An emergency clean operating vehicle and a running stability control method

Abstract

This invention discloses an emergency clean operating vehicle and a driving stability control method, including a vehicle platform frame, an onboard operating room, and onboard stabilization platforms connected to the frame at the four corners of the vehicle's bottom. It is also equipped with a main motion controller, road surface monitoring, and attitude detection sensors. The stabilization platform includes horizontal translation, Z-axis rotation, and vertical lifting components. A reinforcing pad is installed between the frame and the vehicle. A hydraulic tilting power component and a loading tailgate are located at the rear of the frame. The vehicle is equipped with an air conditioning purification system, an operating table, a wearable monitor, a waste disposal compartment, and an onboard generator. During driving, the main motion controller integrates sensor data and uses a PID algorithm to control the stabilization platform for multi-dimensional compensation, keeping the vehicle stable. Emergency surgery can be performed while in motion. The supporting structure enables convenient transport, remote monitoring, and independent power supply, effectively maximizing the golden time for emergency treatment. This system is suitable for pre-hospital emergency scenarios.

Description

Technical Field

[0001] This invention relates to the field of medical emergency vehicle technology, specifically to an emergency clean operating vehicle and a method for controlling driving stability. Background Technology

[0002] In the field of emergency medical rescue, traditional fixed operating rooms have problems such as slow response and geographical limitations in scenarios such as sudden accidents and emergency treatment in remote areas. Therefore, vehicle-mounted mobile operating rooms have become an important piece of equipment for on-site emergency care and pre-hospital surgery.

[0003] Currently, most mobile operating rooms are simple van-type structures, with surgical equipment placed directly inside the vehicle. Their main drawback is that during vehicle travel, road conditions such as bumps, slopes, and turns cause the vehicle to shift horizontally, rotate, tilt, and vibrate vertically, making it impossible to maintain a stable surgical environment. This makes it difficult to perform precise emergency surgery while the vehicle is in motion, and the operation can only be carried out after the vehicle stops, delaying the golden time for emergency treatment.

[0004] To address the stability issue of the carriage, some onboard equipment has attempted to add simple shock absorption or single-axis adjustment structures. However, such structures can only achieve buffering or compensation in a single direction and lack multi-dimensional attitude adjustment capabilities. At the same time, existing equipment does not combine a sensing feedback mechanism that integrates early road surface monitoring with real-time carriage attitude detection. It cannot perform adaptive early compensation and closed-loop correction based on road conditions, resulting in low stability accuracy and failing to meet the high stability requirements of surgical operations.

[0005] In addition, the current domestic pre-hospital emergency care system still has shortcomings such as delayed rescue response, insufficient mobile medical equipment, and a disconnect between pre-hospital and in-hospital care. Furthermore, it lacks the integrated application of top-of-the-line critical care equipment such as 5G high-speed interconnection, AI-assisted treatment, and ECMO, making it difficult to achieve seamless pre-hospital care and fully seize the "golden hour" window of life for critically ill patients. The urban public health emergency rescue system has obvious shortcomings. Summary of the Invention

[0006] This invention provides an emergency clean operating vehicle and a driving stability control method, which can solve the problem that existing emergency operating vehicles can only achieve buffering or compensation in one direction and lack multi-dimensional attitude adjustment capabilities.

[0007] To achieve the above objectives, in a first aspect, the present invention provides the following technical solution: an emergency clean operating vehicle, comprising a vehicle platform frame and a vehicle-mounted operating compartment mounted on the upper side of the vehicle platform frame, wherein a vehicle-mounted stabilization platform connected to the vehicle platform frame is provided at the four corners of the bottom of the vehicle-mounted operating compartment, and further comprising a main motion controller and road surface monitoring and sensing devices and attitude detection sensors bidirectionally connected to the main motion controller, wherein the road surface monitoring and sensing devices include a distance sensor and a road surface smoothness sensor mounted on the bottom of the vehicle platform frame and a wheel speed sensor mounted at the wheel hub, and the attitude detection sensing devices include a frame attitude sensor mounted on the vehicle platform frame, a compartment attitude sensor mounted on the vehicle-mounted operating compartment, and a vehicle-mounted stabilization platform connected to the vehicle platform frame. The surgical cart's four bottom corners are connected to the vehicle platform frame by height sensors. The vehicle-mounted stability platform is communicatively connected to the main motion controller. The vehicle-mounted stability platform includes a horizontal translation component, a Z-axis rotation component, and a vertical lifting component. When the vehicle is moving, the main motion controller controls the vehicle-mounted stability platform to keep the surgical cart stable. By installing a vehicle-mounted stability platform integrating horizontal translation, Z-axis rotation, and vertical lifting components at the four bottom corners of the surgical cart, combined with road monitoring sensors and attitude detection sensors that communicate bidirectionally with the main motion controller, a stability control system is constructed. This achieves high-precision and stable control of the surgical cart in the horizontal, rotational, and vertical dimensions during vehicle movement, enabling emergency surgery to be performed while the vehicle is in motion, thus saving precious emergency time.

[0008] Preferably, both the frame attitude sensor and the carriage attitude sensor include a three-axis gyroscope sensor, a dual-axis tilt sensor, and a three-axis accelerometer sensor. The three-axis gyroscope sensor can accurately collect the angular rate and rotational attitude of the equipment, the dual-axis tilt sensor can detect the lateral and longitudinal tilt angle deviations in real time, and the three-axis accelerometer sensor can capture the acceleration changes of horizontal translation and vertical vibration. The three sensors work together to realize the acquisition of six-degree-of-freedom attitude data of the frame and the surgical carriage.

[0009] Preferably, the horizontal translation component of the vehicle-mounted stabilization platform includes a base and an X-axis servo motor lead screw drive pair mounted on the base. An X-axis platform is mounted on the X-axis servo motor lead screw drive pair, and a Y-axis servo motor lead screw drive pair is mounted on the upper side of the X-axis platform. A Y-axis platform is provided on the Y-axis servo motor lead screw drive pair. The Z-axis rotation component and the vertical lifting component are both mounted on the Y-axis platform. The lead screw drive pair has high transmission accuracy and small backlash, which can effectively compensate for the horizontal deviation of the surgical carriage during vehicle movement.

