Laparoscopic surgery system console and transmission control method thereof

Abstract

The embodiment of the application provides a laparoscopic surgery system console and a transmission control method thereof, the console comprising: a chassis, a stand, a handrail and a head-mounted display, further comprising: a handrail lifting assembly and a head-mounted display lifting assembly which are independent of each other; a control unit configured to calculate the height difference between the handrail and the head-mounted display in real time according to a lifting instruction; when the height difference is within a preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to lift; when the height difference is outside the preset range, if the height difference change trend is close to the preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to lift, and if the height difference change trend is away from the preset range, synchronously lifting the handrail and the head-mounted display. The laparoscopic surgery system console provided by the embodiment of the application improves the adaptability to operators of different heights.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a laparoscopic surgery system console and a transmission control method thereof. BACKGROUND

[0002] With the development of science and technology and medical technology, laparoscopic surgery systems are more and more widely used in minimally invasive surgery due to their advantages of more accurate, efficient and comfortable operation. A laparoscopic surgery robot system is composed of a surgery vehicle, a console and an instrument vehicle, and the console is provided with a master hand, and the movement of the master hand can be synchronized to the mechanical arm on the surgery vehicle.

[0003] In the related art, the console further includes an armrest and a head-mounted display, and the operator needs to put his arm on the armrest and operate the master hand according to the image seen in the head-mounted display. Since the heights and body proportions of different operators are different, the positions of the armrest and the head-mounted display need to be flexibly adjusted to ensure the operation experience of the console. SUMMARY

[0004] To solve the problem that the position of the console of the laparoscopic surgery system cannot be adjusted, the present application provides a laparoscopic surgery system console.

[0005] In a first aspect, the embodiments of the present application provide a laparoscopic surgery system console, which comprises a chassis, a stand, an armrest and a head-mounted display, and is characterized in that it further comprises:

[0006] The armrest lifting assembly and the head-mounted display lifting assembly are independent of each other, the armrest lifting assembly is used to lift the armrest, and the head-mounted display lifting assembly is used to lift the head-mounted display;

[0007] A control unit is used to calculate the height difference between the armrest and the head-mounted display in real time according to a lifting instruction;

[0008] When the height difference is within a first preset range, the armrest or the head-mounted display corresponding to the lifting instruction is controlled to be lifted;

[0009] When the height difference is within a second range outside the preset range, if the height difference trend is close to the first preset range, the armrest or the head-mounted display corresponding to the lifting instruction is controlled to be lifted, and if the height difference trend is away from the first preset range, the armrest and the head-mounted display are controlled to be lifted synchronously.

[0010] In some embodiments, the armrest lifting assembly comprises an armrest lifting guide rail and an armrest lifting sliding block, the armrest lifting guide rail is longitudinally arranged on the stand, the armrest lifting sliding block is in sliding connection with the armrest lifting guide rail, and the armrest is mounted on the armrest lifting sliding block.

[0011] In some embodiments, the guide rail slider is fixed to the handrail lifting slider.

[0012] In some embodiments, the handrail lifting slider is also equipped with a master hand and a handle.

[0013] In some embodiments, the handrail lifting assembly further includes an elastic element, the bottom end of which is fixed to the column and the top end of which is fixed to the handrail drive slider.

[0014] In some embodiments, the device further includes a head-mounted display (HMD) rotation assembly; the HMD rotation assembly includes a HMD mounting base, a HMD rotation power device, and a HMD rotation rod, the HMD mounting base is fixed to the HMD lifting assembly, the HMD rotation power device is mounted on the HMD mounting base, and the HMD rotation rod is connected to the HMD rotation power device and the HMD respectively.

[0015] In some embodiments, the head-mounted display rotating rod is a dual-rocker mechanism.

[0016] In some embodiments, the preset range is greater than the first difference.

[0017] In some embodiments, the preset range is greater than a first difference and less than a second difference.

[0018] In some embodiments, the preset range is smaller than the second difference.

