Control console, surgeon console and surgical robot

Abstract

The application provides a console, a doctor console and a surgical robot, the doctor console comprising an open display device, an immersive display device and a base; the open display device and the immersive display device are connected with the base respectively, and the open display device and the immersive display device are used for selective observation of an operator. In this way, two intraoperative observation modes of open observation and immersive observation can be compatible, on the one hand, different operation requirements and preferences of different operators can be adapted, and on the other hand, work fatigue caused by long-time single posture operation of the operator can be avoided by switching the observation interaction mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot-assisted surgery systems, in particular to a control console, a surgeon console and a surgical robot. BACKGROUND

[0002] In recent years, with the application and development of robot-related technologies, especially the development of computing technologies, medical patient-side robots have been increasingly valued in clinical practice. Among them, minimally invasive surgical robots can reduce the physical labor of operators during surgery through interventional therapy, achieve precise surgical purposes, and make patients have less trauma, less blood loss, less postoperative infection and faster postoperative recovery.

[0003] Minimally invasive surgical robots enable operators to observe the characteristics of tissues in patients' bodies through two-dimensional or three-dimensional display devices at a master control console and remotely control mechanical arms and surgical tool instruments on slave operating robots to complete surgical operations. Operators can complete minimally invasive surgical operations in the same way and with the same feeling as traditional surgery, greatly reducing the difficulty of operators performing minimally invasive surgery and improving the efficiency and safety of surgery. In minimally invasive surgery, display devices provide intuitive images for operators and are very important. Existing surgical robot display devices all use a single mode for operators to observe and interact. Due to different operating needs and preferences of different operators, the human eye has different operating feelings in different observation angle states. If only one display mode is used, operators need to maintain a single posture for a long time during surgery, which can easily cause work fatigue. In addition, in order to enable display devices to provide high-quality images to operators, current surgical robot display devices have developed from open to immersive, gradually replacing open display devices with immersive display devices. SUMMARY

[0004] The present application aims to provide a control console, a surgeon console and a surgical robot to solve one or more of the problems in the prior art.

[0005] To solve the above technical problems, according to a first aspect of the present application, a surgeon console for a surgical robot is provided, comprising an open display device, an immersive display device and a base; the open display device and the immersive display device are connected to the base, and the open display device and the immersive display device are used for selective observation by an operator.

[0006] Optionally, in the surgeon console, the immersive display device is connected to the open display device through an optical path, and the immersive display device uses an image displayed by the open display device as a signal source.

[0007] Optionally, in the physician console, the open display device is rotatably connected with the base around an axis arranged horizontally between a first position and a second position, and the immersive display device is movably arranged relative to the base between a third position and a fourth position; when the open display device is in the first position and the immersive display device is in the third position, the immersive display device reflects the image displayed by the open display device through a reflection module for the operator to view.

[0008] Optionally, in the physician console, when the open display device is in the second position, the image displayed by the open display device is for the operator to view, and the distance between the image displayed by the open display device and the operator is a first distance; when the open display device is in the first position and the immersive display device is in the third position, the distance between the image displayed by the open display device and the operator through the light path of the immersive display device is a second distance; the first distance is equal to the second distance.

[0009] Optionally, in the physician console, when the open display device is in the first position and the immersive display device is in the third position, the light path between the open display device and the reflection module is an incident light path, and the light path between the reflection module and the operator is an exit light path; the angle between the incident light path and the open display device is the same as the angle between the observation line of the operator and the open display device when the open display device is in the second position.

[0010] Optionally, in the physician console, the angle between the exit light path and the horizontal direction is in the range of 30°-80°.

[0011] Optionally, in the physician console, the immersive display device and the open display device are respectively connected with a same signal source for displaying the same image.

[0012] Optionally, in the physician console, the physician console further comprises a switching device for the operator to switch between the open display device and the immersive display device.

[0013] Optionally, in the physician console, the immersive display device is movably connected with the base by means of folding, sliding, rotating, lifting or translating.