[0010] Preferably, the Z-axis rotation assembly includes a gear turntable and a rotary drive motor disposed on one side of the gear turntable. The output gear of the rotary drive motor meshes with the gear turntable. The vertical lifting assembly includes multiple electric telescopic cylinders mounted on the gear turntable. The upper end of each electric telescopic cylinder is connected to a support plate, which is connected to the vehicle-mounted surgical carriage. The gear turntable meshes with the output gear of the rotary drive motor for transmission, resulting in a stable transmission ratio and high rotational accuracy. This allows for precise angle compensation of the surgical carriage around the Z-axis, adapting to changes in rotational posture when the vehicle turns. The synchronous extension and retraction of multiple electric telescopic cylinders achieves vertical lifting, and the distributed installation of the electric telescopic cylinders allows for differentiated extension and retraction, completing the tilt angle compensation of the surgical carriage.

[0011] Preferably, the bottom sides of the vehicle-mounted surgical carriage are provided with reinforcing pads, and the vehicle-mounted stabilizing platform is located between the reinforcing pads and the vehicle platform frame. This transforms the point contact between the vehicle-mounted stabilizing platform and the surgical carriage into surface contact between the pads and the carriage, effectively dispersing the pressure of the vehicle-mounted stabilizing platform on the bottom of the surgical carriage. This prevents damage such as dents and cracks from concentrated stress on the bottom of the carriage, and enhances the connection strength and stability between the surgical carriage and the vehicle-mounted stabilizing platform.

[0012] Preferably, a hydraulic tilting power assembly is installed on the rear side of the vehicle platform frame. The hydraulic tilting power assembly is equipped with a loading tailgate that matches the vehicle-mounted surgical compartment. The hydraulic tilting power assembly provides stable lifting and tilting power for the loading tailgate, which solves the problem of difficult transfer of patients and heavy surgical equipment in traditional vehicle-mounted operating rooms. No additional hoisting equipment is required, which improves the transfer efficiency of pre-hospital emergency care.

[0013] Preferably, the vehicle-mounted surgical compartment is equipped with an operating table, on the upper side of which is a wearable monitor connected to a remote transmission module. The wearable monitor can collect vital signs data such as heart rate, blood pressure, and blood oxygen saturation in real time without contact, avoiding the interference of tangled wires from traditional monitoring equipment that could affect surgical procedures. The remote transmission module can transmit the monitoring data to a rear medical center in real time, enabling real-time linkage between pre-hospital emergency care and the rear medical center. Simultaneously, the wearable monitor is equipped with an automatic anesthetic injection needle for remote dynamic control of anesthesia, achieving real-time dynamic monitoring of sedation, analgesia, and muscle relaxation.

[0014] Preferably, the front of the vehicle-mounted surgical carriage is equipped with a detachable waste disposal compartment. The opening of the waste disposal compartment is connected to the interior space of the vehicle-mounted surgical carriage, which allows for the immediate and sealed collection of medical waste generated during the operation, preventing waste from accumulating in the surgical area and compromising the clean environment inside the carriage, thus ensuring the aseptic operation requirements of the operation. At the same time, the waste disposal compartment adopts a detachable design, which can be quickly removed, cleaned and disinfected after the operation, making it easy to reuse. Moreover, the hanging installation does not occupy the surgical operation space inside the carriage.

[0015] Preferably, the vehicle-mounted surgical carriage is equipped with an external generator to provide an independent and stable power supply for all electrical equipment in the entire vehicle-mounted surgical carriage, including surgical equipment, stability control system, lighting, clean air conditioning, etc. This eliminates the dependence on the vehicle's own power supply and avoids power outages caused by vehicle shutdown or power failure, ensuring the continuous conduct of the surgical procedure.

[0016] In a second aspect, the invention also provides a method for controlling the driving stability of an emergency clean operating vehicle according to the first aspect, comprising the following steps: S1. System Initialization: The main motion controller controls the vehicle-mounted stabilization platform to reset to the mechanical zero position. The frame attitude sensor, the carriage attitude sensor, and the carriage height sensor collect the initial attitude data of the vehicle-mounted surgical carriage. The main motion controller sets this initial attitude as the surgical reference zero position and completes the system calibration. S2. Road Condition and Attitude Data Acquisition: During vehicle operation, the road surface monitoring and sensing equipment collects real-time data on the slope, potholes, bumps, and vehicle speed of the road ahead and the current road surface, and transmits it to the main motion controller; at the same time, the attitude detection sensing equipment collects real-time dynamic attitude data of the vehicle platform frame and attitude deviation data of the on-board surgical carriage relative to the surgical reference zero position, and transmits it to the main motion controller. S3. Attitude Deviation Calculation and Compensation Command Generation: Based on the collected road surface data and attitude deviation data, the main motion controller calculates the compensation amount of the vehicle-mounted surgical carriage in the horizontal direction of the X / Y axis, the rotation direction around the Z axis, and the vertical height direction, and generates the corresponding vehicle-mounted stability platform action commands. S4. Multi-dimensional stability adjustment: The main motion controller sends motion commands to the vehicle-mounted stability platform, controls the horizontal translation component to complete X / Y axis horizontal translation compensation, the rotation component around the Z axis to complete rotation angle compensation, and the vertical lifting component to complete vertical height and tilt angle compensation, so that the vehicle-mounted surgical carriage is restored to the surgical reference zero position. S5. Closed-loop feedback correction: The actuators of the vehicle-mounted stability platform feed back the actual motion data to the main motion controller. At the same time, the attitude detection sensor collects the actual attitude data of the compensated vehicle-mounted surgical carriage and sends it back. The main motion controller compares the actual attitude with the surgical reference zero position. If there is a deviation, it recalculates the compensation amount and issues a correction command until the deviation is within the allowable range of the surgery. S6. Emergency Handling: The main motion controller monitors the operating status of the sensing devices and the vehicle-mounted stability platform in real time. If a device malfunction occurs or the attitude deviation exceeds the safety threshold, an alarm is immediately triggered and the vehicle-mounted stability platform is controlled to lock the current attitude to ensure the safety of the surgical operation.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This solution addresses the pain points of traditional mobile operating rooms, such as the inability to perform surgery while on the move and inadequate supporting facilities, offering significant comprehensive benefits. Specifically, it incorporates a closed-loop stability control system that, through road monitoring, attitude detection, and the coordinated efforts of a three-degree-of-freedom onboard stability platform, precisely compensates for horizontal, rotational, and vertical attitude deviations within the vehicle, enabling emergency surgery to be performed while in motion and effectively securing crucial emergency time. Reinforced floor panels distribute stress, enhancing equipment connection strength and load-bearing stability, preventing structural damage. Wearable monitors paired with remote transmission modules wirelessly collect patient vital signs and support remote consultations, compensating for insufficient onboard medical resources and improving surgical success rates. The overall design is integrated and modular, with all modules working collaboratively to adapt to various pre-hospital emergency scenarios, significantly improving the overall level of pre-hospital emergency care and demonstrating high practicality and widespread application value. Attached Figure Description

