Display adjustment system, method, and surgical robotic system

Abstract

This application provides a display adjustment system, method, and surgical robot system, belonging to the field of medical device technology. In the system, a second support component is connected to a first support component. A display is connected to the end of the second support component away from the first support component. A control module is connected to both the first and second support components. The control module is used to adjust the rotation of the second support component relative to the first support component about a first axis of the first support component with a first rotational degree of freedom. The control module is also used to adjust the rotation of the display relative to the second support component about a second axis of the second support component with a second rotational degree of freedom. Through this system, the display can be adjusted to rotate in space with two different rotational degrees of freedom (first and second degrees of freedom), allowing for flexible posture adjustment in three-dimensional space, meeting the needs of different users, increasing the display's adjustment range, and solving the problem of narrow adjustment range in traditional technologies.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a display adjustment system, method, and surgical robot system. Background Technology

[0002] Minimally invasive surgical robot systems are advanced medical devices primarily used to assist surgeons in performing minimally invasive surgeries. They offer advantages such as smaller surgical incisions, clearer surgical views, and more precise manipulation, and have been widely adopted. A minimally invasive surgical robot system includes a surgeon's console, a video trolley, and a surgical trolley.

[0003] However, in traditional minimally invasive surgical robot systems, the monitor operated by the surgeon can only make linear translations along the axis of the support structure. Once the axis of the support structure is determined, the monitor can only make linear translations along one axis, and cannot be adjusted in a range outside the axis, resulting in a narrow adjustment range for the monitor. Summary of the Invention

[0004] The purpose of this application is to provide a display adjustment system, method, and surgical robot system, which aims to solve the problem of narrow adjustment range of the display of the doctor controlling the trolley in traditional minimally invasive surgical robot systems.

[0005] This application provides a display adjustment system, including:

[0006] First support component;

[0007] The second support component is connected to the first support component;

[0008] A display is connected to the end of the second support assembly that is furthest from the first support assembly;

[0009] The control module is connected to the first support component and the second support component;

[0010] The control module is used to adjust the second support component to rotate around the first axis of the first support component with a first degree of rotational freedom.

[0011] The control module is also used to adjust the display to rotate about the second axis of the second support component with a second degree of rotational freedom.

[0012] In one embodiment, the second support component includes:

[0013] The first sub-support component is connected to the first support assembly, and the control module is connected to the first sub-support component;

[0014] The control module is used to adjust the first sub-support member to rotate around the first axis with the first rotational degree of freedom.

[0015] In one embodiment, the second support component includes:

[0016] The second sub-support member is connected to the end of the first sub-support member away from the first support component, and the control module is connected to the second sub-support member;

[0017] The control module is used to adjust the second sub-support to rotate around the first sub-axis of the first sub-support with a third rotational degree of freedom.

[0018] In one embodiment, the second support component includes:

[0019] The second sub-support member is connected to the end of the first sub-support member away from the first support component, and the control module is connected to the second sub-support member;

[0020] The control module is used to adjust the second sub-support member to translate along the first sub-axis of the first sub-support member with a first degree of translational freedom.

[0021] In one embodiment, the display is connected to the end of the second sub-support member away from the first sub-support member;

[0022] The control module is used to adjust the display to rotate around the second sub-axis of the second sub-support member with the second degree of rotational freedom.

[0023] In one embodiment, the display adjustment system further includes:

[0024] A third support component, wherein the opposite ends of the third support component are respectively connected to the first support component and the second support component;

[0025] The control module is connected to the third support component and is used to adjust the third support component to translate along the first axis with a second translational degree of freedom.

[0026] The control module is used to adjust the second support component to rotate around the third axis of the third support component with the first rotational degree of freedom.

[0027] In one embodiment, the connection end between the first support component and the second support component is provided with a first joint, and the connection end between the second support component and the display is provided with a second joint;

[0028] The control module is connected to the first joint and is used to control the direction and speed of the first joint and adjust the second support component to rotate around the first axis of the first support component with a first degree of rotational freedom.

[0029] The control module is connected to the second joint and is used to control the direction and speed of the second joint and adjust the display to rotate around the second axis of the second support component with a second degree of rotational freedom.

