑组件152包含两个运动：绕旋转件1522的旋转运动与沿导轨1511的直线运动。重点是沿导轨1511的直线运动方向与层内旋转轴13221平行且两轴处于同一个竖直平面内。当穿刺组件131处于零位(即穿刺组件131垂直于操作平台111)时，默认支撑组件152也是垂直于操作平台111的，但不同操作人员的小臂长度不一致且坐姿不一致，故大多数情况下该支撑组件152可能并不垂直于操作平台111，由操作人员放置臂肘400时的舒适程度确定。
在需进行层间调姿时，操作人员手持穿刺组件131绕层间旋转轴13211旋转，如图16中的位置1和位置2所示，此时支撑组件152为适应小臂长度，会同时产生沿导轨1511的直线运动和绕旋转件1522的旋转运动，使操作人员的小臂不会存在被拉伸的不适感以及臂肘400与操作平台111之间的摩擦不适感。
图16所示为主操作器130仅绕层内旋转轴13221工作时的臂肘400随动支撑组件152工作原理图。由图可知，当主操作器130进行层内调姿时，支撑组件152可以认为只发生绕旋转件1522的旋转运动，如图16所示的位置1和位置2，此时小臂不会产生明显的被拉伸感觉，但考虑到直线移动部分为非约束的运动方式，有可能在直线移动轴上也会产生比较小直线运动。
图15与图16均为单向调姿运动时的支撑组件152运动方式，实际工作中也会存在层间调姿和层内调姿同时进行的工况，此时支撑组件152的运动为上述单向调姿运动时产生的运动的叠加。
参见图19和图20，在一些实施例中，主操作器130可以包括第一驱动电机130-3及旋转轴130-2，第一驱动电机130-3设置于隐藏结构120中，用于驱动旋转轴130-2转动从而带动主操作器130在第一状态和第二状态之间切换。在第一状态下，所述主操作器130露出所述操作桌110，此时主操作器可以处于穿刺工况。在第二状态下，所述主操作器130隐藏于所述隐藏结构120中，此时主操作器可以处于非穿刺工况。
在一些实施例中，旋转轴130-2的两端转动设置于隐藏结构120中。旋转轴130-2上设置钢丝绳轮。第一驱动电机130-3的输出端与钢丝绳轮130-8之间可以通过钢丝绳(图19和图20中均未示出)实现动力传动。因此，第一驱动电机130-3输出动力时，可以驱动旋转轴130-2转动。
在一些实施例中，主操作器130可以包括第一制动器130-6、转接件130-7和主控面板连接件130-10，第一制动器130-6设置于旋转轴130-2的一端，用于控制转接件130-7相对于主控面板连接件130-10的锁定或解锁。在一些实施例中，第一制动器130-6可以设置于130-2的两端部之间的任意位置，例如中部。
在一些实施例中，主操作器130可以包括穿刺组件131和调姿组件132。调姿组件132设置在旋转轴130-2上。在一些实施例中，主操作器130可以包括第二制动器130-9。在一些实施例中，第二制动器130-9设置于旋转轴130-2的另一端。在一些实施例中，第二制动器130-9可以设置于旋转轴130-2的两个端部之间的任意位置，例如中部，用于控制所述旋转轴130-2相对于所述主控面板连接件130-10的锁定或解锁。钢丝绳轮130-8与主操作器130的主控面板连接件130-10、旋转轴130-2、第一制动器130-6、第二 制动器130-9同轴连接。第一驱动电机130-3输出扭矩时，在钢丝绳的力传递作用下，钢丝绳轮130-8产生转动，进而带动主控面板连接件130-10一起运动，从而将与主控面板连接件130-10连接的主控面板130-1旋转至第一状态。在第一状态时，穿刺组件131可以垂直于操作平台111。
在一些实施例中，第一制动器130-6可以通过转接件130-7固定到主操作器固定底座130-11上。在一些实施例中，第二制动器130-9可以固定在主控面板连接件130-10上。当主操作器130处于隐蔽状态时，第一制动器130-6和第二制动器130-9可以均处于锁定状态，此时，主控面板130-1以及穿刺组件131均处于隐藏模式下的锁定姿态。
在一些实施例中，第一制动器130-6和/或第二制动器130-9可以为上电解锁、下电制动式，即，上电后解锁，下电后锁定。由于利用主操作器130进行状态转换的使用时间比较短，因此，采用这种解锁、锁定的方式可以有效节约能源。