[0014] To solve the above technical problems, according to the second aspect of the present application, a surgical robot is also provided, which comprises the physician console as described above.

[0015] To solve the above technical problems, according to a third aspect of the present application, there is also provided a console for a master-slave robot, comprising: a first display device, a second display device and a base; the first display device and the second display device are connected to the base, the first display device is used for observation by an operator in a first posture, and the second display device is used for observation by the operator in a second posture, the first posture being different from the second posture.

[0016] Optionally, in the console, the relative position relationship between the first display device and the second display device is variable.

[0017] Optionally, in the console, the display area of the first display device is larger than the display area of the second display device, and in use, the second display device is closer to the operator.

[0018] Optionally, in the console, the first display device is an open display device, and the second display device is an immersive display device.

[0019] In summary, in the console, the doctor console and the surgical robot provided by the present application, the doctor console comprises an open display device, an immersive display device and a base; the open display device and the immersive display device are connected to the base respectively, and the open display device and the immersive display device are used for observation by an operator selectively. In this way, both open observation and immersive observation can be compatible, on the one hand, different operating requirements and preferences of different operators can be adapted, and on the other hand, by switching the observation interaction mode, work fatigue caused by long-time single posture operation of the operator can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0020] Those skilled in the art will understand that the provided drawings are for better understanding of the present application, and do not constitute any limitation on the scope of the present application. Among them:

[0021] Figure 1 is a schematic diagram of a use scene of a surgical robot of an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a doctor console of an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a doctor console in an open observation mode of an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a doctor console in an immersive observation mode of an embodiment of the present application;

[0025] Figure 5 This is a schematic diagram of the optical path of a doctor's console in open observation mode according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the optical path of a doctor's console in immersive observation mode according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of another immersive display device according to an embodiment of the present invention;

[0028] Figure 8A This is a schematic diagram of a doctor's console according to a first preferred embodiment of the present invention;

[0029] Figure 8B yes Figure 8A A diagram illustrating the mode switching of the doctor's console;

[0030] Figure 8C yes Figure 8B A diagram illustrating the use cases of the doctor's console;

[0031] Figure 9A This is a schematic diagram of a doctor's console according to a second preferred embodiment of the present invention;

[0032] Figure 9B yes Figure 9A A diagram illustrating the mode switching of the doctor's console;

[0033] Figure 9C yes Figure 9B A diagram illustrating the use cases of the doctor's console;

[0034] Figure 10A This is a schematic diagram of a doctor's console according to a third preferred embodiment of the present invention;

[0035] Figure 10B yes Figure 10A A diagram illustrating the mode switching of the doctor's console;

[0036] Figure 10C yes Figure 10B A diagram illustrating the use cases of the doctor's console;

[0037] Figure 11A This is a schematic diagram of a doctor's console according to a fourth preferred embodiment of the present invention;

[0038] Figure 11B yes Figure 11A A diagram illustrating the mode switching of the doctor's console;

[0039] Figure 11C yes Figure 11A A magnified view of the slider on the doctor's console;

[0040] Figure 11D is a schematic view of a use scenario of the physician console of Figure 11B ;

[0041] Figure 12A is a schematic view of the physician console of a fifth preferred example of an embodiment of the present application;

[0042] Figure 12B is a schematic view of a use scenario of the physician console of Figure 12A ;

[0043] Figure 12C is a schematic view of the mode switching of the physician console of Figure 12A ;

[0044] Figure 12D is a schematic view of a use scenario of the physician console of Figure 12C ;

[0045] Figure 13A is a schematic view of the physician console of a sixth preferred example of an embodiment of the present application;

[0046] Figure 13B is a schematic view of the mode switching of the physician console of Figure 13A ;

[0047] Figure 13C is a schematic view of a use scenario of the physician console of Figure 13B ;

[0048] Figure 14A is a schematic view of the physician console of a seventh preferred example of an embodiment of the present application;

[0049] Figure 14B is a schematic view of the mode switching of the physician console of Figure 14A ;

[0050] Figure 14C is a schematic view of a use scenario of the physician console of Figure 14B ;

[0051] Figure 15A is a schematic view of the physician console of an eighth preferred example of an embodiment of the present application;

[0052] Figure 15B is a schematic view of the mode switching of the physician console of Figure 15A ;

[0053] Figure 15C is a schematic view of a use scenario of the physician console of Figure 15B .