[0018] Figure 1 This is a first-view perspective three-dimensional structural diagram of the present invention; Figure 2 This is a second-view perspective three-dimensional structural diagram of the present invention; Figure 3 This is a front sectional view of the present invention; Figure 4 This is a structural diagram of the vehicle platform frame of the present invention; Figure 5 A structural diagram showing the addition of reinforcing pads to the vehicle platform frame of the present invention; Figure 6 This is a detailed structural diagram of the vehicle-mounted stability platform of the present invention; Figure 7 This is a schematic diagram of the control module of the present invention; Figure 8 This is a perspective view of the internal structure of the present invention; Figure 9 This is a top view of the internal structure of the present invention.

[0019] Figure label: 1. Vehicle platform frame; 2. Vehicle-mounted surgical carriage; 20. Surgical light; 21. Constant temperature storage chamber; 22. Extracorporeal circulation cardiopulmonary resuscitation machine; 23. Nurse's work pendant; 24. Sterilized operating table; 25. Anesthesia machine; 26. Wall-mounted automated storage system; 27. Environmental parameter monitoring and automated system control panel; 28. Surgical system display screen; 29. ​​Anesthesia work pendant; 3. Air conditioning and purification system; 31. Sterile operating area; 32. Cleaning preparation area; 4. Loading tailgate; 5. Hydraulic tilting power assembly; 6. Vehicle-mounted stabilization platform; 61. Base; 62. X-axis servo motor lead screw drive pair; 63. X-axis platform; 64. Gear turntable; 65. Electric telescopic cylinder; 66. Support plate; 67. Rotary drive motor; 68. Y-axis platform; 69. Y-axis... 7. Servo motor lead screw drive pair; 8. Reinforcing pad; 9. Vehicle-mounted generator; 10. Waste disposal compartment; 11. Operating table; 12. Wearable monitor. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] like Figure 1-9 As shown, this invention provides a technical solution to address the problem that existing emergency surgical vehicles can only achieve buffering or compensation in a single direction and lack multi-dimensional attitude adjustment capabilities: An emergency clean surgical vehicle includes a vehicle platform frame 1 and a vehicle-mounted surgical compartment 2 installed on the upper side of the vehicle platform frame 1. The vehicle-mounted surgical compartment 2 has a vehicle-mounted stabilization platform 6 connected to the vehicle platform frame 1 at its four bottom corners. It also includes a main motion controller and road surface monitoring and sensing devices and attitude detection sensors bidirectionally connected to the main motion controller. The road surface monitoring and sensing devices include a distance sensor and a road surface smoothness sensor installed at the bottom of the vehicle platform frame 1, and a wheel speed sensor installed at the wheel hub. The attitude detection sensors include a frame attitude sensor installed on the vehicle platform frame 1 and a vehicle-mounted stabilization platform 6 installed on the vehicle platform frame 1. The surgical carriage 2 is equipped with a carriage attitude sensor and a carriage height sensor installed at the four corners of the bottom of the surgical carriage 2 between the carriage and the vehicle platform frame 1. The vehicle-mounted stability platform 6 is communicatively connected to the main motion controller. The vehicle-mounted stability platform 6 includes a horizontal translation component, a Z-axis rotation component, and a vertical lifting component. When the vehicle is moving, the main motion controller controls the vehicle-mounted stability platform 6 to keep the surgical carriage 2 stable. By setting the vehicle-mounted stability platform with integrated horizontal translation, Z-axis rotation, and vertical lifting components at the four corners of the bottom of the surgical carriage, combined with road monitoring and attitude detection sensors that communicate bidirectionally with the main motion controller, a stability control system is constructed. This system enables high-precision and stable control of the surgical carriage in the horizontal, rotational, and vertical dimensions during vehicle movement, allowing for emergency surgery to be performed while the vehicle is in motion, thus saving precious emergency time.

[0022] Specifically, the vehicle-mounted surgical carriage 2 is a sealed clean carriage. At each of its four bottom corners, a set of vehicle-mounted stabilization platforms 6 is installed between the platform and the vehicle platform frame 1. The lower end of the stabilization platform 6 is welded to the vehicle platform frame 1, and the upper end is bolted to the bottom of the vehicle-mounted surgical carriage 2. A laser rangefinder and a road surface smoothness sensor are installed between the front and rear axles at the bottom of the vehicle platform frame 1. A wheel speed sensor is installed at the hub of each of the four wheels, forming a road surface monitoring sensing device. A frame attitude sensor is installed at each of the four corners of the vehicle platform frame 1, a carriage attitude sensor is installed at the geometric center of the vehicle-mounted surgical carriage 2, and a carriage height sensor is installed at the connection points between the bottom corners of the vehicle-mounted surgical carriage 2 and the stabilization platform 6, forming an attitude detection sensing device. The main motion controller is installed in the control box of the vehicle platform frame 1 and communicates bidirectionally with all the above-mentioned sensing devices via an industrial CAN bus, and is connected to the four sets of stabilization platforms 6 via a motion control bus.

[0023] In this embodiment, both the frame attitude sensor and the carriage attitude sensor include a three-axis gyroscope sensor, a dual-axis tilt sensor, and a three-axis accelerometer sensor. The three-axis gyroscope sensor can accurately acquire the angular rate and rotational attitude of the equipment, the dual-axis tilt sensor can detect lateral and longitudinal tilt deviations in real time, and the three-axis accelerometer sensor can capture acceleration changes in horizontal translation and vertical vibration. The three sensors work together to acquire six-degree-of-freedom attitude data of the frame and surgical carriage, providing a precise and comprehensive data source for the deviation calculation of the main motion controller, avoiding the detection blind spots of a single sensor, and improving the accuracy and reliability of attitude detection. Specifically, the three-axis gyroscope sensor, dual-axis tilt sensor, and three-axis accelerometer sensor all adopt an integrated packaging structure. The data acquired by the three sensors are mutually verified and supplemented. The main motion controller calculates the compensation amount based on the fused accurate data, avoiding detection errors caused by road interference from a single sensor.

