A foot pedal assembly, a foot pedal control console and a control method thereof, a surgical control console and a surgical robot system

Abstract

The application belongs to the technical field of medical treatment, and particularly discloses a foot pedal assembly, a foot pedal console and a control method thereof, a surgical console and a surgical robot system. The foot pedal assembly comprises a foot pedal switch and a detection sensor. The foot pedal switch comprises a front foot pedal switch and a rear foot pedal switch arranged side by side. The detection sensor is arranged between the front foot pedal switch and the rear foot pedal switch arranged opposite to each other. The detection sensor has a trigger state capable of being triggered by shielding or contact and a non-trigger state. The detection sensor arranged between the front foot pedal switch and the rear foot pedal switch reduces the probability of mispressing the foot pedal switch, improves the control safety and reliability of the foot pedal switch, and thus improves the surgical safety.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical treatment, and particularly relates to a foot pedal assembly, a foot pedal console and a control method thereof, a surgical control console and a surgical robot system. BACKGROUND

[0002] With the development of science and technology, robots are widely applied to various fields to reduce manual labor intensity and improve labor efficiency and precision. A surgical robot is a medical robot capable of assisting or replacing a surgeon to perform surgical operations. The surgical robot is more and more widely applied to operating rooms and can perform precise surgical operations such as brain neurosurgery, heart repair, gallbladder removal or laparoscopic surgery.

[0003] The surgical robot and its corresponding control system constitute a surgical robot system. The control system generally includes a surgical control console. The surgical control console is provided with an operation lever and a foot pedal console for controlling the surgical robot. A medical operator controls the mechanical arm on the surgical robot by manually operating the operation lever or stepping on the foot pedal in the foot pedal console, so that the surgical robot performs corresponding actions to perform the operation.

[0004] The existing foot pedal console is generally provided with two rows of foot pedal switches in front and back, and a plurality of foot pedal switches are arranged in each row. An operator sends an operation signal to a controller by stepping on the foot pedal switch to control the surgical robot to perform corresponding actions. When the operator steps on the foot pedal switch, the operator is likely to step on the two foot pedal switches directly opposite to each other due to the inaccurate control of the stepping position, thereby causing the surgical robot to have no operation, and affecting the safety and reliability of the operation. SUMMARY

[0005] A first object of the present application is to provide a foot pedal assembly to reduce the probability of misstepping the foot pedal switch in the foot pedal assembly.

[0006] A second object of the present application is to provide a foot pedal console to reduce the probability of misstepping the foot pedal switch and improve the control reliability of the foot pedal console.

[0007] A third object of the present application is to provide a control method of a foot pedal console to reduce the probability of misstepping the foot pedal switch and improve the control reliability of the foot pedal console.

[0008] A fourth object of the present application is to provide a surgical control console to improve the safety of the operation.

[0009] A fifth object of the present application is to provide a surgical robot system to improve the safety, reliability and operability of the surgical robot system.

[0010] To achieve the above object, the application adopts the following technical scheme:

[0011] A pedal assembly, comprising:

[0012] The pedal switch comprises front and rear pedal switches arranged side by side, the front pedal switch is provided with one or at least two arranged in the left-right direction, and the rear pedal switch is provided with one or at least two arranged in the left-right direction; each front pedal switch is arranged opposite to a rear pedal switch, or each rear pedal switch is arranged opposite to a front pedal switch.

[0013] A detection sensor is arranged between the front and rear pedal switches arranged opposite to each other, and the detection sensor has a triggered state capable of being triggered by shielding or contact and a non-triggered state.

[0014] As an optional technical scheme of the pedal assembly, the front pedal switch, the rear pedal switch and the detection sensor are arranged one by one.

[0015] As an optional technical scheme of the pedal assembly, the pedal assembly further comprises a main mounting plate, the main mounting plate comprises a front mounting plate part, a connecting plate part and a rear mounting plate part connected in sequence from front to rear, the rear mounting plate part is higher than the front mounting plate part, the front pedal switches are arranged on the front mounting plate part, the rear pedal switches are arranged on the rear mounting plate part, and the detection sensors are arranged on the connecting plate part.

[0016] As an optional technical scheme of the pedal assembly, the detection sensor is a photoelectric sensor.

[0017] A pedal console, comprising the pedal assembly as described above, further comprising a controller and an alarm device, the alarm device, the pedal switch and the detection sensor are in communication connection with the controller, and the alarm device is used to send an alarm when an abnormal state of the pedal console occurs.

[0018] A control method of a pedal console, applied to the pedal console as described above, the control method comprises: when the detection sensor is in the triggered state and the corresponding front pedal switch is in a signal sending state, the controller controls the alarm device to send a first abnormal alarm.

[0019] As an optional technical scheme of the control method, the control method further comprises: when the detection sensor is in the triggered state and the corresponding front pedal switch and rear pedal switch are both in a non-signal state, the controller controls the alarm device to send a second abnormal alarm.

[0020] As an optional technical solution of the control method, the first abnormal alarm has a first alarm mode and a second alarm mode. When the detection sensor is in the trigger state, if the corresponding front foot switch is in the signal sending state and the corresponding rear foot switch is in the signal sending state, the controller controls the alarm device to send an alarm in the first alarm mode. If the corresponding front foot switch is in the signal sending state and the corresponding rear foot switch is in the signal sending state, the controller controls the alarm device to send an alarm in the second alarm mode.

[0021] As an optional technical solution of the control method, the control method further comprises: when the detection sensor is in the non-trigger state and the corresponding rear foot switch is in the signal sending state, the controller controls the alarm device to send a third abnormal alarm.

[0022] As an optional technical solution of the control method, the foot pedal assembly comprises a main mounting plate and side mounting plates oppositely arranged on the left and right sides of the main mounting plate. The front foot switch and the rear foot switch are arranged on the main mounting plate and located between the two side mounting plates. The foot pedal assembly further comprises side foot switches arranged on the side mounting plates.

[0023] The control method further comprises: when the side foot switch is in the signal sending state, if the adjacent front foot switch or the adjacent rear foot switch is in the signal sending state, the controller controls the alarm device to send a fourth abnormal alarm.

[0024] As an optional technical solution of the control method, the foot pedal console further comprises a base and a driving member. The foot pedal assembly is slidably arranged on the base. The driving member is in communication connection with the controller, and the driving member is used to drive the foot pedal assembly to slide, so that the front end of the foot pedal assembly can slide out of the front side of the base and be supported on the ground.

[0025] The control method further comprises: before the operator operates the foot switch, the driving member is controlled to operate according to the height and / or standing and sitting posture of the operator. The driving member drives the foot pedal assembly to slide to adjust the position of the front end of the foot pedal assembly.

[0026] As an optional technical solution of the control method, the control method further comprises:

[0027] The controller is built-in with different heights and standing and sitting postures corresponding to the extension adjustment amount of the foot pedal assembly;

[0028] The operation of the driving member is controlled according to the height and standing or sitting posture of the operator, and specifically includes:

[0029] The controller acquires the height parameter and the standing or sitting posture of the operator.

[0030] The controller acquires a target extension adjustment amount based on the height parameter and the standing or sitting posture.

[0031] The controller controls the driving member to act according to the target extension adjustment amount, so that the foot pedal assembly is extended to a target position.

[0032] A surgical console comprises the foot pedal console.

[0033] A surgical robot system comprises the surgical console.

[0034] The present application has the following advantages:

[0035] The foot pedal assembly provided by the present application can determine whether the foot pedal assembly is in a mispressed state by detecting the state of the detection sensor and the state of the corresponding front foot pedal switch and rear foot pedal switch, thereby improving the operation safety and reliability of the foot pedal assembly and the foot pedal console.

[0036] The foot pedal console provided by the present application can improve the control of preventing mispressing of the foot pedal switch, improve the reliability of pressing the foot pedal switch, and thereby improve the reliability of the foot pedal console.

[0037] The control method of the foot pedal console provided by the present application can control the alarm device to issue a first abnormal alarm when the front foot pedal switch is in a signal sending state and the corresponding detection sensor is in a triggered state, which indicates that the operator's foot not only presses the front foot pedal switch, but also extends to the area where the rear foot pedal switch is arranged, and may mispress the rear foot pedal switch. In this state, the operator can be reminded to pay attention to the position of the foot by the first abnormal alarm, which further prevents mispressing and reduces the probability of mispressing, thereby improving the operation safety.

[0038] The surgical console provided by the present application can improve the operation safety of the surgical robot and improve the surgical safety by using the foot pedal console.