[0054] In the drawings:

[0055] 100 - physician console; 110 - open display device; 120 - immersive display device; 130 - base; 131 - slide; 132 - slide rail assembly; 133 - suspension bracket; 141 - main operating hand; 142 - handrail; 143 - lifting adjustment mechanism; 200 - operating cart; 201 - mechanical arm; 300 - image cart; 400 - instrument table; 500 - breathing machine and anesthesia machine. DETAILED DESCRIPTION

[0056] In order to make the objectives, advantages and features of the present application more clearly, the following further describes the present application in conjunction with the drawings and specific embodiments. It should be noted that the drawings are very simplified and not drawn to scale, and are only used to facilitate and clearly assist the purpose of describing the embodiments of the present application. In addition, the structures shown in the drawings are often part of the actual structures. In particular, the emphasis shown in each drawing is different, and sometimes different scales are used.

[0057] As used in the present application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally used in the sense of "and / or", the term "several" is generally used in the sense of "at least one", the term "at least two" is generally used in the sense of "two or more", and in addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third" can explicitly or implicitly include one or at least two of the features, the term "proximal" generally refers to the end close to the operator, the term "distal" generally refers to the end close to the object being operated, "one end" and "the other end" and "proximal" and "distal" generally refer to two parts corresponding to each other, which not only includes the end point, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal connection or interaction relationship of two elements. In addition, as used in the present application, a component disposed in another component generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two components, and the two components can be directly or indirectly connected, coupled, cooperated or transmitted through intermediate components, and cannot be understood as indicating or implying the spatial positional relationship between the two components, i.e. one component can be in any orientation inside, outside, above, below or one side of another component, unless the content is otherwise explicitly indicated. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] The core idea of the present application is to provide a console, a doctor console and a surgical robot to solve the problem that the single mode display device is easy to cause fatigue of the operator.

[0059] The following is described with reference to the accompanying drawings.

[0060] An embodiment of the present application provides a surgical robot, Figure 1 The surgical robot and its surgical application scenario are shown, and in an exemplary embodiment, the surgical robot comprises a doctor console 100 and a surgical trolley 200, and the doctor console 100 is provided with a master operating hand. The surgical trolley 200 has a plurality of mechanical arms 201, and surgical instruments and endoscopes can be mounted on the mechanical arms. The main operation process of the surgical robot is that an operator (for example, a surgeon) remotely operates through the doctor console 100 and the master operating hand to realize minimally invasive surgical treatment on a patient on a patient bed. Among them, the master operating hand and the mechanical arms 201 and the surgical instruments constitute a master-slave control relationship. Specifically, the mechanical arms 201 and the surgical instruments move according to the movement of the master operating hand in the surgical process, that is, according to the operation of the operator's hand. Further, the master operating hand also receives the force information of the human body tissue and organs on the surgical instruments and feeds back to the operator's hand, so that the operator can more intuitively feel the surgical operation. The doctor console 100 has a display device, which is in communication connection with the endoscope mounted on the mechanical arm of the surgical trolley 200, and can receive and display the image collected by the endoscope. The operator controls the movement of the mechanical arm and the surgical instrument through the master operating hand according to the image displayed on the display device of the doctor console 100. The endoscope and the surgical instrument enter the patient position through the incision on the patient's body respectively.

[0061] Optionally, in some surgeries, the surgical robot also comprises an image trolley 300, an instrument trolley 400, a breathing machine and an anesthetic machine 500 and other auxiliary components for use in surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described here.

