Surgical console

Abstract

The present application provides a surgical console; comprising a monitor, a support arm and an operating table; the monitor is configured to provide image display; the monitor is installed on the support arm; the support arm is installed on the operating table; the support arm has one telescopic joint and two rotary joints; the telescopic joint makes the length of the support arm adjustable, the rotary joint makes the swing angle of the support arm adjustable, and the telescopic joint is located between the two rotary joints. The monitor of the present application can be installed on the operating table through the support arm, which effectively expands the man-machine adjustment range of the console, improves a series of limitations brought by the installation of the monitor on the seat, such as higher requirements for the freedom of the support arm, obstruction of other views of the operator and obstruction of the conversion of the sitting posture of the operator; in addition, the present application also simplifies the structure of the support arm.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical console. Background Technology

[0002] Minimally invasive surgical procedures, such as laparoscopic surgery, involve techniques designed to reduce tissue damage during surgery. Generally, minimally invasive surgical systems include non-robotic and robotic systems. Non-robotic systems require more direct manual intervention from the surgeon, placing higher demands on them. Robotic systems, on the other hand, use remotely operated robotic arms to manipulate surgical tools based on commands from the operator, reducing the demands on the surgeon. Robotic systems typically include a monitor. During the procedure, one or more tools and at least one endoscopic camera are introduced into the patient through an incision. The monitor displays three-dimensional images provided by the endoscope for real-time observation by the operator, achieving visual assistance in surgical execution.

[0003] Existing monitors are typically mounted on a support arm, which usually has multiple hinge joints. This support arm is typically installed on the seat close to the head. The structure of a support arm mounted on a seat usually has a limited range of adjustment and very limited ergonomic adjustment functions, only allowing the operator to adjust the positions of the armrests, main control arm, and stereo monitor while in an upright sitting position. Therefore, this type of support arm is not suitable for installation at a position far from the head. Furthermore, when the monitor is mounted on the operator's seat, it affects the operator's transition between sitting and standing positions and interferes with the operator's field of vision when not in the monitor's view. This necessitates that the monitor can be moved to the outside or above the head to avoid interference during the operator's transition between sitting and standing positions and to improve the obstruction of the operator's field of vision when not in the monitor's view. This requires a greater degree of freedom in the support arm, resulting in a more complex structure. Summary of the Invention

[0004] The purpose of this invention is to provide a surgical control console that mounts a monitor on the operating table via a support arm. The support arm of this device has a simple structure and a large adjustment range, which greatly expands the human-machine adjustment range of the control console. It can also significantly reduce interference between the monitor and the operator during the transition between sitting and standing postures, and reduce the obstruction of the operator's field of vision by the monitor.

[0005] The surgical console of the present invention includes a monitor, a support arm, and an operating table;

[0006] The monitor is configured to provide image display; the monitor is mounted on the support arm;

[0007] The support arm is mounted on the operating table;

[0008] The support arm has a telescopic joint and two rotary joints; the telescopic joint makes the length of the support arm adjustable, and the rotary joints make the swing angle of the support arm adjustable, with the telescopic joint located between the two rotary joints.

[0009] Optionally, the rotational axes of each of the said rotational joints are parallel to each other; one of the said rotational joints is connected to the monitor so that the angle of the monitor relative to the support arm is adjustable.

[0010] Optionally, the monitor includes a housing, a display, and at least one sensor, the display being disposed on the housing for image display, the sensor being disposed on the housing, and at least one of the sensors being configured to: identify an operator to authorize the operator to operate the robotic minimally invasive surgical system.

[0011] Optionally, at least one of the sensors is configured to detect the operator's head posture; the support arm is configured to respond based on the detected head posture, causing the telescopic joint and the rotary joint to move so that the monitor follows the operator's head movement.

[0012] Optionally, the sensor authorizes the operator to operate the robotic minimally invasive surgical system when it detects that the operator's head is inside the housing.

[0013] Optionally, the sensor detects the operator's head posture in the following manner: the sensor detects the pressure of the head on the housing in a certain detection direction at a set frequency; if the pressure continuously decreases, it is determined that the head is moving away from the housing in the detection direction; if the pressure continuously increases, it is determined that the head is moving closer to the housing in the detection direction.

[0014] Optionally, the surgical console further includes a triggering device configured to have at least a triggered state and a non-triggered state; when the triggering device is in the triggered state, the telescopic joint and the rotary joint are locked; when the triggering device is in the non-triggered state, the locking of the telescopic joint and the rotary joint is released.

[0015] Optionally, the support arm includes a base and a telescopic arm. The distal end of the telescopic arm is rotatably connected to the base about a first axis, and the proximal end of the telescopic arm is rotatably connected to the monitor about a second axis. The base is disposed on the operating table, and the telescopic arm itself is telescopic to form the telescopic joint. The connection between the telescopic arm and the base forms a first rotational joint, and the connection between the telescopic arm and the monitor forms a second rotational joint.

[0016] Optionally, the direction of the rotation axis of the rotating joint is set such that when the operator manipulates the control panel, the direction of the rotation axis is set so that when the support arm rotates, it drives the monitor to move along the height direction of the operator.