在一些实施例中，穿刺手术主控台100可以包括控制器，控制器用于执行以下操作中的至少一种：
a、当主操作器130运动到第一状态后，控制器控制第一制动器130-6锁定并控制第二制动器130-9解锁，与此同时，控制器控制第一驱动电机130-3下使能。此时，主操作器130的主控面板130-1通过主控面板连接件130-10、第一制动器130-6、转接件130-7与主操作器固定底座130-11固定在一起，可用于正常工作。由于第二制动器130-9的解锁，穿刺组件131与主控面板130-1之间的运动相互独立，即穿刺组件131可工作在正常的调姿模式。
在一些实施例中，当主操作器130运动到第一状态后，控制器可以控制第一制动器130-6锁定并控制第二制动器130-9解锁，控制器可以进一步控制第一驱动电机130-3为穿刺组件131提供层内移动自由度和/或层间移动自由度上的力反馈。
b、当调整主操作器130的状态时，控制器控制第一制动器130-6解锁并控制第二制动器130-9锁定，与此同时，控制其控制第一驱动电机130-3使能。第一驱动电机130-3通过钢丝绳的力传递作用下，使钢丝绳轮130-8产生转动，进而带动主控面板连接件130-10以及穿刺组件131一起运动，从而将主控面板130-1及穿刺组件131旋转至第一状态或第二状态。
c、当主操作器130运动至第二状态时，控制器控制第一制动器和第二制动器均锁定，此时，主操作器130处于隐藏模式下的锁定姿态。
参见图19，在一些实施例中，主操作器130可以包括隐藏姿态限位保护开关130-4、释放姿态限位保护开关130-5和角度传感器130-12。在一些实施例中，隐藏姿态限位保护开关130-4和释放姿态限位保护开关130-5可以安装在主操作器固定底座130-11上。
在一些实施例中，角度传感器130-12可以安装在旋转轴130-2上，角度传感器130-12用于采集旋转轴130-2的旋转角度信号，并将旋转角度信号数据传输给控制器，然后控制器基于角度信号数据对第一制动器130-6进行控制。例如，当旋转角度信号数据小于设定角度时，控制器控制第一制动器130-6保持解锁。又例如，当旋转角度信号数据达到设定角度时，控制器控制第一制动器130-6锁定。
在一些实施例中，角度传感器130-12可以为单圈绝对值编码器。
在一些实施例中，角度传感器130-12可以安装在第一驱动电机130-3上，角度传感器130-12用于采集第一驱动电机130-3的旋转角度信号，并将旋转角度信号数据传输给控制器，然后控制器基于旋转角度信号数据对第一驱动电机130-3进行控制。例如，当第一驱动电机130-3的旋转角度信号数据小于设定角度时，控制器控制第一驱动电机130-3继续转动。又例如，当第一驱动电机130-3的旋转角度信号数据达到设定角度时，控制器控制第一驱动电机130-3停止转动。
在一些实施例中，隐藏姿态限位保护开关130-4和释放姿态限位保护开关130-5可以起到第二层保护作用，当主控面板连接件130-10触碰到隐藏姿态限位保护开关130-4或释放姿态限位保护开关130-5时，隐藏姿态限位保护开关130-4或释放姿态限位保护开关130-5发出信号给控制器，控制器基于该信号控制第一驱动电机130-3停止转动，从而可以避免第一驱动电机130-3持续性的堵转而引起的损坏。
在一些替代性的实施例中，隐藏结构120可以包括连接组件121以及驱动组件122，连接组件121将主操作器130可移动连接于操作桌110，驱动组件122可以驱动主操作器130相对操作桌110直线运动，使主操作器130收纳于操作桌110内或伸出操作桌110。在一些实施例中，驱动组件122可以包括液压缸、气缸、齿轮齿条、丝杠螺母等直线运动组件，驱动组件122设置在操作桌110内，主操作器130通过连接组件121与驱动组件122的输出端连接。当控制器控制驱动组件122伸长或缩短时，会通过连接组件121带动主操作器130直线运动，从而向上伸出操作桌110或向下收纳于操作桌110。主操作器130以直线运动的方式伸出或收纳于操作桌110，可以使得隐藏结构120的整体结构比较简单，在操作桌110上开设的过孔1111可以更小、更短。在一些实施例中，控制器可以调节主操作器130直线运动伸出操作桌110的高度，从而使得主操作器130能够适用于不同身高、体型的用户。