[0019] In a second aspect, embodiments of this application provide a transmission control method for a laparoscopic surgery system console, used in the laparoscopic surgery system console of the first aspect, the method comprising:

[0020] Receives commands to raise or lower the armrests or head-up display;

[0021] In response to the lifting command, the height difference between the armrest and the head-mounted display is calculated in real time;

[0022] When the height difference is within a preset range, control the handrail or head-up display corresponding to the lifting command to lift or lower.

[0023] When the height difference is outside the preset range, if the trend of the height difference is close to the preset range, the handrail or head-up display corresponding to the lifting command is controlled to lift or lower. If the trend of the height difference is far away from the preset range, the handrail and head-up display are lifted or lowered synchronously.

[0024] The beneficial effects of the laparoscopic surgery system console provided in this application include:

[0025] The laparoscopic surgery system console provided in this application includes a chassis, a column, handrails, a head-mounted display, independent handrail lifting components and head-mounted display lifting components, and a control unit. The handrail lifting components allow the handrails to be raised and lowered along the column, and the head-mounted display lifting components allow the head-mounted display to be raised and lowered relative to the column, eliminating the need to raise or lower the column, thus enhancing the stability of the console and improving the operating experience for operators of different heights. The control unit can control the handrails and head-mounted display to be raised and lowered individually or simultaneously, avoiding an excessively small height difference between the head-mounted display and the handrails, and ensuring sufficient operating space on the console. Attached Figure Description

[0026] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 The diagram above exemplifies the structure of a console for a laparoscopic surgical system.

[0028] Figure 2 The diagram above illustrates a structural schematic of a handrail transmission assembly.

[0029] Figure 3 The diagram above illustrates a structural schematic of a head-mounted display lifting assembly.

[0030] Figure 4 The diagram above illustrates a structural schematic of a rotating assembly for a head-mounted display.

[0031] Figure 5 The diagram above illustrates the appearance of a head-mounted display.

[0032] Figure 6 The diagram above illustrates the position of an adjustment switch.

[0033] Figure 7 The diagram above illustrates a head-mounted display rotation.

[0034] Figure 8 The diagram above illustrates a schematic flowchart of a transmission control method for a laparoscopic surgery system console. Detailed Implementation

[0035] To make the objectives and implementation methods of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only some embodiments of this application, and not all embodiments.

[0036] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0037] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0038] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0039] The currently disclosed embodiments will now be described in detail with reference to the accompanying drawings, wherein in each of the several views, the same reference numerals indicate the same or corresponding elements.

[0040] See Figure 1 This is a schematic diagram of the structure of a laparoscopic surgical system console provided in an embodiment of this application. Figure 1 As shown, the control console includes a chassis 1, a column 2, an armrest 3, and a head-up display 4, wherein the armrest 3 and the head-up display 4 are mounted on the column 2.

[0041] The chassis 1 is used to support the column 2. The bottom of the chassis 1 is equipped with casters for easy movement. The chassis 1 is also equipped with an electrical control box 11, which is used to control the transmission of the column 2, the handrail 3 and the head-mounted display 4.

[0042] The control panel's transmission includes armrest transmission and head-mounted display transmission. The armrest transmission includes the lifting and lowering of the armrest 3, and the head-mounted display transmission includes the lifting and lowering and rotation of the head-mounted display 4.

[0043] The handrail is driven by a handrail drive assembly connected to the handrail. This assembly is a handrail lifting assembly, which enables the handrail to be raised and lowered on the column 2. (See also...) Figure 2 This is a structural schematic diagram of a handrail transmission assembly provided in an embodiment of this application. Figure 2 As shown, the handrail transmission assembly may include a handrail lifting guide rail 301, a handrail screw transmission mechanism 302, a handrail transmission slider 303, and a handrail transmission nitrogen spring 304.

[0044] The handrail lifting guide rail 301 is symmetrically installed on both sides of the column 2, and is parallel to the column 2. The handrail screw drive mechanism 302 is installed on the inner side of the column 2. The screw nut of the handrail screw drive mechanism 302 and the slider of the handrail lifting guide rail 301 are both fixed on the handrail drive slider 303, so that the handrail drive slider 303 can slide up and down along the handrail lifting guide rail 301 under the drive of the handrail screw drive mechanism 302. The handrail 3, main handrail 5 and handle 6 are fixed on the handrail drive slider 303, so that the handrail 3, main handrail 5 and handle 6 can be raised and lowered synchronously. The handrail drive nitrogen spring 304 is an elastic element and is also fixed on the handrail drive slider 303, which can provide assistance for the raising and lowering of the handrail drive slider 303.