[0039] The surgical robot system provided by the present application can improve the operation safety of the surgical robot and improve the surgical safety by using the surgical console. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a structural schematic diagram of a surgical robot system provided by embodiment one of the present application;

[0041] Figure 2 is a structural schematic diagram of a surgical console provided by embodiment one of the present application;

[0042] Figure 3 is a structural schematic diagram of a foot control console provided by embodiment one of the present application;

[0043] Figure 4 is a schematic diagram of the foot control console provided by embodiment one of the present application when the foot control assembly is in an idle state;

[0044] Figure 5 is a schematic diagram of the foot control console provided by embodiment one of the present application when the foot control assembly is in a working state;

[0045] Figure 6 is a split structural schematic diagram of the foot control console provided by embodiment one of the present application;

[0046] Figure 7 is a structural schematic diagram of a base provided by embodiment one of the present application;

[0047] Figure 8 is Figure 7 is a partial enlarged view of I in FIG. 1;

[0048] Figure 9 is a structural schematic diagram of a foot control assembly provided by embodiment one of the present application from one perspective;

[0049] Figure 10 is a structural schematic diagram of the foot control assembly provided by embodiment one of the present application from another perspective;

[0050] Figure 11 is Figure 10 is a partial enlarged view of J in FIG. 1;

[0051] Figure 12 is a partial structural schematic diagram of the foot control console provided by embodiment one of the present application;

[0052] Figure 13 is Figure 12 is a partial enlarged view of K in FIG. 1;

[0053] Figure 14 is a structural schematic diagram of a driving member provided by embodiment one of the present application;

[0054] Figure 15 is a structural schematic diagram of a driving mounting seat provided by embodiment one of the present application;

[0055] Figure 16is the cross-sectional view of the part structure of the foot control console provided by the embodiment one of the present application when the foot assembly is in idle state;

[0056] Figure 17 is Figure 16 is the local enlarged view at L in the middle;

[0057] Figure 18 is the outer contour line schematic view of the cam part provided by the embodiment one of the present application;

[0058] Figure 19 is the structure schematic view of the supporting mechanism provided by the embodiment one of the present application;

[0059] Figure 20 is the side view of the part structure of the foot control console provided by the embodiment one of the present application when the foot assembly is in working state;

[0060] Figure 21 is the cross-sectional schematic view of the base provided by the embodiment one of the present application;

[0061] Figure 22 is the structure schematic view of the follow-up assembly provided by the embodiment one of the present application;

[0062] Figure 23 is the structure schematic view of the surgical control console provided by the embodiment two of the present application when the foot assembly is in idle state;

[0063] Figure 24 is the structure schematic view of the surgical control console when the operator with the height of 190cm operates in sitting position provided by the embodiment two of the present application;

[0064] Figure 25 is the structure schematic view of the surgical control console when the operator with the height of 180cm operates in sitting position provided by the embodiment two of the present application;

[0065] Figure 26 is the structure schematic view of the surgical control console when the operator with the height of 170cm operates in sitting position provided by the embodiment two of the present application;

[0066] Figure 27 is the structure schematic view of the surgical control console when the operator with the height of 160cm operates in sitting position provided by the embodiment two of the present application;

[0067] Figure 28 is the structure schematic view of the surgical control console when the operator with the height of 150cm operates in sitting position provided by the embodiment two of the present application;

[0068] Figure 29 is the structure schematic view of the surgical control console when the operator with the height of 190cm operates in standing position provided by the embodiment two of the present application;

[0069] Figure 30 Structure schematic view of an operator with a height of 180 cm operating a surgical control console in a standing posture according to the second embodiment of the present application;

[0070] Figure 31 Structure schematic view of an operator with a height of 170 cm operating a surgical control console in a standing posture according to the second embodiment of the present application;

[0071] Figure 32 Structure schematic view of an operator with a height of 160 cm operating a surgical control console in a standing posture according to the second embodiment of the present application;

[0072] Figure 33 Structure schematic view of an operator with a height of 150 cm operating a surgical control console in a standing posture according to the second embodiment of the present application;

[0073] Figure 34 Structure schematic view of a foot pedal assembly according to the fourth embodiment of the present application.

[0074] The symbols in the figure are as follows:

[0075] 100, surgical control console; 200, surgical robot; 2001, mechanical arm; 300, monitoring device; 400, surgical instrument; 500, surgical table; 600, external display; R1, operator; R2, patient; R3, auxiliary medical staff;

[0076] 10, foot pedal console; 20, main operating table; 201, operating handle; 202, touch screen; 203, operating knob; 30, display screen;

[0077] 1, base; 11, main seat body; 111, mounting arm part; 112, connecting arm part; 113, accommodating groove; 12, sliding rail part; 121, sliding channel ring part; 122, fixed plate part; 123, sliding groove; 1231, front limiting groove part; 1232, main body groove part; 1233, rear limiting groove part; 13, mounting boss; 131, mounting opening; 14, connecting seat part; 15, caster; 16, bottom plate;

[0078] 2, foot pedal assembly; 21, foot pedal mounting plate; 211, main mounting plate; 2111, front mounting plate part, 2112, transition plate part; 2113, rear mounting plate part; 2114, notch; 2115, reinforcing rib part; 212, side mounting plate; 2121, limiting groove; 2122, pivot hole; 213, baffle; 214, extension plate part; 215, support plate part; 216, shaft sleeve part; 217, cam part; 22, foot pedal switch; 221, front foot pedal switch; 2211, first front foot pedal switch; 2212, second front foot pedal switch; 2213, third front foot pedal switch; 222, rear foot pedal switch; 2221, first rear foot pedal switch; 2222, second rear foot pedal switch; 2223, third rear foot pedal switch; 223, side foot pedal switch; 23, mounting shaft; 24, guide roller; 25, auxiliary support wheel; 26, guide limiting piece; 261, limiting sleeve; 262, limiting plate; 27, detection sensor;

[0079] 3, adjusting mechanism; 31, drive mounting piece; 311, drive mounting plate; 312, drive mounting seat; 3121, connecting plate part; 3122, connecting lug part; 313, rear connecting shaft; 32, drive piece; 321, rear lug part; 322, front lug part;

[0080] 4, support mechanism; 41, support piece; 42, support frame; 421, support beam part; 422, end plate part; 423, reinforcing rod part; 43, support seat; 431, support plate part; 432, support lug part; 433, rotating shaft;

[0081] 5, follow-up assembly; 51, swing arm; 52, follow-up piece; 53, rotating shaft; 54, follow-up mounting shaft; 55, follow-up limiting piece; 56, return piece. DETAILED DESCRIPTION

[0082] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to be illustrative only and not limiting of the application. In addition, it should be understood that in the drawings, only the parts pertinent to the application are shown and not all the parts.

[0083] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0084] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0085] In the description of the present embodiment, the terms "upper", "lower", "right", "left", and other orientation or position relationships are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0086] As shown in Figure 1 The present application provides a surgical robot system which can be applied in the medical field, used for independently performing or assisting a doctor to perform a surgical operation, which can be but is not limited to an orthopedic operation, a laparoscopic operation, a stereotactic operation, etc.

[0087] The surgical robot system comprises a surgical robot 200, a surgical control console 100 and a monitoring device 300. The surgical robot 200 is used for performing a surgical operation on a patient R2 located on an operating table 500. The surgical control console 100 is connected with the surgical robot 200 and the monitoring device 300. The surgical control console 100 is provided with a display screen 30 and an operating member. During the performance of the surgical operation, the performance process of the surgical operation is photographed in real time, and the image is transmitted to the display screen 30 of the surgical control console 100. An operator R1 operates the operating member according to the image displayed on the display screen 30 to control the surgical robot 200 to move.

[0088] The surgical robot 200 is provided with a mechanical arm 2001. The mechanical arm is installed with a surgical instrument. The mechanical arm and the surgical instrument have functions similar to human arms and / or wrists. The mechanical arm 2001 comprises an end effector capable of picking up the surgical instrument 400 and an arm driving mechanism for controlling the operation of the end effector to drive the surgical instrument 400 to operate the patient R2 at a correct angle and pose. The arm driving mechanism can drive the mechanical arm to move in multiple degrees of freedom to realize surgical operation. The arrangement of the arm driving mechanism and the degrees of freedom of the mechanical arm can refer to the prior art, which will not be described here.

[0089] One or more mechanical arms 2001 can be arranged on one surgical robot 200, one or more surgical robots 200 can be included in the surgical robot system, and if the surgical robot 200 is provided with multiple surgical robots 200, the structures and functions of the multiple surgical robots 200 can be the same or different, the number of the mechanical arms 2001 on the surgical robot 200 and the number of the surgical robots 200 in the surgical robot system can be determined according to the specific surgery to be performed, and the present application does not limit this. Meanwhile, the specific structure of the surgical robot 200 can refer to the prior art, which is not the focus of the present application, and will not be described here.

[0090] The monitoring device 300 can be a mobile device that comprehensively photographs the surgical state by moving to a suitable position during the surgery. The movement of the monitoring device 300 can be self-driven movement, or the operator R1 can control the monitoring device 300 to move to a suitable position by operating the surgical console 100. In other embodiments, the monitoring device 300 can also be a fixed device, which is preferably suspended to photograph the surgery from directly above or obliquely above the surgical position. The monitoring device 300 can be provided with only one, or can be provided with multiple separated devices for comprehensive detection. The monitoring device 300 is preferably but not limited to an image trolley. The arrangement of the monitoring device 300 can refer to the prior art, which is not the focus of the present application, and will not be described here.