[0062] Based on the above surgical robot, please refer to Figure 2The embodiment provides a doctor console 100, which comprises an open display device 110, an immersive display device 120 and a base 130; the open display device 110 and the immersive display device 120 are connected with the base 130 respectively, and the open display device 110 and the immersive display device 120 are used for selective observation of an operator. In this way, both open observation and immersive observation can be compatible, on the one hand, different operation requirements and preferences of different operators can be adapted, and on the other hand, work fatigue of the operator caused by long-time single posture operation can be avoided by switching the observation interaction mode. Specifically, the operator generally adopts a sitting posture during an operation, when the open observation is adopted, the operator generally looks straight at the open display device 110, and when the immersive observation is adopted, the operator generally looks down to observe the immersive display device 120; the operator can select and switch between the two observation modes according to needs, so that the operator can change the working posture and alleviate fatigue caused by long-time single posture.

[0063] The inventor finds that in the evolution and updating process of the display device of the doctor console, the single-mode open display device is located in the early stage of evolution, and the display device gradually evolves into the single-mode immersive display device. The display panel of the open display device used in the early stage is weak in resistance to environmental light and other interference, and the operator is easily disturbed by the surrounding environmental light and the like when observing. In addition, a larger display panel is often used to obtain a larger field of view. Therefore, the display device gradually evolves into the immersive display device, which gradually replaces the open display device and overcomes the problem of being easily disturbed by the open display device. However, the single-mode immersive display device makes the operator have to keep a low posture for a long time, which is easy to cause fatigue. Therefore, the inventor of the present application overcomes the conventional technical development thinking of only improving the visual effect of the doctor, and considers how to effectively alleviate fatigue while not affecting the operation. Although the usual way to alleviate fatigue is to use other devices to act on the body, such as a massage chair, such invention is not suitable for the operation process, especially for the doctor in the operation, therefore, the inventor of the present application finds that the open display device 110 and the immersive display device 120 are integrated in the doctor console 100, and the fatigue can be alleviated by changing the posture of the doctor, which solves the problem that the single-mode display device is easy to cause fatigue of the operator, and does not affect the whole operation process. In addition, the size of the whole doctor console does not need to be increased, because the single-mode open display device needs a larger screen, and the single-mode immersive display device also needs a larger display area, and after the open display device and the immersive display device are combined, the doctor can alleviate physical fatigue and eye fatigue by changing the posture, and a smaller display area can also achieve good display effect.

[0064] Optionally, in one exemplary embodiment, the physician console 100 further comprises a main operating hand 141, an armrest 142 for supporting the operator's arm, and a height adjustment mechanism 143, the main operating hand 141 and the armrest 142 are connected to the base 130 by the height adjustment mechanism 143 so that the main operating hand 141 and the armrest 142 can be adjusted in height to accommodate different operators.

[0065] Please refer to Figure 3 and Figure 4 which respectively illustrate the open viewing mode and the immersive viewing mode of the physician console 100. The open viewing mode mainly utilizes the open display device 110, which can be a display or a projection screen, and the operator can directly observe the image displayed thereon. Generally, the operator adopts a sitting posture during the surgery, and the operator's viewing line extends in a horizontal direction. Therefore, the open display device 110 is preferably arranged in a vertical direction within a certain angle range to adapt to the operator's observation. The immersive viewing mode mainly utilizes the immersive display device 120, which has an observation port. Generally, the physician's head is partially immersed in the observation port during use, and the surgical process is observed through two visual windows in the observation port. At this time, as shown in Figure 4 , the observation port is arranged in a generally upward and oblique direction, and the operator can be in a low-head state when observing using the immersive display device 120, which is more suitable for the operator's observation and operation mode.

[0066] As shown in Figure 7 , in one optional embodiment, the immersive display device 120 and the open display device 110 are respectively connected to a same signal source for displaying the same image. In this configuration, when the operator switches between the immersive display device 120 and the open display device 110 for observation, the same image can be observed, ensuring the continuity of image switching observation.