[0045] The head-mounted display drive includes the lifting and rotation of the head-mounted display 4. The lifting of the head-mounted display 4 can be achieved by the head-mounted display lifting assembly, and the rotation of the head-mounted display 4 can be achieved by the head-mounted display rotation assembly connected to the head-mounted display 4. The head-mounted display rotation assembly is connected to the head-mounted display lifting assembly.

[0046] In some embodiments, the structure of the head-mounted display lifting assembly can be seen in [reference needed]. Figure 3 The structure of the head-mounted display rotation assembly can be found in [reference needed]. Figure 4 The structure of Headset 4 can be seen in [reference]. Figure 5 .

[0047] See Figure 3 This is a structural schematic diagram of a head-mounted display lifting assembly provided in an embodiment of this application. Figure 3 As shown, the head-mounted display (HMD) lifting assembly may include a HMD lifting fixing plate 401, a first HMD lifting guide rail 402, a HMD lead screw drive assembly 403, a second HMD lifting guide rail 404, and a HMD lifting rod 405 (see...). Figure 4 The first head-mounted display lifting rail 402 and the second head-mounted display lifting rail 404 are vertically distributed on the column 2, with the second head-mounted display lifting rail 404 located above the first head-mounted display lifting rail 402.

[0048] The head-mounted display (HMD) lifting mounting plate 401 is mounted on the column 2. The first HMD lifting guide rail 402 is fixed on the HMD lifting mounting plate 401, and the first HMD lifting guide rail 402 is parallel to the column 2. The HMD lead screw drive assembly 403 is also fixed on the HMD lifting mounting plate 401, and the transmission direction is parallel to the column 2. Alternatively, the first HMD lifting guide rail 402 and the HMD lead screw drive assembly 403 can also be directly fixed to the column 2. The slider of the first head-mounted display lifting guide rail 402 and the slider of the head-mounted display lead screw transmission assembly 403 are both fixed on the head-mounted display lifting rod 405. The head-mounted display lifting rod 405 is slidably disposed on the first head-mounted display lifting guide rail 402. The second head-mounted display lifting guide rail 404 is fixedly inserted inside the head-mounted display lifting rod 405. The second head-mounted display lifting guide rail 404 is slidably connected to the armrest transmission slider 303 through the guide rail slider 4041. The guide rail slider 4041 is fixed on the armrest transmission slider 303, so that the head-mounted display lifting rod 405 can be raised and lowered along the first head-mounted display lifting guide rail 402 under the transmission of the head-mounted display lead screw transmission assembly 403. The armrest transmission slider 303 can slide relative to the second head-mounted display lifting guide rail 404 through the guide rail slider 4041.

[0049] The second head-mounted display lifting guide rail 404 bears the main bending moment generated by the head-mounted display 4. At the same time, the second head-mounted display lifting guide rail 404 is fixed on the head-mounted display lifting rod 405, which strengthens the structural strength and rigidity of the head-mounted display lifting rod 405 and ensures smooth transmission.

[0050] based on Figure 3 The head-mounted display lifting assembly shown has a handrail 3, a main handrail 5, and a handle 6 fixed on the handrail drive slider 303, which can be raised and lowered relative to the second head-mounted display lifting guide rail 404 on the column 2, while the head-mounted display 4 can be raised and lowered along the first head-mounted display lifting guide rail 402 on the column 2.

[0051] In some embodiments, the armrest 3 is raised and lowered by controlling the armrest screw transmission mechanism 302, and the head-mounted display 4 is raised and lowered by controlling the head-mounted display screw transmission assembly 403. The armrest 3 and the head-mounted display 4 can be raised and lowered simultaneously or sequentially.