在一些实施例中，穿刺手术主控台100可以包括显示器160和CT控制面板170，如图21所示。 操作人员可以在CT控制面板170上进行控制操作，例如进行移动病床、控制CT扫描的操作等。在一些实施例中，穿刺手术主控台100可以包括隐藏结构120、封闭外壳140和释放封闭壳180，如图22、图23所示。其隐藏结构120用于将主操作器130封闭在操作平台111下方。封闭外壳140转动设置在操作平台111，并盖设过孔1111，以避免穿刺组件131露出。释放封闭壳180可转动设置在操作平台111上，并能够部分遮挡操作平台111上的过孔1111，而且释放封闭壳180能够在穿刺组件131伸出操作平台111的情况下部分遮挡过孔1111。主操作器130处于隐藏状态时，穿刺组件131位于操作平台111的桌面之下，此时封闭外壳140封闭。主操作器130需要用于穿刺手术时，要先由隐藏状态调整为释放状态，即先打开封闭外壳140，将主操作器130整体旋转至释放状态，然后用释放封闭壳180与主控面板130-1外形形成形状配合，如图22所示，将工作状态下的主操作器130的下部封闭在操作桌110内部。
在一些实施例中，隐藏结构120可以包括弹簧组件123和电磁铁124，所述电磁铁124设置在所述操作平台111上以用于吸住所述封闭外壳140，如图23所示。在一些实施例中，弹簧组件123和电磁铁124可以安装在操作平台111与封闭外壳140之间。在一些实施例中，电磁铁124可以为上电消磁式部件，即上电时磁力消失，掉电时磁力产生。当电磁铁124的磁力消失后，弹簧组件123将封闭外壳140弹起并处于打开状态，当封闭外壳140处于关闭状态，电磁铁124产生磁力，对封闭外壳140进行固定。
在一些实施例中，隐藏结构120可以包括光电开关125，如图23所示。在一些实施例中，光电开关125可以安装在操作平台111上。光电开关125用于检测封闭外壳140状态并将状态数据输出给控制器。在一些实施例中，光电开关125可以为反射式光电开关。光电开关125检测到封闭外壳140处于安全的打开状态后，将检测信息传输给控制器，控制器可以根据检测信息控制第一驱动电机130-3输出力矩，将主操作器130旋转至正常工作状态，即第一状态。
在一些实施例中，隐藏结构120可以包括隐藏触发按键126和释放触发按键127。在一些实施例中，隐藏触发按键126和释放触发按键127可以设置在操作平台111上表面。在一些实施例中，隐藏触发按键126和释放触发按键127可以设置在操作平台111的下表面和/或前侧面，如图24所示。
当需要由隐藏状态调整为释放状态时，操作者触发释放触发按键127，电磁铁124上电，对封闭外壳140的磁力消失，弹簧组件123将封闭外壳140弹起。在一些实施例中，封闭外壳140弹起后，可以由操作者将其旋转至打开状态。
当需要由释放状态调整为隐藏状态时，按下隐藏触发按键126，先通过控制器旋转主操作器130，主操作器130旋转到位于操作平台111的桌面之下后，控制器使电磁铁下电，对封闭外壳140的磁力产生。
在一些实施例中，可以将封闭外壳140转动式连接在操作平台111的桌面上。
在一些实施例中，可以手动盖上封闭外壳140，电磁铁的磁力可以将封闭外壳140固定。在一些实施例中，可以通过控制器以及第四驱动电机(图中未示出)带动封闭外壳140的进行旋转，实现封闭外壳140的自动开关。
参考图25，在一些实施例中，释放封闭壳180可以在释放控制组件的控制下发生转动，从而实现为穿刺组件131的转动让出空间以及在主操作器130伸出操作平台111后将过孔1111部分盖住。释放控制组件可以安装在过孔1111的边缘，以将释放封闭壳180转动连接在操作平台111上。在一些实施例中，释放控制组件可以由控制器进行控制。