[0017] Optionally, the position of the support arm on the operating table is set such that when the operator manipulates the operating table, the support arm is located in front of the operator, and the support arm extends toward the side closer to the operator.

[0018] In summary, the surgical control console provided by the present invention includes a monitor, a support arm, and an operating table.

[0019] The monitor is configured to provide image display; the monitor is mounted on the support arm;

[0020] The support arm is mounted on the operating table;

[0021] The support arm has a telescopic joint and two rotary joints; the telescopic joint makes the length of the support arm adjustable, and the rotary joints make the swing angle of the support arm adjustable, with the telescopic joint located between the two rotary joints.

[0022] This configuration, where the monitor is mounted on the surgical console via a support arm, effectively expands the ergonomic adjustment range of the console and allows the monitor to be set up independently of the chair. Therefore, when the operator is seated, head movements and posture changes are not restricted by the monitor, or at least the restriction on the monitor is greatly reduced, allowing the operator to move more freely and comfortably. Figures 10 to 11As shown, the device allows for a seated posture adjustment from a slight forward lean to a semi-reclined position. Furthermore, the support arm, with its telescopic joint and two rotary joints, offers better responsiveness, allowing the monitor to adapt more readily to the operator's head movements, making operation more flexible and convenient. It is also more user-friendly when the operator is out of the monitor's field of vision to observe the operating room; in this case, the operator can simply turn their head without manually removing the 3D monitor, making it more convenient to use. Therefore, this device overcomes a series of limitations inherent in monitors mounted on seats, such as the high degree of freedom required for the support arm, obstruction of the operator's field of vision, and hindrance to changes in sitting posture. In addition, while overcoming a series of limitations of existing support arms, this invention simplifies the support arm's structure, reducing costs and simplifying its control structure.

[0023] The support arm, formed by two rotary joints and one telescopic joint, has a simple structure and can also drive the monitor to achieve various posture transitions, so that the monitor can adapt to various postures of the operator and achieve automatic human-machine posture matching.

[0024] The support arm extends towards the side closest to the operator and is equipped with two rotary joints. This structure not only offers a simple design but also better suits the operator's actual usage scenarios. For example, when operating the device, the operator is typically seated in a chair. When adjusting their posture from a slightly forward-leaning to a semi-reclined position, the relative distance the head moves forward and backward is relatively long, while the relative distance it moves up and down is relatively short. The support arm actively extends or shortens over a wide range using its telescopic joints to adapt to the operator's head position, while the two rotary joints simultaneously adjust the head's vertical position. This simplifies the joint adjustment movements of the support arm, facilitating simplified control. Furthermore, it allows the support arm to drive the monitor to respond and follow quickly, rapidly matching the operator's posture, effectively improving tracking performance and reducing reliance on sensors.

[0025] The support arm is driven to rotate up and down by two rotating joints, but cannot rotate left and right. This is also more suitable for the operator's field of vision. For example, when the operator turns his head left and right, the support arm ensures that the monitor cannot follow the operator's head position. In this scenario, the operator's head can easily leave the monitor and obtain a field of vision outside the monitor. This makes it convenient for the operator to leave the monitor's field of vision at any time to observe the system image end or the surgical control end.

[0026] This support arm utilizes two rotating joints in conjunction with a telescopic joint, significantly enhancing its support performance. Since the support arm cannot rotate left or right, it provides lateral support to the operator's head. Furthermore, when the telescopic joint is locked, it offers excellent forward and backward support to the operator's head, reducing head fatigue and making it more suitable for extended operation. The support arm also exhibits good force line consistency, ensuring good support performance without damaging the joints. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the working scenario of the robotic minimally invasive surgical system according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the surgical console according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the surgical console according to an embodiment of the present invention. Figure 1 ;

[0030] Figure 4 This is a schematic diagram of the structure of the surgical console according to an embodiment of the present invention. Figure 2 ;

[0031] Figure 5 This is a schematic diagram of the structure of the surgical console according to an embodiment of the present invention. Figure 3 ;

[0032] Figure 6 This is a schematic diagram of the telescopic joint in Embodiment 1 of the present invention;

[0033] Figure 7 This is a schematic diagram of the telescopic joint in Embodiment 2 of the present invention;

[0034] Figure 8 This is a schematic diagram of the telescopic joint in Embodiment 3 of the present invention;

[0035] Figure 9 This is a schematic diagram of the telescopic joint in Embodiment 4 of the present invention;

[0036] Figure 10 This is a schematic diagram of the surgical console of the present invention corresponding to the operator's slightly forward-leaning posture;

[0037] Figure 11 This is a schematic diagram of the surgical console according to an embodiment of the present invention, corresponding to the operator's semi-reclining posture. Detailed Implementation

[0038] The surgical console proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0039] In this invention, "proximal end" and "far end" refer to the relative orientation, position, and direction of components or actions relative to each other from the perspective of the operator using the product. Although "proximal end" and "far end" are not restrictive, "proximal end" usually refers to the end of the product that is closer to the operator during normal operation, while "far end" usually refers to the end that is farther away from the operator.