[0052] During the raising and lowering of armrest 3 or head-mounted display 4, if the height difference between armrest 3 and head-mounted display 4 reaches a threshold and the trend of the height difference is increasing, the raising and lowering of armrest 3 and head-mounted display 4 can be set to be independent, allowing the height difference between armrest 3 and head-mounted display 4 to continue to increase, thus ensuring sufficient operating space for taller users on the control panel. If the height difference between armrest 3 and head-mounted display 4 reaches a threshold and the trend of the height difference is decreasing, the raising and lowering of armrest 3 and head-mounted display 4 can be set to be synchronized, preventing the height difference between armrest 3 and head-mounted display 4 from decreasing further, thus avoiding insufficient operating space on the control panel.

[0053] See Figure 4This is a schematic diagram of the structure of a head-mounted display rotating assembly provided in an embodiment of this application, as shown below. Figure 4 As shown, the head-mounted display (HMD) rotation assembly may include a HMD mounting base 408, a HMD rotation power unit 406, and a dual-rocker mechanism 407. The HMD mounting base 408 is fixed to the HMD lifting rod 405. The HMD rotation power unit 406 is mounted on the HMD mounting base 408. The HMD 4 is connected to the HMD rotation power unit 406 via the dual-rocker mechanism 407. The dual-rocker mechanism 407 is a type of HMD rotation rod and includes two sets of vertically distributed rockers. The drive rod of the dual-rocker mechanism 407 can be any set of rockers. When the HMD lifting rod 405 moves up and down, the HMD mounting base 408, the HMD rotation power unit 406, the dual-rocker mechanism 407, and the HMD 4 can move up and down with the HMD lifting rod 405. The HMD 4 may be a dual-mirror radiating head-mounted display.

[0054] The head-mounted display rotation power device 406 includes a motor reducer and an arc gear module. The head-mounted display rotation power device 406 drives the dual-rocker mechanism 407 to move. Any one of the links in the dual-rocker mechanism 407 can be used as a driving element. In this invention, the upper rocker of the dual-rocker mechanism 407 is used for driving. The head-mounted display 4 is equivalent to the connecting rod of the dual-rocker mechanism, and the eyepiece 409 on the head-mounted display 4 is equivalent to a position on the connecting rod. By adjusting the length of the link in the dual-rocker mechanism and the connection position of the head-mounted display 4, the trajectory of the eyepiece 409 can be changed to achieve the desired effect (see...). Figure 5 The appropriate trajectory required.

[0055] Adjustments to the control panel can be made after activating the adjustment switch. The adjustment switch is located on armrest 3. See also... Figure 6 This is a schematic diagram of the position of an adjustment switch, such as... Figure 6 As shown, the adjustment switches may include a head-up / down tilt switch 305, a head-up rotation switch 306, and an armrest tilt / down tilt switch 307. When the head-up / down tilt switch 305 is activated, the head-up display 4 can be raised or lowered; when the head-up rotation switch 306 is activated, the head-up display 4 can be rotated; and when the armrest tilt / down switch 307 is activated, the armrest 3 can be raised or lowered. The head-up / down tilt switch 305, head-up rotation switch 306, and armrest tilt / down switch 307 have first and second states. The first state of the head-up tilt switch 305 triggers the head-up display to rise, and the second state triggers the head-up display to fall. The first state of the head-up rotation switch 306 triggers the head-up display to rotate in a first direction, and the second state triggers the head-up display to rotate in a second direction. The first state of the armrest tilt / down switch 307 triggers the armrest to rise, and the second state triggers the armrest to fall. Based on the console in the above embodiment, the adjustment of the armrest 3 and head-up display 4 will be described below.

[0056] In some embodiments, the lowest position of the armrest 3 is adapted for operation by shorter people, and the highest position of the armrest 3 is adapted for operation by taller people.

[0057] After the handrail lifting switch 307 is turned on, the handrail 3 can be raised or lowered to adjust its height. The power for raising and lowering the handrail 3 is transmitted to the handrail screw transmission mechanism 302 fixed on the column 2 through the motor reducer of the handrail 3. Since the screw nut of the handrail screw transmission mechanism 302 is fixed to the handrail transmission slider 303, and the handrail 3, main arm 5 and handle 6 are all fixed to the handrail transmission slider 303, the movement of the screw nut can drive the handrail 3, main arm 5 and handle 6 to move synchronously along the handrail lifting guide rail 301. At the same time, the handrail transmission nitrogen spring 304 can provide assistance for the raising and lowering of the handrail 3, thereby assisting the motor output of the handrail 3, reducing the motor power of the handrail 3, and playing an energy-saving role.