在一些实施例中，释放控制组件可以包括第二驱动电机181、第三制动器182以及减速器183。在一些实施例中，第二驱动电机181的输出端设第三制动器182，第三制动器182与释放封闭壳180之间设置减速器183。在一些实施例中，第二驱动电机181可以集成一个角度传感器，以确定释放封闭壳180的转动角度。在一些实施例中，第三制动器182可以为上电解锁、下电制动形式，在释放封闭壳180运动到目标位置(可以是隐藏状态时的位置，也可以是释放状态时盖住过孔1111的位置)后下电制动，将释放封闭壳180固定。将减速器183设于第三制动器182的后端，能够通过减速器183来放大第三制动器182的制动扭矩。
在一些实施例中，在释放封闭壳180转动的两个极限位置可以设置限位保护开关(图25中未示出)，以避免释放封闭壳180运用到目标位置之后持续堵转而导致第二驱动电机181损坏。
在一些实施例中，当主操作器130执行完穿刺手术后需要隐藏时，可以按下图24所示的隐藏触发按键126，此时，第三制动器182上电解锁，第二驱动电机181带动释放封闭壳180向下转动到操作平台111下，处于隐藏结构120内部。释放封闭壳180到达隐藏结构120内部的指定位置后，第一制动器130-6上电解锁，第二制动器130-9下电制动。第一驱动电机130-3输出扭矩时，与钢丝绳轮130-8同轴的旋转轴130-2带动主操作器130的主控面板130-1及穿刺组件131旋转至隐藏状态，如图24、图25所示。
在一些实施例中，主操作器130旋转到位于操作平台111的桌面之下后，第一制动器130-6下电制动，第一驱动电机130-3下电去使能，操作者转动封闭外壳140，光电开关125检测到封闭外壳140处于关闭状态后，将检测信息传输给控制器，控制器根据检测信息控制电磁铁124下电产生磁力从而将封闭 外壳140固定在操作平台111上，实现主操作器130的隐藏。
在一些实施例中，穿刺组件131可拆卸设置在调姿组件132中，调姿组件132安装在隐藏结构120中。在一些实施例中，隐藏结构120可以为一个用于容纳调姿组件132的壳体。在一些实施例中，操作桌110上可以设置用于容纳穿刺组件131的容纳空间(图中未示出)，当穿刺组件131拆卸下来后，可以放置在容纳空间中。在一些实施例中，容纳空间与主控面板130-1均可以被封闭外壳140盖住。当穿刺组件131拆卸后，可以将穿刺组件131放置在容纳空间中，并将封闭外壳140盖上即可实现主操作器130的隐藏。当需要使用穿刺组件131时，打开封闭外壳140，露出隐藏结构120中的调姿组件132，然后将穿刺组件131安装在调姿组件132上，这时即可使用正常穿刺组件131。将穿刺组件131与调姿组件132之间可拆卸式连接，能够简化结构，提升整个穿刺手术主控台100的可靠性，并降低制造成本。在一些实施例中，穿刺组件131与调姿组件132可以通过卡接、螺纹连接等实现可拆卸连接。
在一些实施例中，穿刺手术主控台100可以包括显示器160，如图1所示。显示器160设置在操作桌110的操作平台111，能够用于显示成像设备对人体组织和穿刺针300的图像，便于操作人员进行观测。在一些实施例中，操作桌110还包括走线槽114及走线孔113，走线槽114设置在操作桌110的支架112中，走线孔113贯通操作平台111设置，走线槽114用于供电源线、信号线走线。在一些实施例中，操作桌110还包括可调地脚115，可调地脚115设置在支架112的底部，用于调节操作桌110的水平度。
应当注意的是，上述有关穿刺手术主控台100的描述仅仅是为了示例和说明，而不限定本说明书的适用范围。对于本领域技术人员来说，在本说明书的指导下可以对穿刺手术主控台100进行各种修正和改变。然而，这些修正和改变仍在本说明书的范围之内。例如，图14-图18所示的支撑结构150可以用于图21-图25所示的实施例中。又例如，图14-图18所示的实施例可以采用图21-图25中所示的主操作器130。再例如，图21-图25所示的实施例可以采用图1-图9所示的封闭外壳140。
本说明书一些实施例还提供一种穿刺机器人2600(或称为穿刺系统)。如图26所示，穿刺机器人2600可以包括机器人主机、穿刺末端以及上述任一实施例中的穿刺手术主控台100。穿刺末端设置于机器人主机，穿刺末端可以用于承载穿刺针300。穿刺手术主控台100与机器人主机电连接，用于控制穿刺末端带动穿刺针300执行穿刺操作。在一些实施例中，穿刺机器人2600可以分布在操作间和扫描间中，在操作间中可以设置穿刺手术主控台100和主动系统，在扫描间中可以设置扫描设备和机器人主机。