[0024] In this embodiment, the horizontal translation component of the vehicle-mounted stability platform 6 includes a base 61 and an X-axis servo motor lead screw drive pair 62 mounted on the base 61. An X-axis platform 63 is mounted on the X-axis servo motor lead screw drive pair 62, and a Y-axis servo motor lead screw drive pair 69 is mounted on the upper side of the X-axis platform 63. A Y-axis platform 68 is provided on the Y-axis servo motor lead screw drive pair 69. The Z-axis rotation component and the vertical lifting component are both mounted on the Y-axis platform 68. The lead screw drive pair has high transmission accuracy and small backlash, effectively compensating for the horizontal offset of the surgical carriage during vehicle movement. Furthermore, the X-axis platform provides the mounting foundation for the Y-axis platform, ensuring the stability and synchronization of horizontal translation and meeting the micro-displacement compensation requirements of the surgical carriage in the horizontal direction. The base 61 is fixed to the vehicle platform frame 1 by bolts, and the X-axis servo motor lead screw drive pair 62 is mounted on the base 61 along the X-axis direction. This drive pair includes an X-axis servo motor, An X-axis ball screw and an X-axis linear guide are provided. The X-axis ball screw is connected to the output shaft of the X-axis servo motor. An X-axis platform 63 is mounted on the X-axis ball screw and the X-axis linear guide. A Y-axis servo motor screw drive pair 69 is mounted on the upper side of the X-axis platform 63 along the Y-axis direction perpendicular to the X-axis. Its structure is the same as that of the X-axis servo motor screw drive pair 62. A Y-axis platform 68 is mounted on the ball screw and linear guide of the Y-axis servo motor screw drive pair 69. A Z-axis rotation assembly and a vertical lifting assembly are also provided. The lowering components are all installed on the upper side of the Y-axis platform 68. When the car is moving, the surgical carriage will have a horizontal deviation of 8mm on the X-axis and 6mm on the Y-axis due to road bumps. The main motion controller will issue a command, and the X-axis servo motor will drive the X-axis ball screw to rotate, which will cause the X-axis platform 63 to move 8mm in the opposite direction along the X-axis linear guide. At the same time, the Y-axis servo motor will drive the Y-axis ball screw to rotate, which will cause the Y-axis platform 68 to move 6mm in the opposite direction along the Y-axis linear guide, thus completing the horizontal deviation compensation.

[0025] In this embodiment, the Z-axis rotation assembly includes a gear turntable 64 and a rotary drive motor 67 disposed on one side of the gear turntable 64. The output gear of the rotary drive motor 67 meshes with the gear turntable 64. The vertical lifting assembly includes multiple electric telescopic cylinders 65 mounted on the gear turntable 64. The upper ends of the electric telescopic cylinders 65 are connected to a support plate 66, which is connected to the vehicle-mounted surgical carriage 2. The gear turntable meshes with the output gear of the rotary drive motor for transmission, resulting in a stable transmission ratio and high rotational accuracy. This allows for precise angle compensation of the surgical carriage around the Z-axis, adapting to the rotational posture when the vehicle is turning. The vertical lifting mechanism utilizes multiple electric telescopic cylinders that extend and retract synchronously to achieve vertical lifting. The distributed installation of these cylinders allows for differentiated extension and retraction, compensating for the tilt angle of the surgical carriage. Specifically, a rotary drive motor 67 is mounted on one side of the Y-axis platform 68 via a bracket. A pinion gear is mounted on the output shaft of the rotary drive motor 67, meshing with the external gear ring of the gear turntable 64. The vertical lifting assembly includes three electric telescopic cylinders 65 evenly installed on the upper side of the gear turntable 64. These three cylinders are arranged in an equilateral triangle, with a circular support plate 66 connected to their upper ends. The upper side of the support plate 66 is bolted to the bottom of the vehicle-mounted surgical carriage 2. When the car turns, causing the surgical carriage to rotate 1.2° around the Z-axis, the rotary drive motor 67 rotates in the opposite direction, driving the gear turntable 64 to rotate in the opposite direction by 1.2° via a pinion, thus completing rotational compensation. When the car travels on a transverse slope, causing the left side of the surgical carriage to be lower than the right side, the main motion controller controls the two electric telescopic cylinders 65 on the left to extend by 8.5mm and the one electric telescopic cylinder 65 on the right to retract by 8.5mm. Through differentiated extension and retraction, the support plate 66 is kept horizontal, thereby driving the surgical carriage to return to a horizontal posture.

[0026] In this embodiment, reinforcing pads 7 are provided on both sides of the bottom of the vehicle-mounted surgical carriage 2. The vehicle-mounted stabilizing platform 6 is located between the reinforcing pads 7 and the vehicle platform frame 1, transforming the point contact between the vehicle-mounted stabilizing platform and the surgical carriage into surface contact between the pads and the carriage. This effectively disperses the pressure of the vehicle-mounted stabilizing platform on the bottom of the surgical carriage, preventing damage such as dents and cracks caused by concentrated stress on the bottom of the carriage, and enhancing the connection strength and stability between the surgical carriage and the vehicle-mounted stabilizing platform. Specifically, a rectangular reinforcing pad 7 is welded and fixed on each of the left and right sides of the bottom of the vehicle-mounted surgical carriage 2. The reinforcing pad 7 is made of stainless steel plate with a thickness of 20mm, and its length is the same as the bottom length of the vehicle-mounted surgical carriage 2, with a width of 300mm. The support plates 66 of the four sets of vehicle-mounted stabilizing platforms 6 are respectively bolted to the lower side of two reinforcing pads 7. Each reinforcing pad 7 corresponds to two sets of vehicle-mounted stabilizing platforms 6, and reinforcing ribs are provided at the connection points. The reinforcing pad 7 evenly distributes the supporting force of the vehicle-mounted stabilizing platform 6 to the bottom frame of the surgical carriage 2, avoiding local stress concentration caused by the direct connection between the support plate 66 and the bottom plate of the carriage. When surgical equipment with a total weight of 500kg is loaded in the surgical carriage, there is no obvious deformation at the bottom of the carriage and no loosening at the connection points.