[0030] In one embodiment, the display adjustment system further includes:

[0031] A display control component, disposed on the display, is used to generate display adjustment information in response to user operation commands;

[0032] The control module is connected to the display control component and is used to adjust the second support component to rotate around the first axis with the first rotational degree of freedom, and to adjust the display to rotate around the second axis with the second rotational degree of freedom, according to the display adjustment information.

[0033] This application provides a display adjustment method, applied to the display adjustment system described in any of the above embodiments, the display adjustment method comprising:

[0034] Obtain display adjustment information;

[0035] Based on the display adjustment information, the first rotation information and the second rotation information are determined;

[0036] Based on the first rotation information, the second support component of the display adjustment system is adjusted to rotate around the first axis of the first support component with a first degree of rotational freedom.

[0037] Based on the second rotation information, the display of the display adjustment system is adjusted to rotate around the second axis of the second support component with a second degree of rotational freedom.

[0038] This application provides a surgical robot system, including the display adjustment system described in any of the above embodiments.

[0039] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0040] The second support component connects the first support component and the display, providing a stable support base for the movement and adjustment of the display. The control module connects to both the first and second support components, enabling the adjustment of the coordinated movement between them. The first axis is the centerline of the first support component along its extension direction, or its length direction. The first axis characterizes the position and orientation of the first support component. The second support component rotates around the first axis of the first support component with a first degree of rotational freedom, allowing it to move within a 360° range around the first axis.

[0041] The second axis is the centerline of the second support component along its extension direction, or it can be understood as the centerline of the second support component along its length direction. The second axis characterizes the position and orientation of the second support component. The display rotates around the second axis of the second support component with a second rotational degree of freedom, enabling movement within a 360° range around the second axis. Furthermore, the display can rotate in space with two different rotational degrees of freedom, the first and second, allowing for flexible posture adjustment in a three-dimensional environment to meet the needs of different user postures for different body types. Therefore, the display adjustment system provided in this application achieves coordinated movement between the first support component, the second support component, and the display, enabling non-linear movement of the display and increasing its adjustment range to meet the adjustment needs of different users. Attached Figure Description

[0042] Figure 1 This application provides a schematic diagram of the connection structure of the first support component, the second support component, and the display in some embodiments of the display adjustment system.

[0043] Figure 2 A schematic diagram of the structure of the first sub-support member and the second sub-support member of the second support component in some embodiments provided in this application.

[0044] Figure 3 The diagram shows the connection structure of the first support component, second support component, third support component, and display of the display adjustment system in some embodiments provided in this application.

[0045] Figure 4 A schematic diagram of the display control component of the display adjustment system provided in some embodiments of this application.

[0046] Figure 5 The front view of the display adjustment system in some embodiments provided in this application shows a schematic diagram of the structure of the control components and the in-situ sensors.

[0047] Figure 6The following are schematic flowcharts illustrating the steps of the adjustment method in some embodiments provided in this application. Detailed Implementation

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0050] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0052] Please see Figure 1 This application provides a display adjustment system 100. The display adjustment system 100 includes a first support component 10, a second support component 20, a display 30, and a control module 50. The second support component 20 is connected to the first support component 10. The display 30 is connected to the end of the second support component 20 away from the first support component 10. The control module 50 is connected to the first support component 10 and the second support component 20.

[0053] The control module 50 is used to adjust the second support assembly 20 to rotate relative to the first support assembly 10 about a first axis of the first support assembly 10 with a first rotational degree of freedom 101. The control module 50 is also used to adjust the display 30 to rotate relative to the second support assembly 20 about a second axis of the second support assembly 20 with a second rotational degree of freedom 201.

[0054] In this embodiment, the display 30 can display images of the surgical site as well as various parameters and information during the surgical process, providing doctors with a clearer and more three-dimensional surgical view. This helps doctors accurately identify the tissues and lesions at the surgical site, thereby improving the precision of the surgery. The second support component 20 is connected between the first support component 10 and the display 30, providing a stable support base for the movement and adjustment of the display 30.

[0055] The control module 50 is connected to the first support component 10 and the second support component 20, and can adjust the coordinated movement between the first support component 10, the second support component 20, and the display 30. The first axis is the centerline of the first support component 10 along its extension direction, or it can be understood as the centerline of the first support component 10 along its length direction. The first axis can characterize the position and orientation of the first support component 10. The second support component 20 rotates around the first axis of the first support component 10 with a first rotational degree of freedom 101, enabling it to move within a 360° range around the first axis.