[0058] During the raising and lowering of armrest 3, the motor of armrest 3 can record the value of its encoder in real time, and this encoder value corresponds to the height of armrest 3. The raising and lowering motor of head-mounted display 4 also records the value of its encoder in real time, and this encoder value corresponds to the height of head-mounted display 4. The difference between the encoder values ​​of armrest 3 and head-mounted display 4 corresponds to the height difference between armrest 3 and head-mounted display 4. The space corresponding to this height difference is the operating space for the operator's hands. To ensure that the operator's hands can move freely in this operating space, it can be configured so that when the height difference is greater than a threshold, head-mounted display 4 does not rise and fall synchronously with armrest 3; when the height difference is less than or equal to the threshold, head-mounted display 4 rises and falls synchronously with armrest 3, preventing the height difference from decreasing further and making the control panel inconvenient to operate. Of course, this height difference is usually not less than the threshold, which can be a height difference that allows for free hand movement for shorter people, such as 38cm, suitable for people 170cm and below.

[0059] In some embodiments, the threshold can also be set to a height difference that allows for free hand movement for taller people, such as 44cm. It can be configured that when the height difference between the armrest 3 and the head-mounted display 4 is less than the threshold, the head-mounted display 4 will not rise and fall synchronously with the armrest 3. When the height difference is greater than or equal to the threshold, the head-mounted display 4 will rise and fall synchronously with the armrest 3, so as to avoid the height difference from becoming too large and making the control panel inconvenient to operate.

[0060] In some embodiments, the lowest position of the head-mounted display 4 is suitable for operation by shorter individuals, while the highest position is suitable for taller individuals. Since people of the same height may have different body proportions, to improve the adaptability of the operating platform, the position of the eyepiece 409 on the head-mounted display 4 can be configured such that when the head-mounted display 4 is adjusted to its lowest position, the line of sight for a person of that height falls on the lower limit of the armrest 3 at a certain distance below; and when the head-mounted display 4 is adjusted to its highest position, the line of sight for a person of that height falls on the lower limit of the armrest at a certain distance above, thus meeting the operational needs of people with different body proportions.

[0061] After the head-mounted display lifting switch 305 is turned on, the head-mounted display 4 can be raised or lowered to adjust its height. The power for raising and lowering the head-mounted display 4 is transmitted to the head-mounted display lead screw transmission assembly 403 fixed on the column 2 through the motor reducer of the head-mounted display 4. Since the lead screw nut of the head-mounted display lead screw transmission assembly 403 is fixed together with the head-mounted display lifting rod 405, and the head-mounted display 4 is connected to the head-mounted display lifting rod 405, the movement of the lead screw nut can drive the head-mounted display 4 to move along the first head-mounted display lifting guide rail 402 and the second head-mounted display lifting guide rail 404.

[0062] In some embodiments, the rotation of the head-mounted display 4 is to ensure the comfort of different people when operating the main hand 5 to perform surgery at different angles. Since people's eyes follow the hand's movements when reading or operating an object, the present invention defines the rotation angle of the head-mounted display 4 as the angle between the eyepiece 409 and the horizontal position. This angle can be initially determined as the angle between the object and the table. By increasing this angle by a certain angle, it can accommodate people with different operating habits.

[0063] After activating the head-mounted display rotation switch 306, the rotation angle of the head-mounted display 4 can be adjusted, causing the operator's eye position to change along the trajectory L, such as... Figure 7 As shown, this causes a change in the operator's field of view.

[0064] The rocker arm in the dual rocker mechanism can provide power for the rotation of the head-mounted display 4. The trajectory of the link can be adjusted by adjusting the length of the link. An exemplary link trajectory can be an approximately vertical trajectory of the link. In this case, when the head-mounted display 4 rotates, the eyepiece 409 will only move up and down, while the forward and backward movement is almost negligible. Since the armrest 3 does not move forward and backward, the up and down movement generated by the link trajectory can be compensated by the lifting and lowering of the head-mounted display 4.