[0027] In addition, such as Figure 8-9 As shown, to enable high-quality and complex surgical procedures to be performed within the mobile surgical vehicle 2, the mobile surgical vehicle 2 is divided into a sterile surgical area 31 and a cleaning preparation area 32. The cleaning preparation area 32 and the sterile surgical area 31 are separated by a sterile roller shutter door. The cleaning preparation area 32 is located near the rear of the vehicle. A surgical light 20 is installed on the top of the operating table 11 inside the sterile surgical area 31. An automated wall-mounted storage system 26 is installed on both side walls inside the sterile surgical area 31. An anesthesia machine 25 and an extracorporeal circulation cardiopulmonary resuscitation machine 22 are respectively installed on both sides inside the sterile surgical area 31. The top of the interior of the sterile operating area 31 is also equipped with an anesthesia work tower 29 and a nurse work tower 23. The front of the interior of the sterile operating area 31 is also equipped with a surgical system display screen 28 and an environmental parameter monitoring and automation system control screen 27. The sterile operating area 31 is equipped with a constant temperature storage chamber 21. The clean preparation area 32 is equipped with a sterilization operating table 24, a changing room, changing stools and sterile wardrobes. The constant temperature storage chamber 21 can keep medicines and biological consumables at a constant temperature to ensure efficacy. The sterilization operating table 24 and changing room in the clean preparation area 32 complete the preoperative instrument sterilization and medical staff changing, forming a complete sterile surgical procedure that meets the hospital infection control standards.

[0028] The carriage is divided into a sterile operating area 31 and a clean preparation area 32, physically separated by a sterile roller shutter door 33. This strictly adheres to operating room cleanliness standards, preventing cross-contamination between the clean and sterile areas and meeting the sterile operation requirements for complex and precise emergency surgeries. The clean preparation area 32 is located at the rear of the carriage, facilitating a more efficient workflow for medical staff changing clothes and preparing for surgery. A surgical light 20 is installed directly above the operating table 11, providing shadowless, high-brightness illumination for a clear surgical field of view. A dual-sided wall-mounted automated storage system 26 can categorize and store surgical instruments, saving carriage space and providing convenient access, thus improving surgical efficiency. Anesthesia machines 25 and extracorporeal circulation cardiopulmonary resuscitation machines 22 are located on both sides, covering major emergency functions such as anesthesia, circulatory support, and cardiopulmonary resuscitation, enabling complex and critical surgeries. Anesthesia work towers 29 and nurse work towers 23 integrate gas, power, and piping, with a centralized and uncluttered layout ensuring a safe and organized surgical space. The surgical system display screen 28 displays surgical images and monitoring data in real time. The environmental parameter monitoring and automation system control screen 27 can monitor and adjust the temperature, humidity, cleanliness, and stability parameters of the compartment in real time to achieve intelligent surgical management.

[0029] Specifically, within the sterile operating area 31, an embedded LED shadowless surgical light 20 is installed in the center of the top of the operating table 11; wall-mounted automated storage systems 26 are installed on the left and right side walls of the compartment, with the left side storing suture and debridement instruments and the right side storing emergency supplies; an anesthesia machine 25 is fixed on the left side and an extracorporeal circulation cardiopulmonary resuscitation machine 22 is installed on the right side; an anesthesia working tower 29 and a nurse working tower 23 are centrally located on the top, integrating anesthesia gas interface, power socket, and negative pressure suction tubing, respectively; a surgical system display screen 28 and an environmental parameter monitoring and automation system control screen 27 are embedded in the front side wall, and a constant temperature storage cavity 21 is provided in the corner for refrigerating emergency medicines.

[0030] A separate changing room is set up in the cleaning preparation area 32, equipped with changing benches and sterile wardrobes. A stainless steel sterilization operating table 24 is installed adjacent to it for preoperative instrument wiping and sterilization. Medical staff first change clothes and sterilize instruments in the cleaning preparation area 32, then open the sterile roller shutter door to enter the sterile operating area 31. The environment of the compartment is regulated by the environmental parameter monitoring and automated system control panel 27. The surgical lights 20 are automatically turned on, and the anesthesia working tower 29 and nurse working tower 23 provide gas and electricity support. The wall-mounted automated storage system 26 allows for quick access to instruments, enabling the smooth performance of high-difficulty surgeries such as laparotomy and cardiopulmonary resuscitation, while maintaining a sterile environment throughout the entire process.

[0031] In this embodiment, a hydraulic tilting power assembly 5 is installed on the rear side of the vehicle platform frame 1. The hydraulic tilting power assembly 5 is equipped with a loading tailboard 4 that matches the vehicle-mounted surgical compartment 2. The hydraulic tilting power assembly provides stable lifting and tilting power for the loading tailboard, solving the problem of difficult patient and heavy surgical equipment transfer in traditional vehicle-mounted operating rooms. No additional hoisting equipment is required, improving the transfer efficiency of pre-hospital emergency care. The hydraulic tilting power assembly 5 includes a hydraulic pump, a hydraulic cylinder, and a hydraulic control system. The output end of the hydraulic cylinder is hinged to the lower side of the loading tailboard 4. When it is necessary to transfer a patient, the hydraulic control system controls the hydraulic cylinder to extend, causing the loading tailboard 4 to tilt downwards to be level with the ground. The stretcher is pushed onto the loading tailboard 4, and then the hydraulic cylinder is controlled to retract, causing the loading tailboard 4 to tilt upwards to be level with the internal ground of the vehicle-mounted surgical compartment 2. The door can then be opened to push the patient onto the operating table 11. The entire transfer process does not require manual lifting, making it convenient to operate. The maximum load capacity of the loading tailboard can reach 300 kg.