[0091] The surgical console 100 can control one surgical robot 200 at the same time, or can control multiple surgical robots 200. That is, for a surgical robot system including the surgical robot 200, one surgical console 100 can be provided, one surgical console 100 controls multiple surgical robots 200, or one surgical console 100 can be provided for each surgical robot 200, and the surgery is completed by multiple operators R1 cooperating to operate. The number of the surgical console 100 and the number of the surgical robots 200 controlled by each surgical console 100 can be specifically arranged according to the complexity of the surgery and the number of the mechanical arms 2001 on the surgical robot 200, and the present application does not limit this.

[0092] In the present embodiment, the surgical console 100 and the surgical robot 200 are electrically connected through wired or wireless communication, and the surgical console 100 and the surgical robot 200 are physically arranged independently, so that the surgical robot 200 can move freely, which is more suitable for the flexibility and accuracy of the operation of the surgical robot 200, and at the same time, it is also more convenient for the structural arrangement, disassembly and maintenance of the surgical console 100 and the surgical robot 200, and improves the spatial arrangement flexibility of the surgical console 100.

[0093] In other embodiments, the surgical console 100 can also be mechanically connected with the surgical robot 200, i.e. the fixed part of the surgical robot 200 is connected with the surgical console 100, so that the surgical console 100 and the surgical robot 200 form an integral structure. This kind of arrangement is suitable for the surgical scene where the surgical robot 200 does not need to move, and is conducive to ensuring the position of the surgical robot 200 fixed, and does not need to repeatedly position the idle state of the surgical robot 200.

[0094] When the surgical operation is relatively complex, an auxiliary medical staff R3 is needed to assist in the operation, for example, the auxiliary medical staff R3 can select and replace the surgical instrument 400 from the instrument cart according to the operation state. In order to facilitate the auxiliary medical staff R3 to assist in the operation, the surgical robot system can further include an external display 600, which is connected with the surgical console 100 and the monitoring device 300. The external display 600 can be used for the image of the endoscope, and can also display the operation instruction of the operator R1 to the surgical console 100, so that the auxiliary medical staff R3 can fully understand the operation state and thus assist in the work. The content displayed on the external display 600 is preferably consistent with the content displayed on the display screen 30, but can also be different.

[0095] As shown in Figure 2 The surgical console 100 includes a main operating table 20, a foot control console 10 and a display screen 30. The main operating table 20 is arranged above the foot control console 10, and the main operating table 20 is provided with an operating handle 201. The operator R1 controls the movement of the surgical robot 200 by operating the operating handle 201. The front side of the main operating table 20 is also provided with a touch screen 202 for the operator R1 to touch and input operation instructions. The display screen 30 is used to display the picture taken by the monitoring device 300, so that the operator R1 can view the operation state in real time and thus control the surgical robot 200.

[0096] In this embodiment, there are two operating handles 201, arranged side by side. The two operating handles 201 control different operations; for example, different operating handles 201 can control different surgical robots 200, different operating handles 201 can control different robotic arms 2001 on the same surgical robot 200, or different operating handles 201 can control different actions of the same robotic arm 2001. In other embodiments, the number and position of the operating handles 201 can be specifically set according to requirements. It is understood that the specific structure of the operating handles 201, how the operating handles 201 control the surgical robot 200 to perform actions, and which specific actions the operating handles 201 control the surgical robot 200 to perform can all be specifically set based on existing technology and according to the needs of the surgery. This embodiment does not impose specific limitations in this regard.

[0097] The main control panel 20 can also be equipped with operation buttons 203. One or more operation buttons 203 can be set, and each operation button 203 can correspond to an action of the surgical robot 200, or the operation button 203 can control the start and stop of the surgical control console 100. The position, number and specific function of the operation buttons 203 can be set according to the requirements, and this embodiment does not impose any restrictions on them.

[0098] A single display screen 30 may be provided, such as located on the upper rear side of the main operating console 20. In this case, the display screen 30 can be a large screen, allowing the operator R1 to clearly view the images. Images of the surgical procedure captured by the endoscope are transmitted to the display screen 30 via wired or wireless transmission and displayed on the display screen 30. All necessary information during the surgery can be displayed on the display screen 30. Preferably, a pre-defined virtual operating panel can also be displayed on the display screen 30 along with the images captured by the endoscope or displayed independently on the display screen 30. It is understood that the display screen 30 can also be set up in other ways that allow the operator R1 to view the images, such as having one display screen 30 for each eye of the operator R1. The configuration of the display screen 30 can refer to existing technologies and will not be elaborated here.

[0099] like Figures 3-5As shown, the foot control console 10 comprises a base 1, a foot assembly 2 and an adjusting mechanism 3, wherein the base 1 forms the overall shape of the foot control console 10 and is connected with the main operating table 20, the base 1 is provided with a containing groove 113 accommodating the foot assembly 2; the foot assembly 2 comprises a foot mounting plate 21 and a plurality of foot switches 22 mounted on the foot mounting plate 21, the foot switches 22 are connected with the controller of the surgical control console 100, and the operator R1 can send control signals to the controller by stepping on the foot switches 22, the foot mounting plate 21 is slidably arranged on the base 1; the adjusting mechanism 3 is arranged in the interior of the base 1, and the adjusting mechanism 3 is used to drive the foot assembly 2 to slide forward and backward relative to the base 1, so as to switch the foot assembly 2 between the working state and the idle state, when the foot assembly 2 is in the idle state, the foot assembly 2 is retracted to at least the foot switches 22 are located in the containing groove 113, and when the foot assembly 2 is in the working state, the front end of the foot assembly 2 can protrude from the front side of the base 1, and the distance between the front end of the foot assembly 2 and the front end of the base 1 can be adjusted.

[0100] The foot control console 10 provided by the embodiment can drive the foot assembly 2 to slide forward and backward relative to the base 1 through the adjusting mechanism 3, so as to adjust the position of the foot assembly 2 relative to the base 1, thereby enabling the operator R1 to adjust the distance between the front end of the foot assembly 2 and the front end of the base 1 according to the use requirement during the operation: if the operator R1 is in the sitting position, the foot assembly 2 can be retracted from the outside of the base 1 or protrude a small distance from the outside of the base 1 through the adjusting mechanism 3; and if the operator R1 is in the standing position, the front end of the foot assembly 2 can protrude a long distance from the base 1, so as to facilitate the operator R1 to operate the foot switches 22 in the standing position.

[0101] That is, the foot control console 10 provided by the embodiment can be compatible with the use of the operator R1 in the standing position and the sitting position, improve the flexibility of the operation mode of the foot control console 10 and the surgical control console 100, and reduce the fatigue degree of the operator R1; meanwhile, since the position of the foot assembly 2 can be adjusted, the operator can adjust the position of the front end of the foot assembly 2 to protrude according to the height when the foot assembly 2 is in the working state, so that the foot assembly 2 is in the most suitable position for the operator to step on, and the comfort of the operator R1 to step on the foot switches 22 is improved; in addition, since the foot assembly 2 can be retracted to at least the foot switches 22 are accommodated in the containing groove 113, the foot assembly 2 can be switched to the idle position when the operator R1 does not need to operate the foot switches 22, so that the operator R1 can rest with the feet on the base 1 without misoperation on the foot switches 22, and the operator R1 can relieve fatigue conveniently.

[0102] Since the foot control console 10 is compatible with the operation in the sitting and standing positions, in order to ensure that the operator R1 can operate the operating handle 201 and other operating members on the main operating table 20 in the sitting and standing positions, the base 1 and the main operating table 20 are connected through a lifting mechanism, and the lifting mechanism can drive the main operating table 20 to be raised and lowered to adjust the height of the main operating table 20, so that the main operating table 20 can be suitable for operators R1 of different heights and can be used by the operator R1 in the sitting and standing positions. The lifting mechanism is preferably but not limited to a lead screw nut mechanism, and the structure of the lifting mechanism capable of realizing the lifting function is relatively common, and can be reasonably selected and set according to the prior art. The specific structure of the lifting mechanism is not limited in the embodiment.

[0103] It is worth noting that the above-mentioned front end, left-right direction and other directional descriptions are all based on the direction of the foot control console 10 in the normal use state, that is, the front end is the end close to the operator R1, the rear end is the end away from the operator R1, the front-rear direction is the direction along the back of the operator R1, and the left-right direction is the direction based on the left and right hands of the operator R1.

[0104] Preferably, when the footrest assembly 2 is in the idle state, the front end and the rear end of the footrest assembly 2 are located in the accommodating groove 113, and the footrest assembly 2 is out of contact with the ground, so as to avoid the wear of the footrest assembly 2 caused by the contact between the footrest assembly 2 and the ground during the movement or carrying of the foot control console 10, and also avoid the interference of the footrest assembly 2 with the movement of the base 1. Further, when the footrest assembly 2 is in the working state, the front end of the footrest assembly 2 is supported on the ground, so as to improve the support stability and reliability of the footrest assembly 2 for the operator's feet and improve the convenience of the operator's stepping on the footrest assembly 2.