[0056] The second axis is the centerline of the second support component 20 along its extension direction, or it can be understood as the centerline of the second support component 20 along its length direction. The second axis can characterize the position and orientation of the second support component 20. The display 30 rotates around the second axis of the second support component 20 with a second rotational degree of freedom 201, enabling movement within a 360° range around the second axis. Furthermore, the display 30 can perform rotational movements in space with two different rotational degrees of freedom, the first rotational degree of freedom 101 and the second rotational degree of freedom 201, allowing for flexible posture adjustment in a three-dimensional spatial environment to meet the needs of different user postures for people of different body types. Thus, through the display adjustment system 100 provided in this application, the coordinated movement between the first support component 10, the second support component 20, and the display 30 is realized, enabling the display 30 to perform non-linear movements, increasing the adjustment range of the display 30, and meeting the adjustment needs of different users.

[0057] In one embodiment, the control module 50 may include components such as a microprocessor and a motor driver to control the coordinated movement of the first support component 10, the second support component 20, and the display 30. Furthermore, the control module 50 integrates all control commands and signal transmissions into a single module, making it simpler and faster to flexibly adjust the display 30 in a three-dimensional spatial environment, avoiding the need for adjustments between different controllers.

[0058] In one embodiment, the second support assembly 20 includes a first sub-support member 210. The first sub-support member 210 is connected to the first support assembly 10. A control module 50 is connected to the first sub-support member 210. The control module 50 is used to adjust the first sub-support member 210 to rotate about a first axis with a first rotational degree of freedom 101 relative to the first support assembly 10.

[0059] In this embodiment, the first sub-support member 210 is connected between the first support assembly 10 and the display 30. The first sub-support member 210 rotates around the first axis of the first support assembly 10 with a first rotational degree of freedom 101, enabling movement within a 360° range around the first axis. Furthermore, through the control module 50, the first support assembly 10, and the first sub-support member 210, the display 30 can rotate with the first rotational degree of freedom 101, enabling movement within a 360° range around the first axis. Dividing the second support assembly 20 into the first sub-support member 210 adds an additional degree of freedom to the second support assembly 20, better adapting to complex and varied spatial requirements.

[0060] In one embodiment, if the first axis of the first support component 10 is along the Z-axis, then the first sub-support 210 can rotate around the Z-axis with a first rotational degree of freedom 101. Thus, the display adjustment system 100 provided in this application enables the display 30 to flexibly adjust its posture in a three-dimensional spatial environment, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0061] In one embodiment, the second support assembly 20 includes a second sub-support 220. The second sub-support 220 is connected to the end of the first sub-support 210 away from the first support assembly 10. A control module 50 is connected to the second sub-support 220. The control module 50 is used to adjust the second sub-support 220 to rotate relative to the first sub-support 210 about a first sub-axis of the first sub-support 210 with a third rotational degree of freedom 230.

[0062] In this embodiment, a second sub-support member 220 is added to the first sub-support member 210, so that the second sub-support member 220 is connected between the first sub-support member 210 and the display 30. A third rotational degree of freedom 230 is added to the first rotational degree of freedom 101 and the second rotational degree of freedom 201.

[0063] The first sub-axis is the centerline of the first sub-support member 210 along its extension direction, or it can be understood as the centerline of the first sub-support member 210 along its length direction. The first sub-axis can characterize the position and orientation of the first sub-support member 210. The second sub-support member 220 rotates around the first sub-axis of the first sub-support member 210 with a third rotational degree of freedom 230, enabling it to move within a 360° range around the first sub-axis.

[0064] Furthermore, the display 30 can perform rotational movements with three different degrees of rotational freedom—a first rotational degree of freedom 101, a second rotational degree of freedom 201, and a third rotational degree of freedom 230—in a three-dimensional space environment, allowing for flexible posture adjustment. Thus, the display adjustment system 100 provided in this application achieves coordinated movement between the first support component 10, the first sub-support component 210, the second sub-support component 220, and the display 30, enabling the display 30 to perform non-linear movements and increasing its adjustment range to meet the adjustment needs of different users.