[0040] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature. Additionally, as used in this invention, “installed,” “connected,” “joined,” and “set” on one element by another should be interpreted broadly, generally indicating only a connection, coupling, mating, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial positional relationship between the two elements, i.e., one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. Furthermore, directional terms such as above, below, up, down, upward, downward, left, right, etc., are used relative to exemplary embodiments as shown in the figures, with upward or up direction pointing towards the top of the corresponding figure, and downward or down direction pointing towards the bottom of the corresponding figure.

[0041] This embodiment provides a surgical control console, including a stereoscopic monitor and an operating table 30, with the support arm 20 mounted on the operating table 30.

[0042] The stereoscopic monitor includes a monitor 10 and a support arm 20; the monitor 10 is configured to provide image display; the monitor 10 is mounted on the support arm 20; the support arm 20 has a telescopic joint 201 and two rotary joints; the telescopic joint 201 makes the length of the support arm adjustable, and the rotary joints make the swing angle of the support arm adjustable, the telescopic joint 201 being located between the two rotary joints.

[0043] Please refer to Figure 1 As shown, a robotic minimally invasive surgical system typically includes a system execution end 40, a system image end 50, and a surgical control end 60. The system execution end 40 includes a robotic arm, surgical instruments, and accessories. Located next to the operating table, the system execution end 40 performs surgical operations, with the robotic arm manipulating the surgical instruments in real-time based on commands. The system image end 50 displays images provided by the endoscope. As an open display device, the system image end 50 allows all medical personnel to observe in real time. In this embodiment, the system image end 50 is set up independently of the surgical control end 60 and is placed next to the operating table. The endoscopic images are processed and output to the stereoscopic monitor of the surgical control end 60 and the 2D display of the system image end 50.

[0044] The surgical control unit 60 is located outside the sterile area. The operator uses the surgical control unit 60 to control the robot and manipulate the system execution unit 40, allowing the surgeon to achieve the flexibility of open surgery in a minimally invasive environment. The surgical control unit 60 includes the surgical console and seat 61 of this invention. Please refer to [reference needed]. Figure 2 As shown, the surgical control console also includes a main control arm 611, a stereo monitor, and a foot pedal 612. The main control arm 611 monitors the operator's hand movements and is the primary motion control input for the entire system. The operator controls the instruments and endoscope on the system execution end 40 by operating the control handle at the end of the main control arm 611. The stereo monitor provides the operator with a 3D image of the surgical area, giving them a more realistic operating experience. The foot pedal 612 can be used to switch between controlled robotic arms. The operator can also use the foot pedal 612 to input energy and other related functions.

[0045] Operator 70, seated in chair 61, controls the robotic arm in real-time based on images observed on a stereoscopic monitor. In existing robotic minimally invasive surgical systems, the headrest of chair 61 is positioned high, and the monitor is typically mounted at the headrest. When the operator observes the images on the monitor, it needs to be moved in front of the operator and positioned at eye level. When the operator needs to look away from the monitor, for example, to observe the system execution end 40 and the system image end 50, the monitor needs to be moved because it obstructs the operator's view and the operator's head is restricted by the monitor and the chair back. Additionally, when the operator needs to stand, the monitor also needs to be moved to avoid obstruction. In other words, throughout the entire process... The frequent movement of the monitor makes the entire operation process inconvenient. Moreover, since the support arm is mounted on the seat and the adjustment range is usually small, the human-machine interface adjustment function is very limited. The support arm needs to meet the requirements of the operator's head position and the position of the monitor, and also needs to allow the monitor to be moved to the side, above or behind the seat to avoid the operator. This requires a lot of freedom of the support arm. For example, the support arm usually needs six to seven degrees of freedom to meet the position adjustment requirements of the monitor. In addition, the existing support arms are usually formed by multiple rotating joints, which have weak load-bearing capacity and cannot support the weight of the operator's head well. Therefore, the operator generally needs to maintain an upright sitting posture, which results in poor flexibility during operation. Therefore, mounting the monitor on the seat has great limitations.

[0046] Based on the above-mentioned technical problems, the present invention improves the structure of the support arm. On the one hand, it simplifies the structure of the support arm, and on the other hand, it expands the range of human-machine adjustment, so that the support arm can be installed on the operating table at a distance from the operator. This can improve a series of limitations caused by the monitor being installed on the seat, such as the high degree of freedom required for the support arm, the obstruction of the operator's field of vision, and the limitation of hindering the operator's sitting posture changes.

[0047] A rotary joint refers to a joint of the support arm that can rotate relative to each other, so that the relative angle between the arms of the support arm located on both sides of the joint can be adjusted, thereby allowing the support arm to swing. The rotation can be along a certain axis or in the form of omnidirectional rotation. A telescopic joint 201 refers to a position of the support arm that can be extended or shortened to change the overall length of the support arm. The setting of the telescopic joint 201 helps to expand the human-machine adjustment range of the console, and the setting of the rotary joint helps to adjust the direction of the support arm and thus adjust the position of the monitor so that the monitor is adapted to the operator's face.

[0048] The relative positional relationship and number of the rotary joints and telescopic joints 201 are not limited here. For example, the preferred solution in this embodiment is to set two rotary joints and one telescopic joint 201. In other alternative embodiments, the number and relative position of the rotary joints and telescopic joints 201 can be adjusted according to the usage requirements of the support arm.