[0105] Further, when the footrest assembly 2 is in the idle state, the height of the front end of the footrest assembly 2 from the ground is 50mm-65mm, and when the adjusting mechanism 3 drives the footrest assembly 2 to switch from the idle state to the working state, the front end of the footrest assembly 2 is stretched forward and turned downward to be supported on the ground. This kind of setting can improve the comfort and convenience of the operator's operation of the footrest switch.

[0106] As Figure 6To improve the sliding stability of the pedal assembly 2, the pedal assembly 2 is slidably connected through a sliding guide structure. The sliding guide structure includes a sliding groove 123 and a guide piece slidably arranged in the sliding groove 123. The sliding groove 123 extends in the front-rear direction. In the embodiment, the sliding groove 123 is arranged on the base 1, and the guide piece is arranged on the pedal mounting plate 21, so that the guiding stability and reliability are improved, and the jamming problem of the pedal assembly 2 during sliding is reduced. In other embodiments, the sliding groove 123 can also be arranged on the pedal mounting plate 21, and the guide piece is arranged on the base 1.

[0107] To improve the sliding stability of the pedal assembly 2, the pedal assembly 2 is slidably connected through a sliding guide structure. The sliding guide structure includes a sliding groove 123 and a guide piece slidably arranged in the sliding groove 123. The sliding groove 123 extends in the front-rear direction. In the embodiment, the sliding groove 123 is arranged on the base 1, and the guide piece is arranged on the pedal mounting plate 21, so that the guiding stability and reliability are improved, and the jamming problem of the pedal assembly 2 during sliding is reduced. In other embodiments, the sliding groove 123 can also be arranged on the pedal mounting plate 21, and the guide piece is arranged on the base 1.

[0108] To make the front end of the pedal assembly 2 extend outside the base 1, the accommodation groove 113 penetrates at least the upper surface and the front end of the base 1. The left and right groove walls of the accommodation groove 113 are respectively provided with the sliding grooves 123, and the left and right sides of the pedal mounting plate 21 are respectively provided with the guide rollers 24 which slidably cooperate with the corresponding sliding grooves 123. This arrangement can reduce the interference of the sliding guide structure on the operation of the pedal switch 22 by the operator R1, and improve the sliding stability of the pedal assembly 2.

[0109] Further, in the embodiment, the accommodation groove 113 penetrates the lower surface of the base 1 to avoid interfering with the sliding movement of the pedal assembly 2. In other embodiments, the accommodation groove 113 can also not penetrate the lower surface of the base 1, and the sliding groove 123 is arranged at the groove bottom of the accommodation groove 113, and the guide piece is correspondingly arranged at the bottom of the pedal mounting plate 21.

[0110] As Figure 7 and Figure 8As shown, in order to simplify the processing of the base 1 and facilitate the design of the sliding groove 123, the base 1 comprises a main seat body 11 and a sliding rail piece 12 which are detachably connected, the main seat body 11 is provided with the accommodating groove 113, the sliding rail piece 12 is arranged on the groove wall of the accommodating groove 113 and detachably connected with the groove wall of the accommodating groove 113, and the sliding rail piece 12 is formed with the sliding groove 123. In this way, the sliding rail piece 12 and the main seat body 11 are arranged separately, so that the processing of the main seat body 11 is simplified; meanwhile, when the groove wall of the sliding groove 123 is worn, only the sliding rail piece 12 needs to be replaced, without the need to replace the main seat body 11, thereby reducing the replacement and maintenance cost; in addition, in this way, different sliding rail pieces 12 and sliding grooves 123 can be arranged according to the requirements, so that the universality and applicability of the base 1 are improved.

[0111] The sliding rail piece 12 comprises a sliding channel ring part 121 which encloses the sliding groove 123, and the outer side wall of the sliding channel ring part 121 extends outwardly to form a fixing plate part 122 which is attached to and detachably connected with the groove wall of the accommodating groove 113. In this way, the connection convenience of the sliding rail piece 12 and the main seat body 11 is improved, and meanwhile, the sliding groove 123 has sufficient groove depth, so that the problem that the contact between the guide roller 24 and the groove wall of the sliding groove 123 is unreliable due to the too small groove depth of the sliding groove 123 is avoided.

[0112] In the embodiment, the sliding groove 123 preferably comprises a front limiting groove part 1231, a main groove part 1232 and a rear limiting groove part 1233 which are sequentially communicated, the front limiting groove part 1231 and the rear limiting groove part 1233 are both horizontally arranged, and the main groove part 1232 extends downwardly and obliquely from the rear limiting groove part 1233 to the front limiting groove part 1231. The front limiting groove part 1231 and the rear limiting groove part 1233 can limit the stop of the foot pedal assembly 2 at two extreme positions, so that the stability of the foot pedal assembly 2 at the two extreme positions is ensured.

[0113] In another embodiment, the sliding groove 123 can only comprise the main groove part 1232, in this case, the main groove part 1232 can be arranged obliquely or horizontally. In another embodiment, the sliding groove 123 comprises the main groove part 1232 and the front limiting groove part 1231 or the rear limiting groove part 1233, in this case, the main groove part 1232 is arranged obliquely, and the front limiting groove part 1231 or the rear limiting groove part 1233 is arranged horizontally. The shape and length of the sliding groove 123 can be determined according to the maximum distance that the foot pedal assembly 2 needs to extend, and the embodiment does not make specific limitation in this regard.

[0114] Preferably, the main body groove 1232 has an inclination angle of 0-45° with respect to the ground, and most preferably 0-20°. The projection length of the sliding groove 123 on the horizontal plane is preferably 50-500 mm, and most preferably 350-420 mm. The inclination angle of the main body groove 1232 is set to keep the inclination angle of the footrest assembly 2 with respect to the ground substantially constant when the footrest assembly 2 is in different extended lengths, and to reduce the fluctuation of the inclination angle of the footrest assembly 2 with respect to the ground during the sliding adjustment, thereby further ensuring the comfort of the operator R1 when stepping on the footrest assembly 2.

[0115] Preferably, the distance between the lowermost end of the sliding groove 123 and the ground is 70-120 mm, which can further avoid the problem of the rear end of the footrest assembly 2 being lifted too high and causing the inclination angle of the footrest assembly 2 with respect to the ground to be too large. In the present embodiment, the inclination angle of the footrest assembly 2 with respect to the ground is 5-20° when the footrest assembly 2 is in the working state, and within this angle range, the posture of the operator R1 stepping on the footrest assembly 2 is more comfortable, thereby reducing the fatigue of the operator R1's feet.

[0116] In combination Figures 5-7 As shown in the drawings, preferably, the main seat body 11 includes two mounting arm portions 111 arranged opposite to each other and spaced apart, and a connecting arm portion 112 connected to the rear ends of the two mounting arm portions 111. That is, the main seat body 11 as a whole has a "concave" shape, and the concave portion of the "concave" shape forms the accommodating groove 113 described above. Such a structure of the main seat body 11 is convenient for processing. Further, the main seat body 11 has a shell structure, and the side walls and the top wall of the main seat body 11 jointly form an accommodating cavity with an open lower end, and the adjusting mechanism 3 is arranged in the accommodating cavity, and the shape of the accommodating cavity is adapted to the shape of the main seat body 11. Such a structure of the main seat body 11 is conducive to reducing the overall weight of the main seat body 11, facilitating the installation and protection of the adjusting mechanism 3 and other structures, and improving the overall aesthetics of the footrest console 10.

[0117] To strengthen the protection of the internal structure of the accommodating cavity, a bottom plate 16 (not shown) is detachably connected to the bottom of the main seat body 11. The bottom plate 16 is arranged at the opening of the accommodating cavity, and the shape of the bottom plate 16 is adapted to the shape of the outer contour line of the lower end of the main seat body 11. By arranging the bottom plate 16, it can be avoided that the sharp objects on the ground hit the adjusting mechanism 3 or other components inside the accommodating cavity during the movement or use of the footrest console 10, and at the same time, it can prevent dust, moisture and the like from entering the accommodating cavity, thereby improving the operation safety and reliability of the adjusting mechanism 3.

[0118] To facilitate the connection of the base 1 and the main operating table 20, the base 1 further comprises a mounting boss 13 protruding from the upper end of the connecting arm portion 112, and the mounting boss 13 is provided with a mounting opening 131, and the base 1 is connected with the main operating table 20 through a connecting column inserted into the mounting opening 131. At the same time, the mounting opening 131 is communicated with the accommodating cavity, so as to facilitate the connection of the electrical components in the accommodating cavity and the electrical components in the main operating table 20 through cables, and improve the convenience of wiring.