[0065] Furthermore, a second sub-support member 220 is added to the first sub-support member 210, distributing the stress from the display 30 across different supports, reducing the stress on each support, and enhancing the stability of the display adjustment system 100. Simultaneously, the addition of the second sub-support member 220 to the first sub-support member 210 allows them to work together to resist external forces, effectively strengthening the overall system's robustness and providing stable protection for the display 30.

[0066] In one embodiment, if the first sub-axis of the first sub-support 210 is along the X-axis, then the second sub-support 220 can rotate around the X-axis with a third rotational degree of freedom 230. Thus, the display adjustment system 100 provided in this application enables the display 30 to flexibly adjust its posture in a three-dimensional space environment, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0067] Please see Figure 2 In one embodiment, the second support assembly 20 includes a second sub-support member 220. The second sub-support member 220 is connected to the end of the first sub-support member 210 away from the first support assembly 10. The control module 50 is connected to the second sub-support member 220. The control module 50 is used to control the second sub-support member 220 to translate relative to the first sub-support member 210 along a first sub-axis of the first sub-support member 210 with a first translational degree of freedom 240.

[0068] In this embodiment, a second sub-support member 220 is added to the first sub-support member 210, connecting the first sub-support member 210 and the display 30. A first translational degree of freedom 240 is added to the first rotational degree of freedom 101 and the second rotational degree of freedom 201. The second sub-support member 220 translates along the first sub-axis of the first sub-support member 210 with the first translational degree of freedom 240, achieving linear motion along the first sub-axis.

[0069] Furthermore, the display 30 can perform rotational and translational movements with two different rotational degrees of freedom 101, a second rotational degree of freedom 201, and a first translational degree of freedom 240 in a three-dimensional space environment, allowing for flexible posture adjustment. Users can adjust the display in different dimensions, such as forward / backward, left / right, up / down, and at various angles, based on the two different rotational degrees of freedom plus one translational degree of freedom, meeting the needs of different body types and usage postures. Thus, the display adjustment system 100 provided in this application achieves coordinated movement between the first support component 10, the first sub-support component 210, the second sub-support component 220, and the display 30, enabling the display 30 to perform both linear and non-linear movements, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0070] In one embodiment, if the first sub-axis of the first sub-support member 210 is along the X-axis, then the second sub-support member 220 can translate along the X-axis with a first translational degree of freedom 240. Thus, the display adjustment system 100 provided in this application allows the display 30 to reach any point along the X-axis, enabling flexible adjustment of its posture in a three-dimensional spatial environment, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0071] In one embodiment, the display 30 is connected to the end of the second sub-support 220 away from the first sub-support 210. The control module 50 is used to adjust the display 30 to rotate relative to the second sub-support 220 about a second sub-axis of the second sub-support 220 with a second rotational degree of freedom 201.

[0072] In this embodiment, the second sub-axis is the centerline of the second sub-support member 220 along its extension direction, or it can be understood as the centerline of the second sub-support member 220 along its length direction. The second sub-axis can characterize the position and orientation of the second sub-support member 220. The display 30 rotates around the second sub-axis of the second sub-support member 220 with a second rotational degree of freedom 201, enabling it to move within a 360° range around the second sub-axis.

[0073] Based on the various combinations in the above embodiments, the first support component 10, the first sub-support component 210, and the second sub-support component 220 can adjust the display 30 to achieve rotational movements with three different degrees of rotational freedom: a first rotational degree of freedom 101, a third rotational degree of freedom 230, and a second rotational degree of freedom 201. Furthermore, the first support component 10, the first sub-support component 210, and the second sub-support component 220 can adjust the display 30 to achieve rotational and translational movements with two different degrees of rotational freedom (first rotational degree of freedom 101), a first translational degree of freedom 240, and a second rotational degree of freedom 201, allowing for flexible posture adjustment in a three-dimensional spatial environment.

[0074] In one embodiment, if the second sub-axis of the second sub-support 220 is along the Y-axis, the display 30 can rotate along the Y-axis with a second rotational degree of freedom 201. Therefore, the display adjustment system 100 provided in this application enables the display 30 to flexibly adjust its posture in a three-dimensional space environment, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0075] In one embodiment, the number of sub-supports of the second support component 20 may also include three or four, which can realize the mutual combination of multiple different sub-supports so that the display 30 can reach any point in the three-dimensional space environment, thereby increasing the adjustment range of the display 30 and meeting the adjustment needs of different users.