在一些实施例中，主动系统可以用于控制机器人主机。在一些实施例中，主动系统可以包括主手、第一处理器以及穿刺参数规划模块。在一些实施例中，主手可以包括前述任一实施例所描述的主操作器130。
在一些实施例中，机器人主机可以用于执行穿刺操作。在一些实施例中，机器人主机可以包括从手、第二处理器以及前述任一实施例所述的穿刺末端。
在一些实施例中，操作者可以在操作间内通过操作穿刺手术主控台100，来实现操控操作间内的主手以及远程操控扫描间内的从手。
在一些实施例中，第一处理器用于分别与穿刺手术主控台100和第二处理器进行通信，以实现对扫描设备、从手以及穿刺末端的控制。
在一些实施例中，从手与穿刺设备末端之间进行机械连接和电气连接。
在一些实施例中，第二处理器用于接收第一处理器发出的控制信号，并向第一处理器发送反馈信号。在一些实施例中，第二处理器可以向从手和/或穿刺末端发送控制信号，以使从手和/或穿刺末端完成穿刺针穿刺和手术。
扫描设备用于获取图像数据，例如患者的肿瘤部位的图像。在一些实施例中，扫描设备可以接收穿刺手术主控台100的控制信号并根据控制信号获取图像数据，然后将图像数据传输到穿刺手术主控台100。在一些实施例中，穿刺手术主控台100的显示器160可以将接收的图像数据进行显示。在一些实施例中，扫描设备可以是CT扫描设备。在一些实施例中，扫描设备可以是其他设备，如RT、PET、MRI等。
在一些实施例中，穿刺手术主控台100可以作为扫描设备的控制系统。在一些实施例中，穿刺手术主控台100可以接收主动系统的控制命令并根据控制命令向扫描设备发出控制信号，从而控制扫描设备进行扫描操作以获取图像数据。在一些实施例中，穿刺手术主控台100可以接收扫描设备传输的图像数据。在一些实施例中，穿刺手术主控台100可以将接收到的图像数据进行显示。在一些实施例中，穿刺手术主控台100可以将接收到的图像数据传输到主动系统。在一些实施例中，主手用于使得操作者可以在操作间内远程操控处于扫描间内的从手，在扫描设备的图像数据的引导之下，从手将穿刺末端送至规划的靶点位置并进行手术。规划的靶点位置可以指穿刺对象身上与肿瘤相关的位置。穿刺对象可以指患有肿瘤的患者。
在一些实施例中，穿刺参数规划模块可以用于根据穿刺末端从当前位置到规划的靶点位置进行路径规划以及根据肿瘤的形状大小进行穿刺针300的动作及穿刺参数规划。在一些实施例中，穿刺参数规划模块可以在接收到穿刺手术主控台100的控制命令后，根据穿刺末端的当前位置以及规划的靶点位置，计算出两个位置之间的距离、方向并确定穿刺针300的移动路径及动作。规划的靶点位置可以指与患者的肿 瘤相对应的体表位置。在一些实施例中，穿刺参数规划模块可以在接收到穿刺手术主控台100的控制命令后，根据肿瘤的形状大小，确定穿刺针300的进针深度以及进针数量，和/或确定穿刺针300的放电时间和放电强度。
本说明书的穿刺机器人2600采用上述实施例的穿刺手术主控台100后，能够使得主操作器130在不使用(如单独使用成像设备)时，使主操作器130位于隐藏结构120中，不会露出操作桌110，进而操作人员不会触碰到主操作器130，降低过程中的安全隐患。同时，通过操作桌110承载主操作器130，无需手持主操作器130，并且，操作人员的手肘可以放置在操作桌110的表面，这样能够降低操作人员的疲劳度，保证穿刺效果。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本说明书的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本说明书构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (22)

  1. 一种穿刺手术主控台(100)，其特征在于，包括：操作桌(110)、隐藏结构(120)和主操作器(130)；
    所述隐藏结构(120)和所述主操作器(130)设置于所述操作桌(110)；