[0049] Please refer to Figure 6 The diagram illustrates Embodiment 1 of the telescopic joint 201 in this invention. The telescopic joint 201 is a telescopic structure formed by a lead screw and nut pair consisting of a lead screw 801 and a nut 802. The telescopic joint 201 includes a first telescopic arm 2011 and a second telescopic arm 2012, both of which are hollow structures. The first telescopic arm 2011 is telescopically fitted inside the second telescopic arm 2012. The interlocking position of the first telescopic arm 2011 and the second telescopic arm 2012 has a rectangular cross-section to restrict their relative motion, ensuring that the first telescopic arm 2011 and the second telescopic arm 2012 can only slide relative to each other and cannot rotate relative to each other. Of course, the cross-section at the interlocking position of the first telescopic arm 2011 and the second telescopic arm 2012 can also be a non-circular or other irregular cross-section. The lead screw 801 is rotatably mounted inside the second telescopic arm 2012, and the nut 802 is fixedly connected to the first telescopic arm 2011. The second telescopic arm 2012 is also equipped with a lead screw drive 803, which is usually a motor. The lead screw 801 is driven to rotate by the lead screw drive 803. When the lead screw 801 is driven to rotate, it drives the nut 802 to move linearly, thereby driving the first telescopic arm 2011 to slide relative to the second telescopic arm 2012, so as to realize the extension and retraction of the telescopic joint 201.

[0050] To further ensure the sliding accuracy of the telescopic joint 201, a slider 804 is provided on the first telescopic arm 2011, and a slide rail 805 is built into the second telescopic arm 2012. The slide rail 805 can be integrally integrated into the second telescopic arm 2012, or it can be fixedly connected to the second telescopic arm 2012 as an independent component. In this embodiment, a groove is formed on the inner wall of the second telescopic arm 2012 along the telescopic direction to form the slide rail 805. The slider 804 and the slide rail 805 slide in a single degree of freedom along the telescopic direction of the telescopic joint 201 to guide the first telescopic arm 2011 to slide relative to the second telescopic arm 2012, thereby improving the sliding accuracy of the telescopic joint 201.

[0051] Please refer to Figure 7 The image shows an embodiment 2 of the telescopic joint 201 in this invention. Figure 7 The telescopic joint 201 shown is Figure 6 The difference between the telescopic joint 201 and the other joint is that... Figure 7The telescopic joint 201 is driven by a push rod 806, which can be a hydraulic push rod, an electric push rod, or a pneumatic push rod. A push block 807 is fixedly connected to the first telescopic arm 2011. The driving end of the push rod 806 is connected to the push block 807. The second telescopic arm 2012 has a built-in push rod drive component 808. The appropriate push rod drive component 808 can be selected according to different push rod structures. For example, the push rod drive component 808 can be a linear motor, a hydraulic cylinder, or a pneumatic cylinder.

[0052] Please refer to Figure 8 As shown, this is Embodiment 3 of the telescopic joint 201 in this invention. The telescopic joint 201 still maintains the nested structure composed of the first telescopic arm 2011 and the second telescopic arm 2012. The difference is that the telescopic joint 201 adopts a telescopic drive structure with gear and rack. The first telescopic arm 2011 is nested inside the second telescopic arm 2012. The first telescopic arm 2011 has an opening 809. The inner wall of the second telescopic arm 2012 is provided with a rack 810, which is directly opposite the opening 809. The first telescopic arm 2011 has a gear module 811 built in it. The gear module 811 includes a gear and a gear drive component that drives the gear to rotate. The gear is positioned directly opposite the opening 809 and meshes with the rack 810. When the gear rotates, it can drive the rack 810 to move along the telescopic direction of the telescopic joint 201, thereby causing the first telescopic arm 2011 and the second telescopic arm 2012 to perform relative telescopic movements. In another alternative implementation, the telescopic joint 201 can be configured as a three-section structure, consisting of a middle section and two side sections. The side sections are slidably fitted onto the middle section. A gear is rotatably fitted onto the middle section, and two racks are fixedly installed on the two side sections respectively. The gear is driven to rotate by a motor and drives the two racks to move relative to each other, thereby causing the two side sections to slide relative to the middle section, thus realizing the extension and retraction of the support arm at the joint.

[0053] Please refer to Figure 9 The image shows Embodiment 4 of the telescopic joint 201 in this invention. This telescopic joint 201 adopts a scissor-like telescopic drive structure. Figure 9 and Figure 6 The difference lies in the different driving structures. Figure 9 In the second telescopic arm 2012, a scissor fork telescopic component 812 and a scissor telescopic drive component 813 for driving the extension and retraction of the scissor fork telescopic component 812 are installed inside. The scissor telescopic drive component 813 can be a linear motor or a hydraulic cylinder. A baffle 814 is installed on the first telescopic arm 2011. One end of the scissor fork telescopic component 812 is connected to the baffle 814, and the other end is fixed to the second telescopic arm 2012. When the scissor fork telescopic component 812 is driven, it can extend and retract along the extension and retraction direction of the telescopic joint 201, thereby causing the first telescopic arm 2011 and the second telescopic arm 2012 to perform relative extension and retraction movements.