[0119] To facilitate the movement and carrying of the foot control console 10, the bottom of the base 1 is further provided with casters 15, one caster 15 is arranged at each corner of the bottom of the main seat body 11, and the caster 15 is preferably a universal caster to improve the convenience of movement. The caster 15 has a self-locking function and can lock the position when moved to the position to prevent it from sliding randomly. The caster 15 is a mature product, and will not be described here.

[0120] As shown in Figure 9 and Figure 10 The foot mounting plate 21 comprises a main mounting plate 211 and side mounting plates 212 arranged on the left and right sides of the main mounting plate 211. The main mounting plate 211 is arranged facing the ground, and the lower end of the side mounting plate 212 is connected with the main mounting plate 211, and the upper end extends upward. Each side mounting plate 212 is opposite to the groove wall of the corresponding accommodating groove 113. A plurality of foot switches 22 are arranged on the main mounting plate 211, and one foot switch 22 is arranged on the inner side of each side mounting plate 212. The arrangement of the foot mounting plate 21 can shield the side mounting plate 212 from the sliding guide structure, so as to avoid the sliding guide structure from scratching the feet of the operator R1, and improve the protection of the operator R1. On the other hand, the number of foot switches 22 mounted on the foot mounting plate 21 can be increased, so as to improve the controllability of the surgical robot 200, and make the surgical robot 200 can perform more operations and realize more precise control of the surgical robot 200.

[0121] Further, the main mounting plate 211 comprises a front mounting plate portion 2111, a transition plate portion 2112 and a rear mounting plate portion 2113 connected in sequence from front to rear. The front mounting plate portion 2111 extends from front to rear, and the rear end is connected with the transition plate portion 2112. The transition plate portion 2112 extends upward, and the upper end is connected with the front end of the rear mounting plate portion 2113. The rear mounting plate portion 2113 extends from front to rear. The front mounting plate portion 2111 and the rear mounting plate portion 2113 are both provided with at least two foot pedals 22 side by side in the left-right direction. The structure of the main mounting plate 211 can make the rear mounting plate portion 2113 be above the front mounting plate portion 2111, which can increase the number of foot pedals 22 that can be mounted on the main mounting plate 211, reduce the missteps of the operator R1 on the front and rear rows of foot pedals 22, improve the operation reliability of the foot pedal assembly 2, and improve the operation comfort of the foot pedals 22.

[0122] In the embodiment, three foot pedals 22 are provided on the front mounting plate portion 2111 and the rear mounting plate portion 2113 at intervals, and one foot pedal 22 is provided on each side mounting plate 212, which is arranged corresponding to the position of the front mounting plate portion 2111. In other embodiments, the number of foot pedals 22 provided on the front mounting plate portion 2111 and the rear mounting plate portion 2113 can be two or four, as long as there is no interference between the foot pedals 22.

[0123] The specific structure of the foot pedal 22 and the mounting mode on the foot pedal mounting plate 21 can refer to the prior art, and the embodiment will not be described again. Preferably, the upper surface of the foot pedal 22 can be provided with a plurality of protrusions to increase the friction between the operator R1 and the foot pedal 22, and improve the operation reliability of the operator R1 on the foot pedal 22. The protrusions can be point structures, such as cylindrical protrusions, triangular protrusions, square protrusions or special-shaped protrusions, etc. The protrusions can also be long strip structures, and the shape, number and arrangement mode of the protrusions are not limited in the embodiment.

[0124] Further, the foot pedal mounting plate 21 further comprises a baffle 213 connected between the rear ends of the two side mounting plates 212, and the lower end of the baffle 213 is connected with the lower end of the rear mounting plate portion 2113 perpendicularly. The baffle 213 can limit the amplitude of the operator R1 stretching his feet backward, and improve the protection of the foot pedal console 10. Further, the front end of the main mounting plate 211 is provided with a notch 2114 to reduce the weight of the foot pedal mounting plate 21. The bottom surface of the main mounting plate 211 is provided with a reinforcing rib portion 2115 around the notch 2114 to enhance the structural strength of the foot pedal mounting plate 21 at the notch 2114.

[0125] AsFigure 3 and Figure 9 As shown, in order to reduce the load on the guide roller 24 when the pedal assembly 2 is idle and improve the installation reliability of the pedal assembly 2 when idle, the upper end of the side mounting plate 212 is bent vertically outward to form a support plate portion 215. When the pedal assembly 2 is idle, the support plate portion 215 is mounted on the upper surface of the mounting arm portion 111 so that the mounting arm portion 111 can support the pedal assembly 2, thereby reducing the force on the guide roller 24.

[0126] like Figures 10-12 As shown, in this embodiment, preferably, a mounting shaft 23 is provided at the bottom rear side of the foot pedal mounting plate 21. The mounting shaft 23 is connected to the foot pedal mounting plate 21 and extends in the left-right direction. Guide rollers 24 are rotatably mounted at both ends of the mounting shaft 23. The adjustment mechanism 3 is connected to the mounting shaft 23. The mounting shaft 23 facilitates the installation of the guide rollers 24 and improves the ease of installation of the foot pedal assembly 2 and the adjustment mechanism 3. In other embodiments, the mounting shaft 23 may protrude from the outer side of the side mounting plate 212, and the mounting shaft 23 may rotatably mount the guide rollers 24. The adjustment mechanism 3 is connected to the foot pedal mounting plate 21 through other connecting structures.

[0127] The length of the mounting shaft 23 is greater than the distance between the two side mounting plates 212, and the guide rollers 24 are all located outside the corresponding side mounting plates 212 to avoid interference, and also to avoid interference between the side mounting plates 212 and the slide rail 12. To facilitate the installation of the mounting shaft 23, an extension plate 214 extends rearward from the rear end of the front mounting plate portion 2111. A bushing portion 216 protrudes downward from the bottom rear side of the extension plate portion 214. The bushing portion 216 has a through mounting shaft hole in the left-right direction. The mounting shaft 23 passes through the mounting shaft hole, and both ends of the mounting shaft 23 extend out of the bushing portion 216. Preferably, two bushing portions 216 are provided at intervals in the left-right direction to simplify processing and facilitate the insertion of the mounting shaft 23. In other embodiments, only one bushing portion 216 may be provided.

[0128] To prevent the foot pedal assembly 2 from swaying left and right during forward and backward movement, a guide limiter 26 is also provided on the mounting shaft 23. One guide limiter 26 is provided for each slide groove 123, and the guide limiter 26 is located between the guide roller 24 and the side mounting plate 212 on the corresponding side. The guide limiter 26 has a limiting surface that can fit against the base 1. The two guide limiters 26 on the mounting shaft 23 can limit the left and right swaying of the foot pedal assembly 2 relative to the slide rail 12, thereby improving the smoothness and reliability of the foot pedal assembly 2's movement.

[0129] Preferably, the guiding and limiting member 26 comprises a limiting sleeve 261 and a limiting plate 262 protruding from the limiting sleeve 261, the limiting sleeve 261 is sleeved on the mounting shaft 23, and there is a certain damping between the limiting sleeve 261 and the mounting shaft 23, and the side away from the side mounting plate 212 of the limiting plate 262 forms a limiting surface, and the limiting surface is in abutment with the side away from the side fixed plate 122 of the slide rail ring 121. Therefore, after the foot pedal assembly 2 and the base 1 are installed in place, the position of the limiting plate 262 can be adjusted by adjusting the position of the limiting sleeve 261, so that the limiting plate 262 is in close contact with the slide rail 12, thereby reducing the processing and installation precision requirements and improving the limiting reliability.

[0130] In order to avoid the sliding of the foot pedal assembly 2 being hindered due to the front end of the foot pedal assembly 2 being supported on the ground, preferably, the front end of the foot pedal mounting plate 21 is provided with a supporting roller 25, and the foot pedal assembly 2 is supported on the ground through the supporting roller 25, so as to avoid excessive friction between the front end of the foot pedal assembly 2 and the ground, thereby preventing the foot pedal assembly 2 from continuing to move forward. Further, the front end of each side mounting plate 212 is rotatably provided with a supporting roller 25 on the outer side, so as to improve the supporting stability. In other embodiments, the front end of the main mounting plate 211 can also be rotatably provided with a supporting roller 25 on the bottom.

[0131] As shown in Figure 6 and Figure 12 , the adjusting mechanism 3 comprises a driving mounting member 31 and a driving member 32, the driving member 32 is detachably mounted on the driving mounting member 31, the driving end of the driving member 32 is connected with the mounting shaft 23, and the driving member 32 can drive the foot pedal assembly 2 to move. The driving mounting member 32 is preferably detachably mounted on the base 1, so as to facilitate the overall disassembly and assembly of the adjusting mechanism 3.