[0032] In this embodiment, the interior of the vehicle-mounted surgical compartment 2 is equipped with an operating table 11. A wearable monitor 12 is installed on the upper side of the operating table 11. The wearable monitor 12 is connected to a remote transmission module. The wearable monitor can collect vital signs data such as heart rate, blood pressure, and blood oxygen saturation of the patient in real time without contact, avoiding the interference of wires from traditional monitoring equipment that would affect the surgical operation. The remote transmission module can transmit the monitoring data to the rear medical center in real time, realizing real-time linkage between pre-hospital emergency care and the rear medical center. Specifically, one wearable monitor 12 is installed at the head, chest, and wrist of the operating table 11 inside the vehicle-mounted surgical compartment 2. The wearable monitor 12 adopts a wireless patch design and has built-in heart rate, blood pressure, and blood oxygen monitoring sensors. A remote transmission module is installed on one side of the operating table 11. This module includes a 5G communication unit and a data processing unit, and communicates wirelessly with the wearable monitor 12 via Bluetooth. During the surgery, the wearable monitor 12 collects the patient's vital signs data in real time and transmits it to the remote transmission module via Bluetooth. After the data processing unit organizes the data, it is transmitted to the hospital's remote monitoring platform in real time via the 5G communication unit. Doctors at the hospital can view the changes in the patient's vital signs on the platform and conduct real-time consultations with the surgeons on the vehicle via voice communication to guide the surgical operation. Moreover, the wireless transmission method is free from wire interference and does not affect the normal conduct of the surgical operation.

[0033] Meanwhile, the wearable monitor 12 is equipped with an automated injection needle for remote dynamic control of anesthesia, enabling real-time dynamic monitoring of sedation, analgesia, and muscle relaxation. Through real-time multi-parameter control, it constructs the data management functions required for an intelligent anesthesia system. Based on a target-controlled infusion (TCI) pharmacokinetic model, and referencing the circulatory system, it achieves closed-loop target-controlled intelligent drug delivery for sedation, analgesia, and muscle relaxation. This provides a scientific basis for developing personalized anesthesia plans for surgical patients, enabling full-process management of the perianesthesia period; and simultaneously identifies early signs of anesthetic crises and provides warning information.

[0034] Specifically, the integrated wearable monitor 12 is applied to the upper arms and wrists of the surgical patient. The monitor shell is made of medical-grade flexible silicone and integrates a minimally invasive automatic injection anesthesia needle assembly, a multi-parameter physiological monitoring module, a data processing chip, and a 5G wireless communication module. The automatic injection anesthesia needle assembly is divided into three groups of micro drug reservoirs for sedation, analgesia, and muscle relaxation, and an electrically controlled injection needle. The needle has a hidden, minimally invasive, and painless structure that automatically extends only when the drug is administered.

[0035] The wearable monitor 12 communicates bidirectionally with the surgical system display screen 28, the environmental parameter monitoring and automation system control screen 27 via a 5G remote transmission module. It also connects to the anesthesia work tower 29 and the anesthesia machine 25. The device has a built-in target-controlled infusion (TCI) pharmacokinetics and pharmacodynamics combined model and accesses the patient's circulatory system monitoring data.

[0036] Before the operation, medical staff input the patient's age, weight, type of surgery, and basic medical history into the environmental parameter monitoring and automated system control screen 27. The system automatically generates a personalized initial anesthesia plan and sets parameters such as sedation target control BIS value of 40-60, muscle relaxation target control value, and analgesia blood pressure threshold.

[0037] During the operation, while the device is in motion, the wearable monitor 12 collects the patient's bispectral index (BIS), muscle relaxation value, heart rate, blood pressure, blood oxygen, respiratory rate and other core anesthesia parameters in real time, and transmits them synchronously to the vehicle control terminal and the remote anesthesia workstation at the hospital. The control terminal, based on the TCI model and pharmacodynamic algorithm, compares the real-time monitoring values ​​with the target control values ​​and automatically drives the corresponding anesthetic needle for precise closed-loop drug delivery: propofol is automatically injected when sedation is insufficient, sufentanil is injected when analgesia is insufficient, and rocuronium bromide is injected when muscle relaxation is insufficient. The drug delivery rate and dosage are dynamically adjusted in real time.

[0038] Anesthesiologists at the rear can remotely and dynamically intervene through the remote transmission module, directly adjusting drug administration parameters or triggering manual injection commands to achieve coordination between pre-hospital and in-hospital anesthesia. When early signs of anesthesia crisis such as sudden drop in blood pressure, respiratory depression, or BIS abnormalities are detected, the wearable monitor 12 and the control screen in the carriage immediately issue audible and visual warnings, and simultaneously push warning information to the driver's cab and the remote terminal to remind medical staff to take rapid action.

[0039] In this embodiment, a detachable waste disposal compartment 10 is mounted on the front of the vehicle-mounted surgical carriage 2. The opening of the waste disposal compartment 10 is connected to the interior space of the vehicle-mounted surgical carriage 2, allowing for immediate and sealed collection of medical waste generated during surgery. This prevents waste from accumulating in the surgical area and compromising the cleanliness of the carriage, ensuring the aseptic operation requirements of the surgery. Furthermore, the waste disposal compartment is detachable, allowing for quick removal, cleaning, and disinfection after surgery, facilitating reuse. The mounted installation also does not occupy space. The surgical operating space inside the vehicle is specifically designed with hooks and slots on the front outer wall of the vehicle-mounted surgical compartment 2. The waste disposal chamber 10 is a sealed stainless steel chamber with hooks and latches on its outer side that match the hooks and slots. The waste disposal chamber 10 is detachably connected to the vehicle-mounted surgical compartment 2 through the cooperation of the hooks and latches and the latches and slots. The inner side of the waste disposal chamber 10 has an opening that connects to a pre-reserved through hole on the front of the vehicle-mounted surgical compartment 2, and a flip-up sealing baffle is installed at the through hole. During the operation, medical staff can put surgical gauze, waste fluid containers, and other medical waste into the waste disposal chamber 10 through the through hole. The sealing baffle prevents odors and bacteria from spreading into the compartment, ensuring the cleanliness of the compartment. After the operation, the waste disposal chamber 10 is removed from the hooks and slots, the waste inside is centrally processed, and the waste disposal chamber 10 is then sterilized at high temperature for future use.

[0040] In this embodiment, an on-board generator 9 is installed on the outside of the vehicle-mounted surgical carriage 2, providing an independent and stable power supply for all electrical equipment in the entire vehicle-mounted surgical carriage, such as surgical equipment, stability control system, lighting, and clean air conditioning. This eliminates the dependence on the vehicle's own power supply and avoids power outages caused by vehicle shutdown or power failure, ensuring the continuous conduct of the surgical procedure. At the same time, the on-board generator is installed outside the carriage, which can effectively reduce the impact of noise and vibration from generator operation on the surgical procedures inside the carriage.