[0054] The specific telescopic structure adopted by the telescopic joint 201 can be determined according to the operating conditions, and will not be elaborated here.

[0055] The aforementioned stereo monitor is mounted on the control panel, effectively expanding the human-machine interface adjustment range of the control console, and allowing the monitor to be adjusted via a support arm, such as... Figure 1 As shown, when installed on the surgical console, the monitor can be set up independently of the seat 61. Therefore, when the operator 70 is seated in the seat 61, the operator's head movement and posture changes are not restricted by the monitor, or the restriction of the monitor on the operator is greatly reduced; allowing the operator to... Figures 10 to 11 As shown, the seat posture adjustment from slightly leaning forward to semi-reclined backward is more user-friendly for operators who need to observe the operating room from outside the monitor's field of vision. At this time, the operator can simply turn their head without having to manually remove the 3D monitor, making it more convenient to use. Therefore, this device can improve a series of limitations caused by the monitor being mounted on the seat, such as the high degree of freedom required for the support arm, obstruction of the operator's field of vision, and obstruction of the operator's ability to change sitting or standing postures. In addition, while overcoming a series of limitations of existing support arms, this invention also simplifies the structure of the support arm, which helps to reduce the cost of the support arm and simplifies the control structure of the support arm.

[0056] The support arm 20 has one of the telescopic joints 201.

[0057] The present invention can effectively expand the adjustment range of human machine by using a telescopic joint 201. The use of telescopic joint 201 can also reduce the number of rotating joints, which helps to simplify the structure of the support arm. Moreover, the setting of telescopic joint 201 also makes the structural rigidity of the support arm better, and can achieve better load-bearing when the operator's head is in contact with the stereo monitor.

[0058] The support arm 20 has two of the aforementioned rotating joints.

[0059] Please refer to Figure 3 As shown, the two rotating joints are the first rotating joint 202 and the second rotating joint 203, respectively; one telescopic joint 201, together with the two rotating joints, can meet the position adjustment requirements of the stereo monitor. By setting one telescopic joint 201 and two rotating joints, the support arm has better following performance, which is conducive to the monitor's adaptability to the operator's head movement, making the operation more flexible and convenient. Compared with the existing support arm structure, the support arm structure of the present invention not only optimizes the following performance and flexibility, but also simplifies the structure.

[0060] Please refer to Figures 6 to 9 As shown, the structures of the first rotary joint 202 and the second rotary joint 203 are identical in all embodiments. Figure 6Taking an example, the first rotating joint 202 and the second rotating joint 203 are located at both ends of the telescopic joint 201. Both ends of the telescopic joint 201 have rotating joint mounting portions 815, which are hollow cylindrical structures. The axis of the rotating joint mounting portion 815 is perpendicular to the telescopic direction of the telescopic joint 201. A motor can be directly installed inside the rotating joint mounting portion 815 to form a corresponding rotating joint, or a rotating joint can be formed by a motor and a reducer. Furthermore, a rotating window 816 is provided on the rotating joint mounting portion 815. This rotating window 816 serves as a reserved opening for connecting the rotating joint to the housing 11 or the base 21 (which will be detailed below). For example, the connecting part of the housing 11 extends into the rotating joint mounting portion 815 through the rotating window 816 and connects to the first rotating joint 202. The size of the rotating window 816 limits the swing angle of the housing 11, thereby limiting the rotatable angle of the first rotating joint 202. Therefore, the size of the rotating window 816 can be adjusted according to actual rotation requirements. In another alternative embodiment, the motor can be externally mounted on the rotating joint mounting portion 815 to form a rotating joint. In this case, it is not necessary to open the rotating window 816, so the rotation angle of the rotating joint will not be limited by the rotating window 816.

[0061] The telescopic joint 201 is located between the two rotary joints.

[0062] Please refer to Figures 3 to 9 As shown, the telescopic joint 201 is located in the middle and is responsible for adjusting the length of each support arm to achieve a wide range of human-machine adjustments. Two rotary joints are located on both sides of the telescopic joint 201 and are used to adjust the position of the monitor in their respective rotation directions. The layout of this structure is ergonomic and reasonable.

[0063] Furthermore, the rotational axes corresponding to each of the aforementioned rotational joints are parallel to each other.

[0064] The rotating joint of this invention is a conventional hinge structure, with the rotation axes of the two rotating joints being parallel. Therefore, the actual swing direction of the support arm is fixed. When the support arm is mounted on the operating table, the swing direction relative to the operating table can be adjusted by changing the positional relationship between the rotation axis of the support arm and the operating table. Please refer to [reference needed]. Figure 2 As shown, when the support arm is installed on the operating table, the support arm can swing up and down relative to the operating table, thereby adapting to the height of the operator's head and the direction of their face.

[0065] Furthermore, one of the rotating joints is connected to the monitor 10 so that the angle of the monitor 10 relative to the support arm 20 is adjustable.