[0065] To further illustrate the laparoscopic surgery system console provided in this application embodiment, this application embodiment also provides a transmission control method for the laparoscopic surgery system console, which can be used as a control device for the console. See [link to relevant documentation]. Figure 8 The method may include the following steps:

[0066] Step S101: Receive the lifting command from the armrest or head-up display.

[0067] In some embodiments, the armrest lifting command can be an operation command generated by the user activating the armrest lifting toggle switch, and the head-mounted display lifting command can be an operation command generated by the user activating the head-mounted display lifting toggle switch. For example, if the user moves the armrest lifting toggle switch to the first state, the generated operation command is an armrest lifting command.

[0068] Step S102: In response to the lifting command, calculate the height difference between the armrest and the head-mounted display in real time.

[0069] In some embodiments, upon receiving a lifting command, the height difference between the armrest and the head-mounted display can be obtained, and the method for lifting or lowering the armrest and the head-mounted display can be determined based on a comparison between the height difference and a preset range.

[0070] Step S103: When the height difference is within a preset range, control the handrail or head-mounted display corresponding to the lifting command to lift or lower.

[0071] In some embodiments, a height difference within a preset range indicates that the hand movement space between the armrest and the head-mounted display is a recommended range of movement space, which is suitable for the height of most operators. Therefore, when the height difference is within the preset range, only the armrest or head-mounted display that triggers the lifting command can be controlled to lift or lower, while the armrest or head-mounted display that does not trigger the lifting command can not be controlled to lift or lower.

[0072] Step S104: When the height difference is outside the preset range, if the trend of the height difference is close to the preset range, control the handrail or head-up display corresponding to the lifting command to lift or lower; if the trend of the height difference is far away from the preset range, lift or lower the handrail and head-up display synchronously.

[0073] In some embodiments, if the height difference between the armrest and the head-mounted display is outside the preset range, it indicates that the hand movement space between the armrest and the head-mounted display is an unrecommended activity space. The operator's operation in this unrecommended activity space will affect the operating experience. At this time, the armrest and the head-mounted display can be raised and lowered according to the lifting command and the changing trend of the height difference, so that the height difference changes towards or remains within the preset range.

[0074] It should be noted that if the height difference changes beyond the preset range during the process of controlling the armrest or head-up display to rise and fall according to step S103, the armrest or head-up display should be controlled to rise and fall again according to step S104. Similarly, if the height difference changes to the preset range during the process of controlling the armrest or head-up display to rise and fall according to step S104, the armrest or head-up display should be controlled to rise and fall again according to step S103.

[0075] In some embodiments, the preset range may be greater than d1, where d1 may be referred to as the first difference, which is to satisfy the height difference for free hand movement of shorter people.

[0076] For example, d1 is 38 cm. When the height difference between the armrest and the head-up display is 40 cm, and the lifting command is the armrest's upward command, the armrest is controlled to rise according to the lifting command, but the head-up display is not controlled to rise or fall. During the armrest's rise, if the user still keeps the armrest lifting switch in the first state when the height difference between the armrest and the head-up display is 38 cm, the control unit controls the head-up display to start rising synchronously with the armrest.

[0077] In some embodiments, the preset range may be greater than d1 and less than d2, where d2 can be called the second difference. To satisfy the height difference for free hand movement of taller people, d2 is greater than d1.

[0078] For example, d1 is 38 cm and d2 is 44 cm. When the height difference between the armrest and the head-up display is 40 cm, and the lifting command is a lowering command for the armrest, the armrest is controlled to lower according to the lifting command, and the head-up display is not controlled to rise or fall. During the lowering of the armrest, if the user still keeps the armrest lifting switch in the second state when the height difference between the armrest and the head-up display is 44 cm, the control unit controls the head-up display to start lowering synchronously with the armrest.

[0079] In some embodiments, the preset range may be less than d2.