[0076] Please see Figure 3 In one embodiment, the display adjustment system 100 further includes a third support component 40. The opposite ends of the third support component 40 are respectively connected to the first support component 10 and the second support component 20. A control module 50 is connected to the third support component 40 and is used to adjust the third support component 40 to translate relative to the first support component 10 along a first axis with a second translational degree of freedom 401. The control module 50 is also used to adjust the second support component 20 to rotate relative to the third support component 40 about a third axis of the third support component 40 with a first rotational degree of freedom 101.

[0077] In this embodiment, the third support component 40 is connected between the first support component 10 and the second support component 20, or it can be understood as connected between the first support component 10 and the first sub-support component 210. The first axis is the centerline of the first support component 10 along its extension direction, which can characterize the position and orientation of the first support component 10. The third support component 40 translates along the first axis of the first support component 10 with a second translational degree of freedom 401, realizing linear motion along the first axis.

[0078] The third axis is the centerline of the third support component 40 along its extension direction, or it can be understood as the centerline of the third support component 40 along its length direction. The third axis can characterize the position and orientation of the third support component 40. The second support component 20 rotates around the third axis of the third support component 40 with a first rotational degree of freedom 101, and can move within a 360° range around the third axis.

[0079] Furthermore, the display 30 can perform rotational and translational movements in space with two different degrees of rotational freedom 401, a first degree of rotational freedom 101, and a second degree of rotational freedom 201, allowing for flexible posture adjustment in a three-dimensional spatial environment to meet the needs of different body types for different usage postures. Users can adjust the display in different dimensions, such as forward / backward, left / right, up / down, and various angles, based on the two different degrees of rotational freedom and one degree of translational freedom, thus meeting the needs of different body types for different usage postures.

[0080] Thus, the display adjustment system 100 provided in this application realizes the joint movement between the first support component 10, the third support component 40, the second support component 20 and the display 30, and can adjust the display 30 to perform linear and non-linear movements, thereby increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0081] In one embodiment, if the third axis of the third support component 40 is along the Z-axis, then the third support component 40 can translate along the Z-axis with a second translational degree of freedom 401. Therefore, the display adjustment system 100 provided in this application allows the display 30 to reach any point along the Z-axis, enabling flexible adjustment of its posture in a three-dimensional space environment, increasing the adjustment range of the display 30 to meet the adjustment needs of different users.

[0082] In one embodiment, combining the second translational degree of freedom 401, the first rotational degree of freedom 101, the third rotational degree of freedom 230, and the second rotational degree of freedom 201 in the above embodiments enables the display 30 to achieve rotational and translational motion with three rotational degrees of freedom and one translational degree of freedom in space, allowing for flexible adjustment of its posture in a three-dimensional spatial environment.

[0083] In one embodiment, combining the second translational degree of freedom 401, the first rotational degree of freedom 101, the first translational degree of freedom 240, and the second rotational degree of freedom 201 in the above embodiments enables the display 30 to achieve rotational and translational motion with two rotational degrees of freedom and two translational degrees of freedom in space, allowing for flexible adjustment of its posture in a three-dimensional spatial environment.

[0084] In one embodiment, a first joint is provided at the connection end between the first support component 10 and the second support component 20. A second joint is provided at the connection end between the second support component 20 and the display 30. The control module 50 is connected to the first joint and is used to control the direction and speed of the first joint and adjust the second support component 20 to rotate relative to the first support component 10 about a first axis of the first support component 10 with a first rotational degree of freedom 101.

[0085] The control module 50 is connected to the second joint and is used to control the direction and speed of the second joint and adjust the display 30 to rotate relative to the second support assembly 20 about the second axis of the second support assembly 20 with a second rotational degree of freedom 201.

[0086] In this embodiment, the first joint and the second joint serve as connecting components for the control module 50 to adjust the rotation and / or translation of the display 30. By controlling the direction and speed of the first joint and the second joint by the control module 50, relative movement can be generated between the first support assembly 10, the second support assembly 20, and the display 30, thereby increasing the movement flexibility of the entire system and allowing for precise adjustment of the relative posture between the first support assembly 10, the second support assembly 20, and the display 30.

[0087] In one embodiment, the connection end between the first sub-support member 210 and the first support assembly 10 is provided with a first sub-joint member, and the connection end between the second sub-support member 220 and the first sub-support member 210 is provided with a second sub-joint member.