[0041] In addition, an air conditioning purification system 3 can be installed on the top of the vehicle-mounted surgical compartment 2 to ensure that the air inside the vehicle-mounted surgical compartment 2 is exchanged with the outside air, and at the same time purify the air entering the vehicle-mounted surgical compartment 2.

[0042] As one specific usage process in this embodiment: The emergency clean surgery vehicle in this embodiment can be configured as a 5G mobile intelligent emergency resuscitation vehicle. It is built on the current diesel hybrid chassis and integrates 5G, AI and top-of-the-line medical equipment. It can perform critical care emergency surgery while on the move and achieve seamless treatment.

[0043] Step 1: Preoperative preparation 1. Start the vehicle-mounted generator 9 to power the entire system, including the stability control system, surgical equipment, lighting, and clean air conditioning. The generator operates at a noise level of ≤65 decibels and there is no significant vibration transmitted to the passenger compartment. 2. The main motion controller performs a power-on self-test, controls the four sets of vehicle-mounted stabilization platforms 6 to reset to the mechanical zero position, and the attitude detection sensor collects the initial attitude of the surgical carriage. The main motion controller sets it as the surgical reference zero position to complete the system calibration. 3. Open the rear door of the vehicle-mounted surgical carriage 2. The hydraulic tilting power unit 5 drives the loading tail plate 4 to tilt to the ground level, and transfer the patient into the carriage. The loading tail plate has a maximum load capacity of 500kg and does not require additional lifting equipment. 4. Apply the wearable monitor 12 to the patient's head, chest, and wrist, turn on the 5G remote transmission module, establish real-time communication with the medical center, and realize remote transmission of the patient's vital signs data and remote consultation.

[0044] Step 2: Surgical procedure while in motion The car starts and heads towards the emergency destination. During the journey, the road monitoring sensor collects road data from 5-8 meters ahead at a frequency of 50Hz, and the attitude detection sensor collects vehicle frame and cabin attitude data at a frequency of 100Hz. The main motion controller performs weighted fusion and PID compensation calculation on the multi-source data and sends commands to the on-board stability platform 6 to achieve multi-dimensional adaptive stability control. The following are the specific control processes for two typical actual working conditions: Operating Condition 1: Auxiliary Road in Urban Mountainous Area 1. Data Acquisition: The road surface sensor collects the left-right height difference of the road surface (157mm) and the Y-axis concavity / convexity (15.2mm); the attitude sensor collects the lateral tilt angle of the vehicle frame / cargo box (4.98°-5.02°) and the Y-axis translation (14.9mm-15.1mm). 2. Simple calculation of the main motion controller: Lateral tilt angle fusion value 5.0°, Y-axis translation fusion value 15.0mm; tilt angle converted to height compensation difference 157.1mm, PID calculation shows that the left electric telescopic cylinder extends 157.1mm, the right cylinder retracts 157.1mm, and the Y-axis negative translation is 15.0mm; 3. Compensation execution: The vertical lifting component of the vehicle-mounted stability platform 6 exhibits differentiated telescopic movement, the Y-axis translation component moves, while the rotation component remains stationary; 4. Closed-loop feedback: After compensation, the lateral tilt angle of the carriage is 0.08° and the Y-axis translation is 0.9mm, both within the allowable threshold for surgery, requiring no additional correction.

[0045] Working Condition 2: Rural Cement Roads 1. Data Acquisition: The road surface sensor collects the pothole depth of 20.1mm, the X-axis concavity / convexity of 12.2mm, and the rotation angle of 3.03°; the attitude sensor collects the Z-axis sinking of the vehicle frame or carriage of 19.9mm-20.0mm, the rotation of 2.97°-2.98°, and the X-axis translation of 11.9mm-12.1mm. 2. Simple calculations of the main motion controller: Z-axis downward fusion value 20.0mm, rotational fusion value 3.0°, X-axis translational fusion value 12.0mm; PID calculations show that the right electric telescopic cylinder extends by 20.0mm, rotates 3.0° around the negative Z-axis, and translates 12.0mm around the positive X-axis. 3. Compensation execution: The vertical lifting component, rotation component, and X-axis translation component of the vehicle-mounted stability platform 6 perform synchronous composite actions without any action lag or coupling interference; 4. Closed-loop feedback: After compensation, the Z-axis of the carriage sinks by 0.8mm, rotates by 0.07°, and translates by 0.7mm, all within the allowable threshold for surgery, requiring no additional correction.

[0046] Meanwhile, the wearable monitor 12 collects vital signs data such as the patient's heart rate, blood pressure, and blood oxygen in real time and sends them to the medical center at the rear via a 5G remote transmission module. Doctors at the rear can conduct real-time consultations and guide the surgical procedure. Medical waste generated during the operation is placed into the detachable waste disposal chamber 10 through the carriage opening. A sealed baffle prevents the spread of odors / bacteria and ensures the cleanliness of the carriage.

[0047] Step 3: Emergency Response During the journey, the main motion controller monitors the operating status of the sensing equipment and the vehicle-mounted stability platform (6) in real time. If a sensor failure occurs, data acquisition is interrupted, or the carriage attitude deviation exceeds the safety threshold, the vehicle-mounted stability platform 6 will be controlled to lock the current attitude to prevent sudden changes in carriage attitude from causing surgical risks. Medical staff can take emergency measures based on the alarm information, such as suspending high-precision operations and checking equipment.

[0048] Step 4: Postoperative care 1. After the surgery, the car continued to drive to the hospital. The main motion controller controlled the four sets of vehicle-mounted stabilization platforms 6 to complete the rotation, translation, and lifting actions in sequence, and reset to the mechanical zero position. 2. Reactivate the hydraulic tipping power unit 5 and use the loading tailgate 4 to smoothly transfer the patient to the hospital; 3. Disassemble the waste treatment compartment 10 at the front of the carriage, centrally treat the medical waste inside the compartment to render it harmless, and then sterilize the waste treatment compartment 10 under high temperature and high pressure. 4. Turn off the on-board generator 9, thoroughly disinfect the interior of the on-board surgical compartment 2, check the stability control system and the status of the surgical equipment, and complete the entire process of this emergency surgery.