[0066] Please refer to Figures 3 to 9As shown, the proximal end of the support arm is a second rotary joint 203, which is connected to the monitor, allowing the monitor itself to rotate relative to the support arm. This facilitates adjusting the angle of the monitor so that it fits well with the operator's face.

[0067] Furthermore, the monitor 10 includes a housing 11, a display 12, and at least one sensor 13. The display 12 is disposed on the housing 11 for image display, and the sensor 13 is disposed on the housing 11. At least one of the sensors 13 is configured to identify the operator's authorization to operate the robotic minimally invasive surgical system.

[0068] Please refer to Figures 3 to 5 As shown, the housing 11 has an open end configured to fit snugly against the operator's face; the display is arranged in the form of a binocular system consisting of a left eyepiece assembly and a right eyepiece assembly. Each eyepiece assembly includes an LCD and / or LED panel display, lenses, mirrors, and other optical and electronic components. The display provides a three-dimensional image. The eyepiece assembly is a conventional structure and will not be described in detail here; of course, other display structures can also be used. The display is located inside the housing and faces the open end so that the operator's line of sight can enter the eyepiece assembly without obstruction.

[0069] The housing contains a first sensor 131 for identifying the operator. Identification can be performed using existing, known methods, such as configuring the first sensor 131 within a camera capable of detecting the user's iris code. The controller compares the detected iris code with iris codes stored in a database associated with authorized users, and if the detected iris code corresponds to the code associated with the authorized user, then operation of the robotic surgical system is permitted. Alternatively, or as an alternative embodiment, the user can be identified using other sensors suitable for detecting unique biometric parameters, such as IR sensors for detecting thermal signatures, electronics for performing voice recognition, electronics for facial recognition, etc.

[0070] Furthermore, the surgical console also includes a triggering device 14, which is configured to have at least a triggered state and a non-triggered state. When the triggering device 14 is in the triggered state, the telescopic joint 201 and the rotary joint are locked. When the triggering device 14 is in the non-triggered state, the lock between the telescopic joint 201 and the rotary joint is released.

[0071] The specific structural form of the triggering device 14 is not limited here; it can be a mechanical triggering structure, an electronic triggering structure, or other known triggering devices. Please refer to [reference needed]. Figure 3 As shown, the triggering device 14 is a button located on the side of the housing 11. In this embodiment, an electric triggering structure is preferably used in conjunction with a brake. Both the rotating joint and the telescopic joint 201 are controlled by motors. When the operator is preparing to adjust the position of the stereo monitor, pressing the electric trigger button on the side of the stereo monitor enters the non-triggering state. The motors on each joint are powered on and output torque to keep the stereo monitor stationary. Then, the brake corresponding to the output shaft of the motor is released. At this time, the operator can easily move the monitor with a thrust of 15N for human-machine adjustment. After the monitor reaches the operator's comfortable position, pressing the electric trigger button on the side of the stereo monitor enters the triggering state. The brake corresponding to the output shaft of the motor is locked, and then the motor stops outputting power, completing the locking of the support arm. At this time, the operator is allowed to bear a force of no more than 30kG on the stereo monitor or the support arm. Through the setting of the triggering device, the support arm can switch between locked and unlocked states, ensuring good load-bearing capacity and flexible adjustment function.

[0072] Furthermore, at least one of the sensors 13 is configured to detect the operator's head posture; the support arm 20 is configured to respond based on the detected head posture, causing the telescopic joint 201 and the rotary joint to move so that the monitor 10 follows the operator's head movement.

[0073] Please refer to Figure 5 As shown, a second sensor 132 is also provided inside the housing. The second sensor 132 is used to detect head posture information. For example, the second sensor may be an eye-tracking sensor that follows the user's gaze and / or a pressure sensor or other sensors included in the housing. The controller receives information from the corresponding sensors, interprets the user's head posture, and responds to the interpreted head posture to control the movement of the telescopic joint 201 and the rotary joint, thereby making the monitor follow the operator's head movement. For example, when the user's head moves downward, the second sensor 132 detects the corresponding posture information, interprets the user's head posture as moving downward, and controls the adaptive movement of the telescopic joint 201 and the rotary joint, so that the monitor follows the operator's head movement downward.

[0074] Furthermore, when the sensor 13 detects that the operator's head is inside the housing 11, it authorizes the operator to operate the robotic minimally invasive surgical system.

[0075] Please refer to Figure 4 and Figure 5As shown, a first sensor 131 is provided on each of the left and right sides of the face inside the housing. This sensor can integrate facial recognition and pressure sensing functions. When facial information is recognized, and the face is close to the inside of the housing and the first sensor 131 senses pressure, contact, or other signals, it is determined that the operator's head has entered the housing 11, and the recognition is successful, authorizing the operator to operate the robotic minimally invasive surgical system. In an alternative embodiment, the first sensor 131 can only integrate pressure sensing function. When pressure is collected, it is determined that the recognition is successful and an authorization signal is sent to the controller, authorizing the operator to operate the robotic minimally invasive surgical system. Or in another alternative embodiment, the first sensor 131 is a signal transmitter and signal receiver located on the left and right sides inside the housing. When the signal is blocked, it is determined that the operator's head has entered the housing 11, and the recognition is successful, authorizing the operator to operate the robotic minimally invasive surgical system.