[0088] The control module 50 is connected to the first sub-joint component and is used to control the direction and speed of the first sub-joint component and adjust the first sub-support component 210 to rotate relative to the first support assembly 10 about the first axis with a first rotational degree of freedom 101.

[0089] The control module 50 is connected to the second sub-joint and is used to control the direction and speed of the second sub-joint and adjust the second sub-support 220 to rotate relative to the first sub-support 210 around the first sub-axis with a third rotational degree of freedom 230.

[0090] In one embodiment, the control module 50 is connected to the second sub-joint member and is used to control the direction and speed of the second sub-joint member and adjust the second sub-support member 220 to translate relative to the first sub-support member 210 along the first sub-axis with a first translational degree of freedom 240.

[0091] In one embodiment, a third joint is provided at the connection end between the third support component 40 and the first support component 10. A fourth joint is provided at the connection end between the third support component 40 and the second support component 20. The control module 50 is connected to the third motion component and is used to control the direction and speed of the third joint, adjusting the third support component 40 to translate relative to the first support component 10 along the first axis with a second translational degree of freedom 401. The control module 50 is also connected to the fourth joint and is used to control the direction and speed of the fourth joint, adjusting the second support component 20 to rotate relative to the third support component 40 around the third axis with a first rotational degree of freedom 101.

[0092] Please see Figure 4 In one embodiment, the display adjustment system 100 further includes:

[0093] Display control component 60, located on display 30, is used to generate display adjustment information in response to user operation commands;

[0094] The control module 50 is connected to the display control component 60 and is used to adjust the second support component 20 to rotate about the first axis with a first rotational degree of freedom 101 relative to the first support component 10, and to adjust the display 30 to rotate about the second axis with a second rotational degree of freedom 201 relative to the second support component 20, according to the display adjustment information.

[0095] In this embodiment, the display control component 60 serves as a user information input device, transmitting user input information to the control module 50 so that the control module 50 can adjust the position of the display 30 in three-dimensional space. Display adjustment information can be understood as the adjustment information generated by the display control component 60 after the user operates it. This information includes the direction and speed of the second support component 20's rotation around the first axis with a first rotational degree of freedom 101, and the direction and speed of the display 30's rotation around the second axis with a second rotational degree of freedom 201. The display control component 60 enables interactivity and adaptability between the user and the display adjustment system 100, achieving personalized control. Users can set their desired adjustment parameters through the display control component 60 to adjust the rotation of the second support component 20 around the first axis with a first rotational degree of freedom 101 and the display 30 around the second axis with a second rotational degree of freedom 201, allowing the display 30 to reach its desired position.

[0096] In one embodiment, the display control component 60 includes a controller cap and a control lever. The controller cap is disposed on the top of the control lever. The control lever is disposed on the display 30, and the controller cap and control lever can be integrally formed. The user can operate the controller cap by rotating, pressing, tilting, etc., to send display adjustment information to the control module 50 connected to the control lever. Then, the control module 50 controls the direction and speed of the first joint, the second joint, the first sub-joint, the second sub-joint, the third joint, and the fourth joint according to the display adjustment information, so as to adjust the relative positions of the first support component 10, the second support component 20 (or the first sub-support component 210, the second sub-support component 220), the third support component 40, and the display 30.

[0097] In one embodiment, the user inputs first information F1 to the display control component 60 by tilting the controller cap. The user inputs second information F2 to the display control component 60 by rotating the controller cap. The first information F1 can be decomposed into first sub-information X1 and second sub-information Y1. The direction and amplitude of the second sub-information Y1 serve as the motion input to the third support component 40. The direction and amplitude of the first sub-information X1 serve as the motion input to the first sub-support 210. The direction and amplitude of the second information F2 serve as the motion input to the second sub-support 220. The third information F3 also includes direction and amplitude, which are opposite to the direction of the second information F2.

[0098] Set the amplitude X from small to large. 01 X 02 ... X N Y 01 Y 02 ... Y N F 01 F 02 ... F N When X1 < X 01 When X... 01 <X1<X 02 At that time, the control module 50 controls the first sub-joint component to move at speed V. 01 The movement, in turn, adjusts the movement of the first sub-support member 210. When X... N <X1<X N+1 At that time, the control module 50 controls the first sub-joint component to move at speed V. NThe movement of the first sub-support 210 is adjusted accordingly. Similarly, by operating the display control component 60, the relative positions of the first support component 10, the second support component 20 (or the first sub-support 210 and the second sub-support 220), the third support component 40, and the display 30 can be adjusted.