[0080] For example, d2 is 44 cm. When the height difference between the armrest and the head-up display is 40 cm, and the lifting command is the head-up command of the head-up display, the head-up display is controlled to rise according to the lifting command, and the armrest is not controlled to rise or fall. During the process of the head-up display rising, when the height difference between the armrest and the head-up display is 44 cm, if the user still keeps the head-up display lifting switch in the first state, the control unit controls the armrest to start rising synchronously with the head-up display.

[0081] It should be noted that in some embodiments, the height of the armrest 3 can be adjusted first, and then the height and rotation angle of the head-mounted display 4 can be adjusted.

[0082] Taking a preset range of d1 as an example, if the height of armrest 3 is adjusted starting from its lowest position, and the height difference between head-up display 4 and armrest 3 is greater than d1, then as the height of armrest 3 increases, the height of head-up display 4 remains unchanged until the height difference between head-up display 4 and armrest 3 equals d1. If the height of armrest 3 continues to increase, the height of head-up display 4 will increase synchronously. During the process of raising armrest 3, if the height of armrest 3 reaches a suitable height for operating the main handrail 5, the adjustment of armrest 3 can be stopped.

[0083] After adjusting the height of armrest 3, if the height of head-mounted display 4 is still unsuitable, it can be adjusted. Since d1 is designed for shorter individuals, adjusting the height of head-mounted display 4 typically involves raising it. During the raising process, the height difference between head-mounted display 4 and armrest 3 remains greater than d1. Figure 8 The transmission control method shown indicates that the armrest 3 does not rise along with the head-mounted display 4.

[0084] After the height of the head-mounted display 4 is adjusted, if the rotation angle of the head-mounted display 4 is not suitable, the rotation angle of the head-mounted display 4 can be adjusted. Since the trajectory of the dual-rocker mechanism when adjusting the rotation angle of the head-mounted display 4 is close to vertical, it will cause a change in the height of the eyepiece 409. At this time, the head-mounted display lead screw transmission assembly 403 can compensate for the trajectory of the dual-rocker mechanism. The compensation algorithm can be a linear interpolation algorithm or a spline function interpolation algorithm, which compensates according to the angle rotated by the dual-rocker mechanism and the angle of vertical movement of the eyepiece 409, so that the field of view of the eyepiece 409 does not change in the height of the eyepiece 409 during rotation.

[0085] After adjusting the height of armrest 3, the height of head-up display 4, and the rotation angle, the encoder data after this adjustment can be recorded through the memory function of the control panel, so that the control panel can be quickly adjusted according to the data next time.

[0086] It should be noted that the order in which the height of the armrest 3, the height of the head-up display 4, and the rotation angle are adjusted is not important.

[0087] In other embodiments, the height of the head-mounted display 4 can be adjusted first. During the adjustment process, if the height difference between the head-mounted display 4 and the armrest 3 is greater than d1, the head-mounted display 4 moves independently. If the height difference between the head-mounted display 4 and the armrest 3 reaches d1 and the trend of the height difference is decreasing, then the head-mounted display 4 and the armrest move synchronously. After the height of the head-mounted display 4 is adjusted, the rotation angle of the head-mounted display 4 and the armrest 3 can be adjusted. When adjusting the rotation angle of the head-mounted display 4, the height of the head-mounted display 4 also needs to be compensated to avoid changing the already adjusted height of the head-mounted display 4.

[0088] In some other embodiments, the rotation angle of the head-mounted display 4 can be adjusted first. At this time, the lifting and lowering of the armrest 3 and the lifting and lowering of the head-mounted display 4 will not be linked with the change in the height of the head-mounted display 4. After the rotation angle of the head-mounted display 4 is adjusted, the height of the head-mounted display 4 and the height of the armrest 3 can be adjusted. If the height difference between the head-mounted display 4 and the armrest 3 reaches d1 and the trend of the height difference is decreasing, the two will be linked.