[0132] In order to facilitate the installation of the driving mounting plate 311, preferably, the inner part of the connecting arm part 112 is formed with a connecting seat part 14, one connecting seat part 14 is arranged on each of the left and right sides, the left and right sides of the driving mounting member 31 are respectively detachably connected with the two connecting seat parts 14, and the installation space of the driving member 32 is formed between the two connecting seat parts 14. Through the above arrangement, the connection between the base 1 and the driving mounting member 31 can be facilitated, the interference with the driving member 32 can be avoided, the overall size of the main seat body 11 in the front and back directions can be reduced, and the driving stroke of the driving member 32 can be ensured.

[0133] In other embodiments, the inner part of the connecting arm part 112 can be protrudingly provided with a plurality of connecting seat parts 14 on the rear side, the rear end of the driving mounting member 14 is connected with the connecting seat parts 14, and the driving member 32 is located on the front side of the connecting seat parts 14.

[0134] In the embodiment, the driving member 32 is preferably an electric push rod, and the module degree is high, the installation is fast and convenient, and the module is easy to disassemble and assemble. In other embodiments, the driving member 32 can also adopt other structures capable of achieving movement, such as a hydraulic cylinder, etc. Preferably, two driving members 32 are arranged along the left-right direction, so as to improve the driving stability and the force balance of the footrest assembly 2. The two driving members 32 are preferably arranged corresponding to the left and right sides of the footrest assembly 2. In other embodiments, only one driving member 32 can be arranged, and one driving member 32 is arranged corresponding to the middle part of the footrest assembly 2 in the left-right direction.

[0135] Preferably, the fixed end of the driving member 32 is rotationally connected with the driving mounting member 31, and the driving end of the driving member 32 is rotationally connected with the mounting shaft 23. In this way, when the driving member 32 drives the footrest assembly 2 to move, the driving member 32 can also rotate relative to the driving mounting member 31, so as to change the driving direction, thereby reducing the driving resistance and improving the driving smoothness. At the same time, it is also more conducive to the overturning of the footrest assembly 2 during movement, so that the front end of the footrest assembly 2 can be stably supported on the ground during movement.

[0136] As shown in Figures 12-15 In order to facilitate the installation of the driving member 32 on the driving mounting member 31, the driving mounting member 31 includes a driving mounting plate 311 and a driving mounting seat 312 arranged on the driving mounting plate 311. The driving mounting plate 311 is detachably connected with the connecting seat portion 14, and the driving mounting seat 312 is rotationally connected with the driving member 32.

[0137] Specifically, the driving mounting seat 312 includes a connecting plate portion 3121 and two connecting lug portions 3122 protruding on the connecting plate portion 3121. The connecting plate portion 3121 is detachably connected with the driving mounting plate 311, and the installation mode is preferably screw connection. The two connecting lug portions 3122 are oppositely and spacedly arranged along the left-right direction. A first shaft hole is formed on each connecting lug portion 3122, and the first shaft holes of the two connecting lug portions 3122 are oppositely arranged. The fixed end of the driving member 32 is provided with a rear lug portion 321, which is located between the two connecting lug portions 3122. A second shaft hole is formed on the rear lug portion 321, and the second shaft hole is oppositely arranged with the first shaft hole and has a suitable hole diameter. The driving member 32 is rotationally connected through a rear connecting shaft 313 arranged in the second shaft hole and the two first shaft holes.

[0138] The driving end of the driving member 32 is forwardly provided with a front lug portion 322, and a third shaft hole is formed on the front lug portion 322. The front connecting lug portion 3122 is rotationally sleeved on the mounting shaft 23 through the third shaft hole. The front lug portion 322 of each driving member 32 is located between the sleeve portion 216 and the corresponding end guide roller 24.

[0139] As shown in Figures 16-18As shown, in order to enable the footrest console 10 to better switch from the idle state to the working state, the footrest console 10 further comprises a supporting mechanism 4 arranged in the mounting cavity, and the supporting mechanism 4 is provided with a supporting piece 41. The rear end of the footrest assembly 2 is provided with a cam portion 217, and the lowest point of the cam portion 217 supports the supporting piece 41 when the footrest assembly 2 is in the idle state.

[0140] The arrangement of the cam portion 217 and the supporting piece 41 enables the footrest assembly 2 to support the supporting piece 41 through the cam portion 217 when the footrest assembly 2 is in the idle state, increases the supporting position of the footrest assembly 2 in the idle state, and improves the setting stability and reliability of the footrest assembly 2 in the idle position. At the same time, by arranging the cam portion 217, when the driving piece 32 drives the footrest assembly 2 to move forward, the cam portion 217 is out of contact with the supporting piece 41, so that the footrest assembly 2 lacks stable support at the moment when the supporting piece 41 is out of contact with the lowest end of the cam portion 217, and the front end of the footrest assembly 2 is turned downward under the action of gravity and supported on the ground, thereby ensuring that the footrest assembly 2 can support the front end on the ground in the working state.

[0141] That is, by arranging the supporting mechanism 4, the embodiment can realize the switching of the front end of the footrest assembly 2 between being out of contact with the ground and being supported on the ground, so that the footrest assembly 2 can be completely retracted into the accommodating groove 113 and out of contact with the ground in the idle position, and the front end of the footrest assembly 2 can be smoothly supported on the ground in the working state.

[0142] As shown in the drawings, Figure 18 The outer surface of the cam portion 217 is preferably a smooth transition curved surface, and the cam portion 217 is smoothly and transitionally connected with the extension plate portion 214 to avoid edges and corners and reduce scratching of the supporting piece 41. The longitudinal profile of the cam portion 217 can be a circular arc shape, a V shape or a U shape, and the circular arc shape can be a single circular arc shape formed by one circular arc or a circular arc shape with a middle high and two ends low formed by three circular arcs smoothly and transitionally connected. The V shape is preferably a V shape structure with an angle greater than 90° and a smooth circular arc transition at the angle. In other embodiments, the cam portion 217 also adopts other shapes, as long as the cam portion 217 is high in the middle and gradually decreases from the middle to the two ends.

[0143] Further preferably, when the footrest assembly 2 is in the working state, the driving member 32 can be supported on the support member 41, so that the driving member 32 is effectively supported, thereby avoiding the driving end of the driving member 32 from falling due to lack of support, and improving the driving stability and reliability of the driving member 32; at the same time, since the driving direction of the driving member 32 is always consistent during the movement of the footrest assembly 2, the footrest assembly 2 can be turned during the driving of the driving member 32, which is further conducive to the front end of the footrest assembly 2 being supported on the ground. In this embodiment, the support member 41 is arranged in one-to-one correspondence with the driving member 32.

[0144] As shown in Figure 17 and Figure 19 , the support mechanism 4 preferably comprises a support frame 42 and a support seat 43 arranged on the support frame 42, the support frame 42 is connected with the base 1, the support seat 43 is arranged in one-to-one correspondence with the support member 41, and the support member 41 is rotatably arranged on the support seat 43. By arranging both support members 41 on the support frame 42, it is conducive to the overall disassembly of the support mechanism 4. It improves the modularity of the footrest console 10 and facilitates the installation of the support member 41 on the base 1. At the same time, by rotatably connecting the support member 41 with the support seat 43, the friction between the support member 41 and the cam portion 217 and between the support member 41 and the driving member 32 is also reduced.

[0145] The support frame 42 comprises two oppositely and spacedly arranged support beam portions 421, each of which extends along the left-right direction, and an end plate portion 422 is arranged between the two ends of the two support beam portions 421, and the end plate portion 422 is used for connecting with the base 1. A reinforcing rod portion 423 is connected in the middle of the two support beam portions 421 for increasing the overall structural strength of the support frame 42. This kind of support frame 42 structure, while facilitating connection with the base 1, is relatively light in structure, which can reduce the overall weight of the footrest console 10.

[0146] In this embodiment, preferably, the support frame 42 is detachably mounted on the bottom plate 16 of the base 1, so that after the adjustment mechanism 3 and the footrest assembly 2 are both mounted, the support mechanism 4 is installed, which facilitates the overall assembly of the footrest console 10. The connection between the support frame 42 and the bottom plate 16 preferably adopts screw connection, which has strong connection reliability.

[0147] The support seat 43 comprises a support plate portion 431 and two support ear portions 432 arranged above the support plate portion 431, the two support ear portions 432 are oppositely and spacedly arranged along the extension direction of the support beam portion 421, and the lower ends are connected with the support plate portion 431. The support plate portion 431 is detachably connected with the upper surfaces of the two support beam portions 421. A rotating shaft 433 is arranged between each of the two support ear portions 432, and the above-mentioned support member 41 is sleeved on the rotating shaft 433, and the support member 41 is clamped between the two support ear portions 432.

[0148] In the embodiment, the cam portion 217 extends along the left-right direction of the footrest assembly 2, i.e. both the support members 41 are supported on the same cam portion 217. In other embodiments, one cam portion 217 can be provided for each support member 41. It is worth mentioning that the support member 41 can be, but is not limited to, a bearing, a roller, a rolling sleeve, etc.