[0067] As shown in Figure 6As shown, in another alternative embodiment, the immersive display device 120 is connected with the open display device 110 through an optical path, and the immersive display device 120 uses the image displayed by the open display device 110 as a signal source. The immersive display device 120 is connected with the open display device 110 through an optical path, and can use the image displayed by the open display device 110 as a signal source, without the need for an additional separate display, which is conducive to reducing the size of the entire display device. Generally, in the existing immersive display device 120, a separate display screen is generally used as a signal source, and the entire display device is large in size, basically occupying the space in front of the operator, and there is no condition to add other display devices. The immersive display device 120 is connected with the open display device 110 through an optical path, and uses the open display device 110 as a signal source, which effectively reduces the size of the entire display device, and also solves the problem that the existing single-mode display device is easy to cause fatigue of the operator.

[0068] Please refer to Figures 3 to 6 In one example, the open display device 110 is rotatably connected with the base 130 around an axis arranged in a horizontal direction between a first position and a second position, and the immersive display device 120 is movably arranged relative to the base 130 between a third position and a fourth position. When the open display device 110 is in the first position and the immersive display device 120 is in the third position, the immersive display device 120 reflects the image displayed by the open display device 110 through a reflection module for the operator to observe. As described above, in the open observation mode, the open display device 110 is used for the operator to directly observe, and is preferably arranged in a vertical direction, and at this time, the state of the open display device 110 is set to the second position. In the immersive observation mode, the open display device 110 is rotated around the horizontal axis to form a downward inclination, so that the display panel thereof can be adapted to the reflection module of the immersive display device 120, and at this time, the state of the open display device 110 is set to the first position. The immersive display device 120 adapted to the open display device 110 in the first position can reflect the image displayed by the open display device 110, and can be adapted to the low-head observation line of sight of the operator, and at this time, the state of the immersive display device 120 is set to the third position. On the other hand, in the open observation mode, the immersive display device 120 is not needed to be used, and the immersive display device 120 needs to avoid blocking the open display device 110 as much as possible, and therefore the immersive display device 120 can be arranged in the fourth position.

[0069] In an alternative embodiment, the reflection module of the immersive display device 120 can include a plane mirror. The use of the plane mirror for imaging does not cause damage to the single heart of the light beam, and does not cause chromatic aberration, aberration, and other effects that affect the imaging effect, which is beneficial to improve the imaging quality. Of course, in other embodiments, the reflection module is not limited to including only a plane mirror, but can also include convex lenses, concave lenses, convex mirrors, concave mirrors, and other commonly used optical components. Those skilled in the art can appropriately configure the reflection module according to the prior art to meet the needs. In addition, it can be understood that according to the principle of reflected light path, in the immersive observation mode, the image displayed by the open display device 110 should be upside down with the image displayed by the open display device 110 in the open observation mode. The control system of the surgeon console 100 can adjust the front and back of the image displayed by the open display device 110 according to the switching of the observation mode of the operator.

[0070] Further, please refer to Figure 5 and Figure 6 When the open display device 110 is in the second position, the image displayed by the open display device 110 is used for the operator to observe, and the distance between the image displayed by the open display device 110 and the operator is a first distance; when the open display device 110 is in the first position and the immersive display device 120 is in the third position, the light path distance between the image displayed by the open display device 110 and the operator through the immersive display device 120 is a second distance; the first distance is equal to the second distance. Specifically, the first distance is the distance D1 from the observation point (such as the eye) of the operator to the image of the open display device 110; the second distance includes the distance D2 from the image of the open display device 110 to the incident light path of the reflection module of the immersive display device 120, and the distance D3 from the reflection module of the immersive display device 120 to the exit light path of the observation point of the operator. Such a configuration ensures that the observation distance before and after the switching of the observation mode is consistent, which can avoid the deviation of the visual space sense of the operator in the mode switching. It should be understood that the first distance and the second distance are equal, which should be broadly connected as approximately equal. For example, the first distance and the second distance are within a deviation range of 5 cm, which can be considered to have no effect on the focal length adjustment of the human eye, and the first distance and the second distance should be understood as equal distances.