    在第一状态下，所述主操作器(130)露出所述操作桌(110)，在第二状态下，所述主操作器(130)隐藏于所述隐藏结构(120)中。
  2. 根据权利要求1所述的穿刺手术主控台(100)，其特征在于，所述主操作器(130)可运动设置于所述隐藏结构(120)，在所述第一状态下，所述主操作器(130)伸出所述隐藏结构(120)并露出所述操作桌(110)，在所述第二状态下，所述主操作器(130)缩回所述操作桌(110)并隐藏于所述隐藏结构(120)中。
  3. 根据权利要求2所述的穿刺手术主控台(100)，其特征在于，所述隐藏结构(120)包括连接组件(121)以及驱动组件(122)，所述连接组件(121)将所述主操作器(130)可转动连接于操作桌(110)，所述驱动组件(122)驱动所述主操作器(130)相对所述操作桌(110)转动，使所述主操作器(130)收纳于所述操作桌(110)内或伸出所述操作桌(110)。
  4. 根据权利要求3所述的穿刺手术主控台(100)，其特征在于，所述连接组件(121)包括连接座(1211)以及转动座(1212)，所述转动座(1212)可转动连接所述连接座(1211)的一端，所述主操作器(130)固定安装于所述转动座(1212)，所述连接座(1211)的另一端固定安装于所述操作桌(110)。
  5. 根据权利要求2所述的穿刺手术主控台(100)，其特征在于，所述主操作器(130)包括第一驱动电机(130-3)及旋转轴(130-2)，所述第一驱动电机(130-3)设置于所述隐藏结构(120)中，用于驱动所述旋转轴(130-2)转动从而实现所述主操作器(130)在所述第一状态和所述第二状态之间切换。
  6. 根据权利要求5所述的穿刺手术主控台(100)，其特征在于，所述主操作器(130)还包括第一制动器(130-6)、转接件(130-7)和主控面板连接件(130-10)，所述第一制动器(130-6)设置于所述旋转轴(130-2)的一端，用于控制所述转接件(130-7)相对于所述主控面板连接件(130-10)的锁定或解锁。
  7. 根据权利要求6所述的穿刺手术主控台(100)，其特征在于，所述主操作器(130)还包括穿刺组件(131)、调姿组件(132)和第二制动器(130-9)，所述调姿组件(132)设置在所述旋转轴(130-2)上，所述第二制动器(130-9)设置于所述旋转轴(130-2)的另一端，用于控制所述旋转轴(130-2)相对于所述主控面板连接件(130-10)的锁定或解锁。
  8. 根据权利要求7所述的穿刺手术主控台(100)，其特征在于，穿刺手术主控台(100)还包括控制器，所述控制器用于执行以下操作中的至少一种：
    a、当所述主操作器(130)运动到所述第一状态后，所述控制器控制所述第一制动器(130-6)锁定并控制所述第二制动器(130-9)解锁；
    b、当调整所述主操作器(130)的状态时，所述控制器控制所述第一制动器(130-6)解锁并控制所述第二制动器(130-9)锁定；
    c、当所述主操作器(130)运动至所述第二状态时，所述控制器控制所述第一制动器(130-6)和所述第二制动器(130-9)均锁定。
  9. 根据权利要求2所述的穿刺手术主控台(100)，其特征在于，所述隐藏结构(120)包括连接组件(121)以及驱动组件(122)，所述连接组件(121)将所述主操作器(130)可移动连接于所述操作桌(110)，所述驱动组件(122)驱动所述主操作器(130)相对所述操作桌(110)直线运动，使所述主操作器(130)收纳于所述操作桌(110)内或伸出所述操作桌(110)。
  10. 根据权利要求1所述的穿刺手术主控台(100)，其特征在于，所述主操作器(130)包括穿刺组件(131)以及调姿组件(132)，所述穿刺组件(131)可拆卸设置在所述调姿组件(132)中。
  11. 根据权利要求1所述的穿刺手术主控台(100)，其特征在于，所述操作桌(110)具有操作平台(111)，所述操作平台(111)设置有过孔(1111)，所述隐藏结构(120)设置于所述操作平台(111)下方，所述主操作器(130)穿过所述过孔(1111)至少部分伸出到所述操作平台(111)上方，或整体收纳到所述操作平台(111)下方的所述隐藏结构(120)中，所述穿刺手术主控台(100)还包括封闭外壳(140)， 所述封闭外壳(140)盖设于所述过孔(1111)。