[0149] As shown in FIG. 1 and FIG. 2, the footrest assembly 2 further comprises a linkage assembly 5, which comprises a swing arm 51, a first end of the swing arm 51 being rotatably connected to the side mounting plate 212 of the footrest assembly 2, and a second end of the swing arm 51 being rotatably connected to a follower 52, the follower 52 being arranged in the sliding groove 123 and being in sliding or rolling cooperation with the two side groove walls of the sliding groove 123. The side mounting plate 212 is provided with a rotation limiting structure for limiting the rotation angle of the swing arm 51. Figure 13 Figures 20-22 The arrangement of the follower 52 enables each side of the footrest assembly 2 to be simultaneously supported by the follower 52 and the guide roller 24 at any time, thereby improving the position stability of the footrest assembly 2 and reducing the probability of the front end of the footrest assembly 2 being flipped upward. At the same time, since the rotation limiting structure is arranged to limit the rotation angle of the swing arm 51, even if the front end of the footrest assembly 2 is flipped, it can only be flipped within a limited angle, thereby improving the state stability of the footrest assembly 2 and the pedaling comfort of the operator R1 on the footrest switch 22.

[0150] The follower 52 is preferably a follower roller, which can reduce the friction between the follower 52 and the groove walls of the sliding groove 123 and improve the smoothness of the operation of the footrest assembly 2. To facilitate the installation of the follower 52, a rotation shaft 53 is vertically protruded at the second end of the swing arm 51, and a follower roller is rotatably sleeved at the end of the rotation shaft 53. The rotation shaft 53 can be integrally formed with the swing arm 51, or can be welded or detachably connected. To avoid the follower roller from being detached from the sliding groove, a follower limiting member 55 is sleeved on the rotation shaft 53, and the structure of the follower limiting member 55 can refer to the structure of the guide limiting member 26, which will not be described here.

[0151] The follower 52 is preferably a follower roller, which can reduce the friction between the follower 52 and the groove walls of the sliding groove 123 and improve the smoothness of the operation of the footrest assembly 2. To facilitate the installation of the follower 52, a rotation shaft 53 is vertically protruded at the second end of the swing arm 51, and a follower roller is rotatably sleeved at the end of the rotation shaft 53. The rotation shaft 53 can be integrally formed with the swing arm 51, or can be welded or detachably connected. To avoid the follower roller from being detached from the sliding groove, a follower limiting member 55 is sleeved on the rotation shaft 53, and the structure of the follower limiting member 55 can refer to the structure of the guide limiting member 26, which will not be described here.

[0152] ​Optionally, the rotation limiting structure is a limiting groove 2121, the limiting groove 2121 is arranged on the side mounting plate 212, the width of the limiting groove 2121 is greater than the width of the swing arm 51, and the groove bottom of the limiting groove 2121 is provided with a pivot hole 2122. The first end of the swing arm 51 is provided with a follow-up mounting shaft 54, and the follow-up mounting shaft 54 is mounted in the pivot hole 2122. The second end of the swing arm 51 can swing in the limiting groove 2121, and the opposite two groove walls of the limiting groove 2121 limit the swing angle of the swing arm 51. By arranging the rotation limiting structure as the limiting groove 2121, the processing convenience of the rotation limiting structure can be improved, and at the same time, the swing arm 51 can be accommodated in the limiting groove 2121, thereby reducing the size of the follow-up assembly 5 protruding from the side mounting plate 212, so that the follow-up assembly 5 can be avoided from being arranged on the slide rail 12 to interfere, and the appearance aesthetics can be improved.

[0153] In other embodiments, the rotation limiting structure can be arranged as other structures, for example, an arc-shaped groove can be arranged on the side mounting plate 212, the center of the arc-shaped groove corresponds to the rotation center line of the swing arm 51, and a limiting shaft is arranged on the swing arm 51 and slidably arranged in the arc-shaped groove. At this time, the swing angle of the swing arm 51 can be limited by the corresponding angle of the arc-shaped groove. It can be understood that there are many limiting structure forms that can limit the rotation angle, as long as the rotation limiting structure that can limit the swing angle of the swing arm 51 is within the protection scope of the present application, and the present embodiment will not be enumerated one by one.

[0154] Preferably, the limiting groove 2121 penetrates the lower side edge and the rear side edge of the side mounting plate 212, and the lower side width of the limiting groove 2121 is greater than the upper end width of the limiting groove 2121, thereby facilitating the installation of the follow-up assembly 5. Further, the limiting groove 2121 extends downwardly and rearwardly inclined, which can avoid the follow-up assembly 5 from being stuck during the sliding process of the foot pedal assembly 2, and improve the operation reliability of the follow-up assembly 5. In the present embodiment, the follow-up mounting shaft 54 is threadedly connected with the pivot hole 2122, and the swing arm 51 is rotationally connected with the follow-up mounting shaft 54. In other embodiments, the follow-up mounting shaft 54 can be fixedly connected with the swing arm 51, and the follow-up mounting shaft 54 is rotationally arranged in the pivot hole 2122.

[0155] Further, the follow-up assembly 5 further comprises a reset member 56, the reset member 56 is used for returning or maintaining the initial state of the follow-up assembly 5, and the initial state refers to the state of the follow-up assembly 5 when the front end of the foot pedal assembly 2 is not upwardly flipped. In the present embodiment, the reset member 56 is a spring, one end of the spring is hung on the limiting sleeve of the follow-up limiting member 55, and the other end of the spring is hung on the limiting sleeve 261 of the foot pedal assembly 2. In order to facilitate the installation of the spring, the limiting sleeve on the follow-up limiting member 55 and the guide limiting member 26 is provided with a hanging ear portion, the hanging ear portion is provided with a hanging hole, and the two ends of the spring are provided with hooks, and the hooks at the two ends are respectively hung on the corresponding hanging holes of the hanging ear portion.

[0156] Example 2

[0157] This embodiment provides a surgical robot system, which is basically the same as the surgical robot system provided in Embodiment 1. Only the specific operating state of the foot pedal assembly 2 is further illustrated. The specific structure of the surgical robot 200 will not be described in detail in this embodiment.

[0158] like Figure 23 As shown, when the pedal assembly 2 is in an idle state, it retracts into the receiving groove 113 of the base 1. At this time, the drive member 32 is at the zero point position, the front end of the pedal assembly 2 is off the ground, and the lowest point of the cam portion 217 of the pedal assembly 2 is supported on the support member 41. At this time, the distance between the front end of the pedal assembly 2 and the fixed end of the drive member 32 is L0.

[0159] The foot pedal assembly 2 has several working states, including a seated working state. In the seated working state, the front end of the foot pedal assembly 2 extends by a first predetermined length relative to the idle working state, ΔL1. The relationship between the operator's height and ΔL1 in the seated working state is as follows:

[0160] like Figure 24 As shown, if the operator R1's height is 190cm to 181cm and weight is 55kg to 75kg (preferably 65kg), when the operator R1 operates the surgical control console 100 in a seated position, the operator R1 operates the touch screen 202 to control the drive component 32 to move, causing the drive component 32 to extend forward from the zero position, so that the front end of the foot pedal assembly 2 is in a relatively idle state with a first set extension length ΔL1 = ΔL 10 The error range is within 10mm, where ΔL 10 The minimum front extension length ΔL required for foot pedal assembly 2 to switch from idle state to working state. 10 At this point, operator R1 can easily and conveniently operate the foot switch 22 and adjust the position of the foot pedal assembly 2 according to their own situation. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°.

[0161] like Figure 25As shown, if the operator R1's height is 180cm-171cm and weight is 50kg-70kg (preferably 60kg), when the operator R1 operates the surgical control console 100 in a seated position, the operator R1 operates the touch screen 202 to control the drive component 32 to extend forward from the zero position, so that the front end of the foot pedal assembly 2 extends forward by a first set extension length ΔL1 = ΔL relative to the idle state. 10 The +10mm error range is within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L11+10mm.

[0162] like Figure 26 As shown, if the operator R1's height is 170cm to 161cm and weight is 45kg to 65kg (preferably 50kg), when the operator R1 operates the surgical control console 100 in a seated position, the operator R1 operates the touch screen to control the drive component 32 to move, so that the front end of the foot pedal assembly 2 extends out by a first set length ΔL1 = ΔL relative to the idle state. 10 +20mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L11+20mm.

[0163] like Figure 27 As shown, if the operator R1 is 160cm to 151cm tall and weighs 40kg to 60kg (preferably 50kg), when the operator R1 operates the surgical control console 100 in a seated position, the operator R1 operates the touch screen to control the drive component 32 to move, so that the front end of the foot pedal assembly 2 extends out by a first set length ΔL1 = ΔL relative to the idle state. 10 +30mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L11+30mm.

[0164] like Figure 28 As shown, if the operator R1's height is 150cm to 141cm and weight is 35kg to 55kg (preferably 45kg), when the operator R1 operates the surgical control console 100 in a seated position, the operator R1 operates the touch screen to control the drive component 32 to move so that the front end of the foot pedal assembly 2 extends outward relative to the idle state by a first set extension length ΔL1 = ΔL 10 +40mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L11+40mm.