[0049] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0050] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

Claims

1. An emergency clean operating vehicle, comprising a vehicle platform frame (1) and a vehicle-mounted operating compartment (2) mounted on the upper side of the vehicle platform frame (1), characterized in that, The vehicle-mounted surgical carriage (2) is provided with a vehicle-mounted stability platform (6) connected to the vehicle platform frame (1) at the four corners of its bottom. It also includes a main motion controller and road monitoring and attitude detection sensors that are bidirectionally connected to the main motion controller. The road monitoring and sensing devices include a distance sensor and a road surface smoothness sensor installed at the bottom of the vehicle platform frame (1) and a wheel speed sensor installed at the wheel hub. The attitude detection sensors include a frame attitude sensor installed on the vehicle platform frame (1), a carriage attitude sensor installed on the vehicle-mounted surgical carriage (2), and a carriage height sensor installed between the four corners of the bottom of the vehicle-mounted surgical carriage (2) and the vehicle platform frame (1). The vehicle-mounted stability platform (6) is communicatively connected to the main motion controller. The vehicle-mounted stability platform (6) includes a horizontal translation component, a Z-axis rotation component, and a vertical lifting component. When the vehicle is in motion, the main motion controller controls the vehicle-mounted stability platform (6) to keep the vehicle-mounted surgical carriage (2) stable.

2. The emergency clean operating vehicle according to claim 1, characterized in that: The aforementioned vehicle frame attitude sensor and vehicle body attitude sensor both include a three-axis gyroscope sensor, a two-axis tilt sensor, and a three-axis accelerometer sensor.

3. The emergency clean operating vehicle according to claim 1, characterized in that: The horizontal translation component of the vehicle-mounted stability platform (6) includes a base (61) and an X-axis servo motor lead screw drive pair (62) mounted on the base (61). An X-axis platform (63) is mounted on the X-axis servo motor lead screw drive pair (62). A Y-axis servo motor lead screw drive pair (69) is mounted on the upper side of the X-axis platform (63). A Y-axis platform (68) is provided on the Y-axis servo motor lead screw drive pair (69). The Z-axis rotation component and the vertical lifting component are both mounted on the Y-axis platform (68).

4. The emergency clean operating vehicle according to claim 3, characterized in that: The Z-axis rotation assembly includes a gear turntable (64) and a rotary drive motor (67) disposed on one side of the gear turntable (64). The output gear of the rotary drive motor (67) meshes with the gear turntable (64). The vertical lifting assembly includes multiple electric telescopic cylinders (65) mounted on the gear turntable (64). The upper end of the electric telescopic cylinder (65) is connected to a support plate (66), and the support plate (66) is connected to the vehicle-mounted surgical carriage (2).

5. The emergency clean operating vehicle according to claim 1, characterized in that: The vehicle-mounted surgical vehicle (2) is provided with reinforcing pads (7) on both sides of its bottom, and the vehicle-mounted stabilizing platform (6) is located between the reinforcing pads (7) and the vehicle platform frame (1).

6. The emergency clean operating vehicle according to claim 1, characterized in that: The rear side of the vehicle platform frame (1) is equipped with a hydraulic tilting power assembly (5), and the hydraulic tilting power assembly (5) is equipped with a loading tail plate (4) that matches the vehicle-mounted surgical carriage (2).

7. The emergency clean operating vehicle according to claim 1, characterized in that: The vehicle-mounted surgical compartment (2) is equipped with an operating table (11), and a wearable monitor (12) is installed on the upper side of the operating table (11). The wearable monitor (12) is connected to a remote transmission module, and an automatic injection anesthetic needle is installed in the wearable monitor (12) for remote dynamic control of anesthesia.

8. The emergency clean operating vehicle according to claim 1, characterized in that: The front side of the vehicle-mounted surgical carriage (2) is equipped with a detachable waste disposal compartment (10), and the opening of the waste disposal compartment (10) is connected to the interior space of the vehicle-mounted surgical carriage (2).

9. The emergency clean operating vehicle according to claim 1, characterized in that: The vehicle-mounted surgical vehicle (2) is equipped with a vehicle-mounted generator (9) on its exterior.

10. A method for controlling the driving stability of an emergency clean operating vehicle according to any one of claims 1-9, characterized in that, Includes the following steps: S1. System initialization: The main motion controller controls the vehicle-mounted stability platform (6) to reset to the mechanical zero position. The frame attitude sensor, the car body attitude sensor and the car body height sensor collect the initial attitude data of the vehicle-mounted surgical car body (2). The main motion controller sets the initial attitude as the surgical reference zero position and completes the system calibration. S2. Road condition and attitude data acquisition: During the vehicle's operation, the road monitoring and sensing equipment collects the slope, potholes, bumps and vehicle speed data of the road ahead and the current road in real time and transmits them to the main motion controller; at the same time, the attitude detection sensing equipment collects the dynamic attitude data of the vehicle platform frame (1) and the attitude deviation data of the vehicle-mounted surgical carriage (2) relative to the surgical reference zero position in real time and transmits them to the main motion controller. S3. Attitude deviation calculation and compensation command generation: The main motion controller calculates the compensation amount of the vehicle-mounted surgical carriage (2) in the horizontal direction of the X / Y axis, the rotation direction around the Z axis, and the vertical height direction based on the collected road surface data and attitude deviation data, and generates the corresponding vehicle-mounted stabilization platform (6) action command. S4. Multi-dimensional stability adjustment: The main motion controller sends the action command to the vehicle-mounted stability platform (6), controls the horizontal translation component to complete the horizontal translation compensation of the X / Y axis, the rotation component around the Z axis to complete the rotation angle compensation, and the vertical lifting component to complete the vertical height and tilt angle compensation, so that the vehicle-mounted surgical carriage (2) is restored to the surgical reference zero position; S5, Closed-loop feedback correction: The execution component of the vehicle-mounted stability platform (6) feeds back the actual motion data to the main motion controller. At the same time, the attitude detection sensor collects the actual attitude data of the compensated vehicle-mounted surgical carriage (2) and sends it back. The main motion controller compares the actual attitude with the surgical reference zero position. If there is a deviation, it recalculates the compensation amount and issues a correction command until the deviation is within the allowable range of the surgery. S6. Emergency handling: The main motion controller monitors the operating status of the sensing equipment and the vehicle-mounted stability platform (6) in real time. If the equipment fails or the attitude deviation exceeds the safety threshold, an alarm is immediately triggered and the vehicle-mounted stability platform (6) is controlled to lock the current attitude to ensure the safety of the surgical operation.

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