[0071] Further, when the open display device 110 is in the first position and the immersive display device 120 is in the third position, the angle between the incident light path and the open display device 110 is the same as the angle between the observation line of sight of the operator and the open display device 110 when the open display device 110 is in the second position. Specifically, in the immersive observation mode, the image displayed by the open display device 110 forms a virtual image in the reflection module of the immersive display device 120, and the angle of view of the operator when observing the virtual image in the reflection module is configured to be the same as the angle of view of the operator when directly observing the image displayed by the open display device 110 in the open observation mode. In this way, the angle of view before and after the observation mode is switched is consistent, and the deviation of the visual space of the operator during mode switching can be avoided. Similarly, it should be understood that the angle of view in the two observation modes is the same, which should be broadly connected as approximately equal, rather than strictly limited to being exactly the same. For example, the angle of view in the two observation modes is within a deviation range of plus or minus 5°, which can be considered to have no effect on the focal length adjustment of the human eye, and therefore the angle of view in the two observation modes should be understood as the same. Preferably, the angle between the exit light path and the horizontal direction is in the range of 30° to 80°, to adapt to the angle of the operator's head.

[0072] Optionally, the doctor's console 100 further comprises a switching device (not shown) for the operator to switch between the open display device 110 and the immersive display device 120. The switching device can be a physical switching switch, such as a foot pedal button arranged at the bottom of the base or a button arranged near the main operating hand, or a virtual switching switch controlled by software, for example, a sensor sensing the observation state of the operator to obtain the observation state of the operator, and the software controls switching between the open observation mode and the immersive observation mode.

[0073] The specific structure of the doctor's console 100 provided by the present embodiment will be described below through several preferred examples.

[0074] Please refer to Figures 8A to 8C which shows a first preferred example, the immersive display device 120 is movably connected to the base 130 by folding. Specifically, the immersive display device 120 is rotatably connected to the top of the open display device 110 through a horizontally arranged hinge, and then the open display device 110 is rotatably connected to the base 130. In the open observation mode, the immersive display device 120 rotates around the hinge and is folded and stored above the open display device 110, as shown in Figure 8A ; in the immersive observation mode, the open display device 110 is inclined and rotated to the first position, and the immersive display device 120 is folded downward to the third position. Please refer toFigures 9A to 9C , which shows a second preferred example, the immersive display device 120 is movably connected with the base 130 by folding, specifically, the immersive display device 120 is rotatably connected with the side frame of the open display device 110 through a horizontally arranged hinge, the implementation effect can be referred to the first preferred example.

[0075] Please refer to Figures 10A to 10C , which shows a third preferred example, the base 130 is arranged as an inverted L shape, that is, the top of the base 130 has a cantilever, and the immersive display device 120 is rotatably connected with the cantilever through a horizontally arranged hinge. In actual use, in the open observation mode, the immersive display device 120 rotates around the hinge and is folded and stored in the cantilever, as shown in Figure 10A ; in the immersive observation mode, the immersive display device 120 is folded downward to the third position, and the open display device 110 is inclined to the first position, as shown in Figure 10A , 10B .

[0076] Please refer to Figures 11A to 11D , which shows a fourth preferred example, the immersive display device 120 is movably connected with the base 130 by sliding. Specifically, the doctor's console 100 further comprises a slide rail assembly 132, which is fixedly connected to the left and right sides of the open display device 110 and extends to the display direction of the open display device 110, and the edge of the slide rail assembly is provided with a sliding groove 131, and the immersive display device 120 can slide along the sliding groove 131. Optionally, the sliding groove 131 is arc-shaped, so that the sliding of the immersive display device 120 is more smooth. In actual use, in the open observation mode, the immersive display device 120 slides upward along the sliding groove 131 to the fourth position which does not block the direct observation of the open display device 110 by the operator; in the immersive observation mode, the immersive display device 120 slides downward along the sliding groove 131 to the third position. In this preferred example, the two wings of the slide rail assembly also have the function of shielding external stray light, which can effectively prevent the operator from observing the ambient light, further improving the observation effect.