[0089] As can be seen from the above embodiments, the console provided by this application includes a chassis, a column, armrests, and a head-up display. The column is equipped with an armrest lifting assembly, a head-up display lifting assembly, and a head-up display rotation assembly. The armrest lifting assembly allows the armrest to be raised and lowered along the column, and the head-up display lifting assembly allows the head-up display to be raised and lowered relative to the column, eliminating the need to raise and lower the column and enhancing the stability of the console. The head-up display rotation assembly allows the head-up display to be rotated relative to the column, facilitating the adjustment of the operator's field of view. This application can improve the operating experience for operators of different heights.

[0090] Since the above embodiments are all described in conjunction with other methods, and different embodiments have the same parts, the same or similar parts between the various embodiments in this specification can be referred to mutually. They will not be described in detail here.

[0091] The above embodiments of this application do not constitute a limitation on the scope of protection of this application.

Claims

1. A laparoscopic surgical system console comprising a chassis, a column, a handrail, and a head mounted display, characterized in that, Also comprising: a handrail lifting assembly and a head-mounted display lifting assembly, the handrail lifting assembly being configured to lift the handrail, and the head-mounted display lifting assembly being configured to lift the head-mounted display; a control unit configured to calculate a height difference between the handrail and the head-mounted display in real time according to a lifting instruction; when the height difference is within a preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to be lifted; when the height difference is outside the preset range, if a change trend of the height difference is approaching the preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to be lifted, and if the change trend of the height difference is away from the preset range, synchronously lifting the handrail and the head-mounted display.

2. The console of claim 1, wherein, Also comprising a head-mounted display rotating assembly, the head-mounted display rotating assembly comprising a head-mounted display fixing seat, a head-mounted display rotating power device, and a head-mounted display rotating rod, the head-mounted display fixing seat being fixed on the head-mounted display lifting assembly, the head-mounted display rotating power device being installed on the head-mounted display fixing seat, and the head-mounted display rotating rod being connected with the head-mounted display rotating power device and the head-mounted display respectively.

3. The console of claim 2, wherein, The head-mounted display lifting assembly comprises a first head-mounted display lifting guide rail and a head-mounted display lifting rod, the first head-mounted display lifting guide rail being longitudinally arranged on the stand column, and the head-mounted display lifting rod being in sliding connection with the first head-mounted display lifting guide rail, and a top end of the head-mounted display lifting rod being connected with the head-mounted display rotating assembly.

4. The console of claim 3, wherein, The head-mounted display lifting assembly comprises a second head-mounted display lifting guide rail, the second head-mounted display lifting guide rail being fixed on the head-mounted display lifting rod and in sliding connection with a guide rail slider fixed on the stand column, and being located above the first head-mounted display lifting guide rail.

5. The console of claim 4, wherein, The handrail lifting assembly comprises a handrail lifting guide rail and a handrail lifting slider, the handrail lifting guide rail being longitudinally arranged on the stand column, and the handrail lifting slider being in sliding connection with the handrail lifting guide rail, and the handrail being installed on the handrail lifting slider.

6. The console of claim 5, wherein, The guide rail slider is fixed on the handrail lifting slider.

7. The console of claim 5, wherein, A main hand and a handle are further installed on the handrail lifting slider.

8. The console of claim 4, wherein, The handrail lifting assembly further comprises an elastic member, a bottom end of the elastic member being fixed on the stand column, and a top end of the elastic member being fixed on a handrail transmission slider.

9. The console of claim 2, wherein, The head-mounted display rotating rod is a double rocker mechanism.

10. The console of claim 1, wherein, The preset range is greater than a first difference value.

11. The console of claim 1, wherein, The preset range is greater than the first difference value and less than a second difference value.

12. The console of claim 1, wherein, The preset range is less than the second difference value.

13. A transmission control method of a laparoscopic surgery system console, for the laparoscopic surgery system console according to any one of claims 1 to 12, characterized by, Comprising: receiving a lifting instruction of a handrail or a head-mounted display; in response to the lifting instruction, calculating a height difference between the handrail and the head-mounted display in real time; when the height difference is within a preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to be lifted; when the height difference is outside the preset range, if a change trend of the height difference is approaching the preset range, controlling the handrail or the head-mounted display corresponding to the lifting instruction to be lifted, and if the change trend of the height difference is away from the preset range, synchronously lifting the handrail and the head-mounted display.

Images