[0076] Furthermore, the sensor 13 detects the operator's head posture in the following manner: the sensor 13 detects the pressure of the head on the housing 11 in a certain detection direction at a set frequency; if the pressure continuously decreases, it is determined that the head is moving away from the housing 11 in the detection direction; if the pressure continuously increases, it is determined that the head is moving closer to the housing 11 in the detection direction.

[0077] There is no limitation on the set frequency here; the set frequency should be adapted to the actual needs of the testing process.

[0078] The pressure continues to decrease when the pressure is detected at a set frequency, and the pressure detected later in time is smaller than the pressure detected earlier in time.

[0079] The pressure continues to increase when the pressure is detected at a set frequency, and the pressure detected later in time is greater than the pressure detected earlier in time.

[0080] Please refer to Figure 5 As shown, the second sensor 132 can be positioned on the housing directly opposite the operator's forehead to detect pressure in the corresponding direction on the operator's forehead, thereby determining whether the operator's forehead is moving back and forth relative to the housing; alternatively, the second sensor 132 can be positioned on the housing directly opposite the top of the operator's head to determine whether the operator's head is moving up and down relative to the housing; the position of the second sensor 132 can be adaptively adjusted according to the different detection directions; the pressure sensor transmits the detected information to the controller, which then controls the corresponding movement of each joint of the support arm, thereby causing the housing to follow the operator's head posture.

[0081] Furthermore, the support arm 20 includes a base 21 and a telescopic arm 22. The distal end of the telescopic arm 22 is rotatably connected to the base 21 about a first axis, and the proximal end of the telescopic arm 22 is rotatably connected to the monitor 10 about a second axis. The telescopic arm 22 itself is telescopic to form the telescopic joint 201. A first rotational joint 202 is formed at the connection between the telescopic arm 22 and the base 21, and a second rotational joint 203 is formed at the connection between the telescopic arm 22 and the monitor 10.

[0082] Please refer to Figure 3 As shown, each joint is controlled by a motor for rotation. The support arm is connected to the monitor through a two-section structure. Its structure is simple and has a large range of human-machine adjustment.

[0083] Furthermore, the direction of the rotation axis of the rotating joint is set such that when the operator manipulates the operating table 30, the direction of the rotation axis is set so that when the support arm 20 rotates, it drives the monitor 10 to move along the height direction of the operator.

[0084] Please refer to Figure 1 and Figure 2 As shown, the far end of the base 21 is fixedly connected to the operating table. At this time, the support arm and the seat are independent, allowing the stereo monitor to be adjusted to adapt to the operator's sitting posture, from a slight forward lean to a semi-reclined position, meeting a wide range of ergonomic adjustment needs. Due to the adjustment of the human posture, the footrest 612 can be adjusted forward and backward over a wide range, and can also be adjusted by approximately 20° to accommodate the ankle angle when semi-reclined. When the operator manipulates the operating table 30, the rotation axis of the joint is actually roughly aligned with the operator's left-right direction, so that the monitor 10 moves along the direction of the operator's height. Therefore, during the swinging of the support arm 20, it adapts to the operator's sitting posture adjustment from a slight forward lean to a semi-reclined position.

[0085] Furthermore, the position of the support arm 20 installed on the operating table 30 is set such that when the operator manipulates the operating table 30, the support arm 20 is located in front of the operator, and the support arm 20 extends toward the side closer to the operator.

[0086] Here, "front side" refers to the side located in front of the operator;

[0087] Please refer to Figure 1 and Figure 2As shown, when the operator manipulates the control panel 30, the support arm 20 is actually located directly in front of the operator and extends towards the operator to accommodate the operator's observation posture. This surgical control console structure allows the monitor to be independently positioned relative to the seat 61. Therefore, when the operator 70 sits in the seat 61, the operator's head movement and posture changes are not restricted by the monitor, or the monitor's restriction on the operator is greatly reduced, allowing the operator to move freely as needed. Figures 10 to 11 As shown, the adjustable sitting posture, from slightly leaning forward to semi-reclined backward, is more user-friendly for operators who need to observe the operating room from outside the monitor's field of vision. At this point, the operator can simply turn their head without needing to manually remove the 3D monitor, making it more convenient to use. Therefore, this device can overcome a series of limitations imposed by the monitor being mounted on the seat, such as the high degree of freedom required for the support arm, obstruction of the operator's other field of vision, and difficulty in changing the operator's sitting posture. Furthermore, while overcoming a series of limitations of existing support arms, this invention also simplifies the structure of the support arm, reducing its cost and simplifying its control structure.

[0088] Please continue to refer to this. Figure 1 As shown, the rotation axes of the first rotating joint 202 and the second rotating joint 203 both extend along the width direction of the operating table 30. When the operator's face is in the stereo monitor, the support arm 20 can rotate in the up and down direction based on the rotation of the first rotating joint 202 and the second rotating joint 203, but cannot rotate left and right. Moreover, the support arm 20 can also extend and retract adaptively in the forward and backward direction of the operator.