[0077] Please refer to Figures 12A to 12D , which shows a fifth preferred example, the immersive display device 120 is movably connected with the base 130 by translation. Specifically, the slide rail assembly 132 is configured in a cylindrical shape surrounding the open display device 110, and the end of the cylindrical slide rail assembly is provided with a linear sliding groove 131, and the immersive display device 120 can translate up and down along the sliding groove 131, which can also achieve the switching between the two observation modes. The slide rail assembly arranged in this way can protect the open display device during use of the immersive display device, for example, blocking dust and other foreign matters.

[0078] Please refer toFigures 13A to 13C Fig. 7 shows a seventh preferred example, which is based on the sixth preferred example, and can simplify the structure by removing the suspension bracket, so that the immersive display device 120 is rotatably connected to the base 130 around a vertical rotation axis. In use, the immersive display device 120 is rotated to the front of the open display device 110 to switch to the immersive observation mode, and is rotated to the side or the back of the open display device 110 to switch to the open observation mode.

[0079] Referring to Fig. 8, Figures 14A to 14C Fig. 7 shows a seventh preferred example, which is based on the sixth preferred example, and can simplify the structure by removing the suspension bracket, so that the immersive display device 120 is rotatably connected to the base 130 around a vertical rotation axis. In use, the immersive display device 120 is rotated to the front of the open display device 110 to switch to the immersive observation mode, and is rotated to the side or the back of the open display device 110 to switch to the open observation mode.

[0080] Referring to Fig. 8, Figures 15A to 15C Fig. 7 shows a seventh preferred example, which is based on the sixth preferred example, and can simplify the structure by removing the suspension bracket, so that the immersive display device 120 is rotatably connected to the base 130 around a vertical rotation axis. In use, the immersive display device 120 is rotated to the front of the open display device 110 to switch to the immersive observation mode, and is rotated to the side or the back of the open display device 110 to switch to the open observation mode.

[0081] It can be understood that the above eight preferred examples are only examples and not limitations on the structure of the surgeon console 100. Those skilled in the art can configure the structure of the surgeon console 100 according to the prior art, and the present application is not limited thereto.

[0082] It should be noted that the above embodiments are described by taking a surgeon console in a surgical robot as an example, and the present application is not limited to the surgeon console in the surgical robot. Those skilled in the art can refer to the above description to apply a similar console to other master-slave robots to achieve a similar effect and reduce the fatigue of the operator.

[0083] In an exemplary embodiment, the console comprises: a first display device, a second display device, and a base; the first display device and the second display device are connected to the base, the first display device is used for the operator to observe in a first posture, and the second display device is used for the operator to observe in a second posture, and the first posture and the second posture are different. It can be understood that the first display device and the second display device display in different ways for the operator to observe in different postures, for example, the first display device is used for the operator to observe with the head up, and the second display device is used for the operator to observe with the head down. In this way, the operator can selectively observe through the first display device and the second display device in use, so that the observation posture of the operator can be changed, and the effect of reducing fatigue can be achieved.

[0084] Preferably, the relative position relationship between the first display device and the second display device is variable, for example, the position of at least one of the first display device and the second display device relative to the base is adjustably arranged, and the operator can conveniently select one for observation.

[0085] Of course, in some embodiments similar to the above-mentioned embodiments, the first display device can be selected as an open display device, and the second display device can be selected as an immersive display device. In this way, the configuration of the master-slave robot console can also achieve the effect of reducing the fatigue of the operator.

[0086] Further, the display area of the first display device is larger than the display area of the second display device, and the second display device is closer to the operator in use.

[0087] It should be noted that the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. In addition, the different parts of each embodiment can also be used together, and the present application does not limit this.