[0099] In one embodiment, the display control component 60 can be adjusted according to the number of support components and multiple user information input ports can be set so that the connecting joints between the support components in the display adjustment system 100 can move in the direction and speed set by the user.

[0100] In one embodiment, the display control component 60 may include one or more control components. The control components may include switches and / or joysticks, etc.

[0101] In one embodiment, the display control component 60 is further configured to generate display adjustment information in response to a switch signal sent by the user. The switch signal can be a signal emitted by a wireless remote control. The switch signal controls the movement between various joint components to move them to the user's desired position.

[0102] In one embodiment, the display control component 60 is located on the left or right side of the display 30, which can be configured according to the actual situation.

[0103] Please see Figure 5 In one embodiment, the display adjustment system 100 further includes a hand position sensor 910. The hand position sensor 910 is disposed on the display 30. The hand position sensor 910 is used to detect whether the user's hand is on the display control component 60. The hand position information detected by the hand position sensor 910 is sent to the control module 50. The control module 50 determines whether the user's hand is on the display control component 60 based on the hand position information. If the hand position information indicates that the hand is in place, the display control component 60 generates valid display adjustment information. If the hand position information indicates that the hand is not in place, the display control component 60 generates invalid display adjustment information, which is an adjustment information generated by accidental triggering and does not need to be executed. Therefore, the hand position sensor 910 can prevent the display control component 60 from being accidentally triggered, leading to unexpected movements.

[0104] In one embodiment, the display adjustment system 100 further includes a base 70, a main armrest 80, and an armrest 90. A first support assembly 10 is disposed on the base 70. The armrest 90 is disposed on the base 70. The main armrest 80 is disposed on the first support assembly 10. The first support assembly 10 provides support for a second support assembly 20, a third support assembly 40, and the main armrest 80. The second support assembly 20 and the main armrest 80 can move along a first axis based on the first support assembly 10. The base 70 provides support, sliding, and locking functions for the display adjustment system 100.

[0105] In one embodiment, the control module 50 is disposed within the housing of the display adjustment system 100 and can also be used to provide the display adjustment system 100 with the necessary power supply and other functions.

[0106] Please see Figure 6 This application provides a display adjustment method, applied to the display adjustment system 100 in any of the above embodiments. The display adjustment method includes:

[0107] Step S10: Obtain display adjustment information;

[0108] Step S20: Determine the first rotation information and the second rotation information based on the displayed adjustment information;

[0109] Step S30: Based on the first rotation information, adjust the second support component 20 of the display adjustment system 100 to rotate relative to the first support component 10 about the first axis of the first support component 10 with a first rotational degree of freedom 101.

[0110] Based on the second rotation information, the display 30 of the adjustment display system 100 rotates relative to the second support component 20 about the second axis of the second support component 20 with a second rotational degree of freedom 201.

[0111] In this embodiment, the control module 50 executes steps S10 to S40. The first rotation information and the second rotation information originate from the user's operation commands, as described in the relevant descriptions in the above embodiments. The first rotation information includes the direction and angle of rotation of the second support component 20 relative to the first support component 10 about the first axis of the first support component 10 with a first rotational degree of freedom 101. The second rotation information includes the direction and angle of rotation of the display 30 relative to the second support component 20 about the second axis of the second support component 20 with a second rotational degree of freedom 201. Alternatively, the first rotation information can be understood as the rotation direction and angle of the first joint at the connection end between the first support component 10 and the second support component 20. The second rotation information includes the rotation direction and angle of the second joint at the connection end between the second support component 20 and the display 30.

[0112] Therefore, the display adjustment method provided in this application enables the display 30 to rotate in space with two different degrees of rotational freedom, a first degree of freedom 101 and a second degree of rotational freedom 201. This allows for flexible posture adjustment in a three-dimensional environment, meeting the needs of users with different body types and postures. The display adjustment method also enables coordinated movement between the first support component 10, the second support component 20, and the display 30. This allows for non-linear movement of the display 30, increasing its adjustment range to meet the needs of different users.

[0113] This application provides a surgical robot system, including the display adjustment system 100 in any of the above embodiments.