[0089] The support arm 20, formed by two rotary joints and one telescopic joint, has a simple structure and can also drive the monitor 10 to achieve various posture transformations, so that the monitor 10 can adapt to various postures of the operator and achieve automatic human-machine posture matching.

[0090] The support arm 20 extends towards the side closest to the operator and is equipped with two rotary joints. This structure of the support arm 20 is not only simple but also more suitable for the operator's actual usage scenarios. For example, when the operator is operating, they are usually sitting in a chair. When adjusting their posture from a slightly forward lean to a semi-reclined position, the relative distance the head moves forward and backward is relatively long, while the relative distance it moves up and down is relatively short. At this time, the support arm 20 actively extends or shortens over a wide range through the telescopic joints to adapt to the forward and backward position of the operator's head. The two rotary joints simultaneously cooperate to fine-tune the vertical position of the operator's head. On the one hand, the joint adjustment movement of the support arm 20 is relatively simple, which is conducive to simplified control. On the other hand, the support arm 20 can drive the monitor 10 to respond and follow quickly to match the operator's posture. Its tracking performance is effectively improved, and its dependence on sensors is also reduced.

[0091] The support arm 20 is driven to rotate up and down by two rotating joints, but cannot rotate left and right. This is also more suitable for the operator's field of vision. For example, when the operator turns his head left and right, the support arm 20 can ensure that the monitor 10 cannot follow the operator's head position. In this scenario, the operator's head can easily leave the monitor 10 and obtain a field of vision outside the monitor. This makes it convenient for the operator to leave the field of vision of the monitor 10 at any time to observe the system image terminal 50 or the surgical control terminal 60.

[0092] The support arm 20, through the combination of two rotating joints and a telescopic joint, greatly improves its support performance. On the one hand, since the support arm 20 cannot rotate left or right, it provides some support for the operator's head in the lateral direction. On the other hand, when the telescopic joint is locked, it provides good support for the operator's head in the anterior-posterior direction, which helps to relieve user head fatigue and is more suitable for users to operate for a long time. The support arm 20 has good force line consistency, which can ensure good support performance without damaging the joints.

[0093] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the scope of protection of the claims.

Claims

1. A surgical control console, characterized in that: Includes monitor, support arm, and control panel; The monitor is configured to provide image display; the monitor is mounted on the support arm; The support arm is mounted on the operating table; The support arm has one telescopic joint and two rotary joints; The telescopic joint allows the length of the support arm to be adjusted, the rotary joint allows the swing angle of the support arm to be adjusted, and the telescopic joint is located between the two rotary joints. The rotation axes of each of the aforementioned rotating joints are parallel to each other. The direction of the rotation axis of the rotating joint is set such that when the operator manipulates the control panel, the rotation axis of the rotating joint is consistent with the left and right direction corresponding to the operator. The direction of the rotation axis is set so that when the support arm rotates, it drives the monitor to move along the height direction of the operator, so that the support arm can adapt to the operator's sitting posture adjustment from slightly leaning forward to leaning back during the swinging process.

2. The surgical console as described in claim 1, characterized in that: One of the rotating joints is connected to the monitor so that the angle of the monitor relative to the support arm is adjustable.

3. The surgical console as described in claim 1, characterized in that: The monitor includes a housing, a display, and at least one sensor. The display is disposed on the housing for image display, and the sensor is disposed on the housing. At least one of the sensors is configured to identify an operator to authorize the operator to operate the robotic minimally invasive surgical system.

4. The surgical console as described in claim 3, characterized in that: At least one of the sensors is configured to detect the operator's head posture; the support arm is configured to respond based on the detected head posture, causing the telescopic joint and the rotary joint to move so that the monitor follows the operator's head movement.

5. The surgical console as described in claim 3, characterized in that: When the sensor detects that the operator's head is inside the housing, the operator is authorized to operate the robotic minimally invasive surgical system.

6. The surgical console as described in claim 4, characterized in that: The sensor detects the operator's head posture in the following manner: the sensor detects the pressure of the head on the housing in a certain detection direction at a set frequency; if the pressure continuously decreases, it is determined that the head is moving away from the housing in the detection direction; if the pressure continuously increases, it is determined that the head is moving closer to the housing in the detection direction.

7. The surgical console as described in claim 1, characterized in that: The surgical console also includes a triggering device, which is configured to have at least a triggered state and a non-triggered state. When the triggering device is in the triggered state, the telescopic joint and the rotary joint are locked. When the triggering device is in the non-triggered state, the locking of the telescopic joint and the rotary joint is released.

8. The surgical console as described in claim 1, characterized in that: The support arm includes a base and a telescopic arm. The distal end of the telescopic arm is rotatably connected to the base about a first axis, and the proximal end of the telescopic arm is rotatably connected to the monitor about a second axis. The base is disposed on the operating table. The telescopic arm itself is telescopic to form the telescopic joint. The connection between the telescopic arm and the base forms a first rotational joint, and the connection between the telescopic arm and the monitor forms a second rotational joint.

9. The surgical console as described in claim 1, characterized in that: The support arm is installed on the operating table in such a way that when the operator manipulates the operating table, the support arm is located in front of the operator and extends toward the side closer to the operator.

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