[0088] In summary, in the console, the doctor console and the surgical robot provided by the present application, the doctor console comprises an open display device, an immersive display device and a base; the open display device and the immersive display device are connected to the base, and the open display device and the immersive display device are used for the operator to selectively observe. In this way, two intraoperative observation modes of open observation and immersive observation can be compatible, on the one hand, different operation requirements and preferences of different operators can be adapted, and on the other hand, by switching the observation interaction mode, the operator can avoid work fatigue caused by long-time maintaining a single posture.

[0089] The above description is only the description of the preferred embodiments of the present application, and is not any limitation on the scope of the present application. Any change and modification made by the person skilled in the art according to the above disclosure is within the protection scope of the claims.

Claims

1. A doctor's control console for a surgical robot, characterized in that, include: An open-type display device, an immersive display device, and a base are provided; the open-type display device and the immersive display device are respectively connected to the base, and the open-type display device and the immersive display device are used for selective viewing by an operator; the open-type display device is rotatably connected to the base between a first position and a second position about a horizontally oriented axis, and the immersive display device is movable relative to the base between a third position and a fourth position; the immersive display device reflects the image displayed by the open-type display device through a reflection module for viewing by the operator. When the open display device is in the second position, the distance between the image displayed by the open display device and the operator is a first distance; when the open display device is in the first position and the immersive display device is in the third position, the optical path distance between the image displayed by the open display device and the operator through the immersive display device is a second distance; the first distance and the second distance are equal. or When the open display device is in the first position and the immersive display device is in the third position, the optical path between the open display device and the reflection module is the incident optical path; the angle between the incident optical path and the open display device is the same as the angle between the operator's line of sight and the open display device when the open display device is in the second position.

2. The doctor's control console according to claim 1, characterized in that, The immersive display device and the open display device are connected via an optical path, and the immersive display device uses the image displayed by the open display device as a signal source.

3. The doctor's control console according to claim 1, characterized in that, When the open display device is in the second position, the image displayed by the open display device is for the operator to observe.

4. The doctor's control console according to claim 1, characterized in that, When the open display device is in the first position and the immersive display device is in the third position, the optical path between the reflection module and the operator is the outgoing optical path.

5. The doctor's console according to claim 4, characterized in that, The angle between the emitted optical path and the horizontal direction is between 30° and 80°.

6. The doctor's control console according to claim 1, characterized in that, The immersive display device and the open display device are each connected to the same signal source for displaying the same image.

7. The doctor's control console according to claim 1, characterized in that, The doctor's console also includes a switching device for allowing the operator to switch between the open display device and the immersive display device.

8. The doctor's control console according to claim 1, characterized in that, The immersive display device is movably connected to the base by means of folding, sliding, rotating, lifting, or translating.

9. A surgical robot, characterized in that, Includes the doctor's console according to any one of claims 1 to 8.

10. A control console for a master-slave robot, characterized in that, include: A first display device, a second display device, and a base; the first display device and the second display device are connected to the base, the first display device is used by an operator for observation in a first posture, and the second display device is used by an operator for observation in a second posture, the first posture and the second posture being different; the first display device is an open display device, and the second display device is an immersive display device. The open display device is rotatably connected to the base between a first position and a second position around a horizontally oriented axis. The immersive display device is movable relative to the base between a third position and a fourth position. The immersive display device reflects the image displayed by the open display device through a reflection module for the operator to observe. When the open display device is in the second position, the distance between the image displayed by the open display device and the operator is a first distance; when the open display device is in the first position and the immersive display device is in the third position, the optical path distance between the image displayed by the open display device and the operator through the immersive display device is a second distance; the first distance and the second distance are equal. or When the open display device is in the first position and the immersive display device is in the third position, the optical path between the open display device and the reflection module is the incident optical path; the angle between the incident optical path and the open display device is the same as the angle between the operator's line of sight and the open display device when the open display device is in the second position.

11. The console according to claim 10, characterized in that, The relative positional relationship between the first display device and the second display device is variable.

12. The console according to claim 10, characterized in that, The display area of ​​the first display device is larger than that of the second display device, and when in use, the second display device is closer to the operator.

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