[0114] In this embodiment, the display adjustment system 100 can function as a doctor's control panel. The surgical robot system also includes equipment such as a video trolley and a surgical trolley. The display adjustment system 100, the video trolley, and the surgical trolley cooperate with each other to achieve precise control of the surgical procedure.

[0115] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0116] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0117] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0118] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0120] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0121] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0122] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0123] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A display adjustment system, characterized by, include: First support component (10); The second support component (20) is connected to the first support component (10); The display (30) is connected to the end of the second support assembly (20) away from the first support assembly (10); The control module (50) is connected to the first support component (10) and the second support component (20); The control module (50) is used to adjust the second support component (20) to rotate about the first axis of the first support component (10) with a first rotational degree of freedom (101); The control module (50) is also used to adjust the display (30) to rotate about the second axis of the second support assembly (20) with a second rotational degree of freedom (201).

2. The display adjustment system of claim 1, wherein, The second support component (20) includes: The first sub-support member (210) is connected to the first support assembly (10), and the control module (50) is connected to the first sub-support member (210); The control module (50) is used to adjust the first sub-support (210) to rotate around the first axis with the first rotational degree of freedom (101).

3. The display adjustment system of claim 2, wherein, The second support component (20) includes: The second sub-support member (220) is connected to the end of the first sub-support member (210) away from the first support assembly (10), and the control module (50) is connected to the second sub-support member (220); The control module (50) is used to adjust the second sub-support (220) to rotate about the first sub-axis of the first sub-support (210) with a third rotational degree of freedom (230).

4. The display adjustment system of claim 2, wherein, The second support component (20) includes: The second sub-support member (220) is connected to the end of the first sub-support member (210) away from the first support assembly (10), and the control module (50) is connected to the second sub-support member (220); The control module (50) is used to adjust the second sub-support (220) to translate along the first sub-axis of the first sub-support (210) with a first translational degree of freedom (240).

5. The display adjustment system of claim 3 or claim 4, wherein, The display (30) is connected to the end of the second sub-support (220) away from the first sub-support (210); The control module (50) is used to adjust the display (30) to rotate about the second sub-axis of the second sub-support (220) with the second rotational degree of freedom (201).

6. The display adjustment system of claim 5, wherein, The display adjustment system also includes: A third support component (40) is provided, with its two ends connected to the first support component (10) and the second support component (20), respectively. The control module (50) is connected to the third support component (40) and is used to adjust the third support component (40) to translate along the first axis with a second translational degree of freedom (401). The control module (50) is used to adjust the second support component (20) to rotate about the third axis of the third support component (40) with the first rotational degree of freedom (101).

7. The display adjustment system of claim 1, wherein, The first support component (10) and the second support component (20) are provided with a first joint at their connection ends, and the second support component (20) and the display (30) are provided with a second joint at their connection ends; The control module (50) is connected to the first joint and is used to control the direction and speed of the first joint and adjust the second support assembly (20) to rotate around the first axis of the first support assembly (10) with a first rotational degree of freedom (101). The control module (50) is connected to the second joint and is used to control the direction and speed of the second joint and adjust the display (30) to rotate around the second axis of the second support assembly (20) with a second rotational degree of freedom (201).

8. The display adjustment system of claim 1, wherein, The display adjustment system also includes: A display control component (60) is disposed on the display (30) and is used to generate display adjustment information in response to user operation commands; The control module (50) is connected to the display control component (60) and is used to adjust the second support component (20) to rotate around the first axis with the first rotational degree of freedom (101) according to the display adjustment information, and to adjust the display (30) to rotate around the second axis with the second rotational degree of freedom (201).

9. A display adjustment method characterized by, The display adjustment method, applied to the display adjustment system as described in any one of claims 1 to 8, comprises: Obtain display adjustment information; Based on the display adjustment information, the first rotation information and the second rotation information are determined; Based on the first rotation information, the second support component (20) of the display adjustment system is adjusted to rotate around the first axis of the first support component (10) with a first rotational degree of freedom (101); Based on the second rotation information, the display (30) of the display adjustment system is adjusted to rotate around the second axis of the second support component (20) with a second rotational degree of freedom (201).

10. A surgical robotic system, characterized by, Includes the display adjustment system as described in any one of claims 1 to 8.

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