  12. 根据权利要求11所述的穿刺手术主控台(100)，其特征在于，所述隐藏结构(120)包括弹簧组件(123)和电磁铁(124)，所述电磁铁(124)设置在所述操作平台(111)上以用于吸住所述封闭外壳(140)，当电磁铁(124)磁力消失后，所述弹簧组件(123)将所述封闭外壳(140)弹起并处于打开状态，当所述封闭外壳(140)处于关闭状态时，电磁铁(124)磁力产生，对所述封闭外壳(140)进行固定。
  13. 根据权利要求12所述的穿刺手术主控台(100)，其特征在于，所述隐藏结构(120)还包括光电开关(125)，所述光电开关(125)用于检测所述封闭外壳(140)状态并将状态数据输出给控制器。
  14. 根据权利要求13所述的穿刺手术主控台(100)，其特征在于，所述光电开关(125)检测到所述封闭外壳(140)处于安全的打开状态后，将检测信息传输给控制器，所述控制器根据检测信息控制第一驱动电机(130-3)输出力矩，将所述主操作器(130)旋转至正常工作状态；所述主操作器(130)旋转到位于所述操作平台(111)的桌面之下后，第一制动器(130-6)下电制动，所述第一驱动电机(130-3)下电去使能，操作者转动所述封闭外壳(140)，所述光电开关(125)检测到所述封闭外壳(140)处于关闭状态后，将检测信息传输给所述控制器，所述控制器根据检测信息控制所述电磁铁(124)下电产生磁力从而将所述封闭外壳(140)固定在所述操作平台(111)上，实现所述主操作器(130)的隐藏。
  15. 根据权利要求11所述的穿刺手术主控台(100)，其特征在于，所述穿刺手术主控台(100)还包括释放封闭壳(180)，所述释放封闭壳(180)与所述操作平台(111)转动连接，所述释放封闭壳(180)在穿刺组件(131)伸出所述操作平台(111)的情况下部分遮挡所述过孔(1111)。
  16. 根据权利要求1至15任一项所述的穿刺手术主控台(100)，其特征在于，所述穿刺手术主控台(100)还包括支撑结构(150)，所述支撑结构(150)设置于所述操作桌(110)，用于支撑操作人员的臂肘(400)，操作人员操作主操作器(130)时所述支撑结构(150)可跟随所述臂肘(400)运动。
  17. 根据权利要求16所述的穿刺手术主控台(100)，其特征在于，所述支撑结构(150)包括移动组件(151)与支撑组件(152)，所述移动组件(151)包括导轨(1511)与移动滑块(1512)，所述导轨(1511)设置于操作平台(111)，所述移动滑块(1512)可滑动设置于所述导轨(1511)，所述支撑组件(152)安装于所述移动滑块(1512)。
  18. 根据权利要求17所述的穿刺手术主控台(100)，其特征在于，所述导轨(1511)的直线移动方向与所述主操作器(130)的层内旋转轴(13221)或层间旋转轴(13211)平行。
  19. 根据权利要求17所述的穿刺手术主控台(100)，其特征在于，所述支撑组件(152)可旋转设置于所述移动滑块(1512)。
  20. 根据权利要求19所述的穿刺手术主控台(100)，其特征在于，所述支撑组件(152)包括支撑托(1521)以及旋转件(1522)，所述支撑托(1521)的底部通过所述旋转件(1522)可旋转设置于所述移动滑块(1512)。
  21. 根据权利要求1-20任一项所述的穿刺手术主控台(100)，其特征在于，还包括CT控制面板和显示器。
  22. 一种穿刺机器人，其特征在于，包括机器人主机、穿刺末端以及如权利要求1至20任一项所述的穿刺手术主控台(100)，所述穿刺末端用于承载穿刺针(300)并设置于所述机器人主机，所述穿刺手术主控台(100)与所述机器人主机电连接，用于控制所述穿刺末端带动所述穿刺针(300)执行穿刺操作。
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