[0165] The foot pedal assembly 2 has several working states, including a standing working state. In the standing working state, the front end of the foot pedal assembly 2 extends by a second predetermined length relative to the idle working state, ΔL1. The relationship between the operator's height and ΔL2 in the standing working state is as follows:

[0166] like Figure 29 As shown, if the operator R1's height is 190cm to 181cm and weight is 55kg to 75kg (preferably 65kg), when the operator R1 operates the surgical control console 100 in a standing position, the operator R1 operates the touch screen 202 to control the drive component 32, and the front end of the foot pedal component 2 extends ΔL from its idle state. 20 ΔL 20 >ΔL 10 +40mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch 22 and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal distance between the front end of the foot pedal assembly 2 and the rear end of the drive component is L21ΔL. 21 .

[0167] like Figure 30As shown, if the operator R1's height is 180cm-171cm and weight is 50kg-70kg (preferably 60kg), when the operator R1 operates the surgical control console 100 in a standing position, the operator R1 operates the touch screen 202 to control the drive component 32 to extend forward from the zero position, so that the front end of the foot pedal assembly 2 extends forward by a second preset extension length ΔL2 = ΔL relative to the idle state. 20 +10mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L21+10mm.

[0168] like Figure 31 As shown, if the operator R1's height is 170cm to 161cm and weight is 45kg to 65kg (preferably 55kg), when the operator R1 operates the surgical control console 100 in a standing position, the operator R1 operates the touch screen to control the drive component 32 to move, so that the front end of the foot pedal assembly 2 extends outward by a second preset length ΔL2 = ΔL relative to the idle state. 20 With a tolerance of ±20mm, the operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which the operator R1 raises their foot is a very comfortable angle, within the range of 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L21+20mm.

[0169] like Figure 32 As shown, if the operator R1's height is 160cm-151cm and weight is 40kg-60kg (preferably 50kg), when the operator R1 operates the surgical control console 100 in a standing position, the operator R1 operates the touch screen to control the drive component 32 to move, so that the front end of the foot pedal component 2 extends outward by a second preset length ΔL2 = ΔL relative to the idle state. 20 +30mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L21+30mm.

[0170] like Figure 33 As shown, if the operator R1's height is 150cm to 141cm and weight is 35kg to 55kg (preferably 45kg), when the operator R1 operates the surgical control console 100 in a standing position, the operator R1 operates the touch screen to control the drive component 32 to move, so that the front end of the foot pedal component 2 extends outward by a second preset length ΔL2 = ΔL relative to the idle state. 20 +40mm, with an error range within ±10mm. That is, at this position, operator R1 can easily and conveniently operate the foot switch and adjust the position of the foot pedal assembly 2 according to their own needs. Furthermore, in this state, the angle β at which operator R1 raises their foot is a very comfortable angle for operator R1, with β ranging from 5° to 20°. At this time, the horizontal length between the front end of the foot pedal assembly 2 and the rear end of the drive component 32 is L21+40mm.

[0171] That is, in this embodiment, the foot pedal control console and the surgical control console are compatible with the use of operators R1 with a height of 150cm to 190cm, and allow operators R1 to step on the foot pedal switch in a more comfortable posture.

[0172] In this embodiment, regardless of whether the operator R1 is seated or standing, the extension of the foot pedal component increases by 10mm for every 10cm increase in height. However, it should be understood that the specific values ​​for the extension of the foot pedal component for different heights are merely illustrative. Since different operators R1 have different comfort experiences, the required extension of the foot pedal component will vary depending on the operator R1's height and the desired standing or sitting posture. In practical applications, the operator R1 can adjust the extension according to their needs.

[0173] Example 3

[0174] This embodiment provides a control method for a surgical console. The surgical console 100 can adopt the structure of the surgical console 100 in Embodiment 1. This embodiment will not explain the specific structure of the surgical console 100.

[0175] The control method of the surgical console provided in this embodiment includes: controlling the operation of the adjustment mechanism according to the height and standing / sitting posture of the operator R1, so that the adjustment mechanism 3 drives the foot pedal assembly 2 to slide to a position suitable for the operator R1 to operate.

[0176] The control method of the operation console provided by the embodiment can make the foot pedal assembly 2 slide to a position suitable for the operator R1 to operate by adjusting and controlling the operation of the adjusting mechanism 3 according to the height and standing or sitting posture of the operator R1, so as to meet different needs of the operator R1 for the position of the foot pedal assembly 2 in the standing or sitting posture, improve the comfort of the operator R1 stepping on the foot pedal switch 22, and reduce the operation fatigue of the operator R1.

[0177] Specifically, the control method specifically comprises:

[0178] Embedding in the controller the extension adjustment amount of the foot pedal assembly 2 corresponding to different heights and / or standing or sitting postures;

[0179] The controller acquires the height parameter and standing posture state of the operator R1;

[0180] The controller acquires the target extension adjustment amount based on the height parameter and / or standing posture state;

[0181] The controller controls the drive to operate according to the target extension adjustment amount, so as to make the foot pedal assembly 2 extend to the target position.

[0182] That is, by embedding the corresponding relationship between the height and standing posture and the extension adjustment amount in the controller, after the operator R1 inputs the height parameter and standing posture state, the controller can automatically control the drive 32 to act, so that the drive 32 drives the foot pedal assembly 2 to extend to the appropriate position without manual judgment of whether the foot pedal assembly 2 reaches the appropriate position. Moreover, the adjustment can be completed at one time, avoiding the problems of long adjustment time and the adjustment not being completed at one time caused by the manual control of the operator R1 on the adjusting mechanism 3, improving the adjustment automation and efficiency of the foot pedal assembly 2, and improving the adjustment convenience.

[0183] It can be understood that, since different operators R1 have different feelings of comfort, after the controller automatically controls the foot pedal assembly 2 to adjust to the target position, if the operator R1 feels not comfortable enough, the operator R1 can manually control the adjusting mechanism 3 to adjust the position of the foot pedal assembly 2 again.

[0184] Preferably, the controller acquires the height parameter and standing posture state of the operator R1 specifically refers to that the operator R1 inputs the height parameter and standing posture state to the controller through the touch screen 202.

[0185] This input method is simple, convenient, easy to operate, and does not need to set too many buttons. In other embodiments, the operator R1 can also input the height parameter and standing posture state to the controller through voice input, knob rotation, etc.

[0186] Further, the control method further comprises: the controller adjusts the height of the main operation table 20 according to the height parameter and the sitting posture state of the operator R1. With this arrangement, the height of the main operation table 20 can be adjusted synchronously, so that the operator R1 can operate the operation elements on the main operation table 20 at a proper height and posture.

[0187] Embodiment Four

[0188] The embodiment provides a foot control console, which comprises a base 1 and a foot pedal assembly 2 arranged on the base 1, the foot pedal assembly 2 comprises foot pedal switches 22 and detection sensors 27, the foot pedal switches 22 comprise front foot pedal switches 221 and rear foot pedal switches 222 arranged side by side in front and back, the front foot pedal switches 22 are arranged in one or at least two arranged in the left and right directions, and the rear foot pedal switches 22 are arranged in one or at least two arranged in the left and right directions; each front foot pedal switch 221 is arranged in front of and opposite to a rear foot pedal switch 222, or each rear foot pedal switch 222 is arranged in front of and opposite to a front foot pedal switch 221; the detection sensors 27 are arranged between the front foot pedal switches 221 and the rear foot pedal switches 222 arranged in front and back, and the detection sensors 27 have a trigger state capable of being shielded or contacted and a non-trigger state.

[0189] The foot pedal assembly 2 and the foot control console 10 provided by the embodiment can determine whether the foot pedal assembly 2 is in a mispressed state by the state of the detection sensors 27 and the state of the corresponding front foot pedal switches 221 and rear foot pedal switches 222, so that the operation safety and reliability of the foot pedal assembly 2 and the foot control console 10 are improved.

[0190] The embodiment further provides a control method of the foot control console, specifically, the foot control console 10 comprises a controller and an alarm device, and the foot pedal switches 22, the detection sensors 27 and the alarm device are in communication connection with the controller. The control method comprises: when the detection sensors 27 are in the trigger state and the corresponding front foot pedal switches 221 are in the signal sending state, the controller controls the alarm device to issue a first abnormal alarm.

[0191] When the foot switch 22 is in the signal sending state, it indicates that the operator R1 exists to step on the foot switch 22. If the front foot switch 221 is in the signal sending state, and the corresponding detection sensor 27 is in the triggered state, it indicates that the foot of the operator R1 not only exists to step on the front foot switch 221, but also indicates that the foot of the operator R1 extends to the area arranged by the rear foot switch 222, and it is possible to exist to misstep on the rear foot switch 222. In this state, the controller controls the alarm device to issue a first abnormal alarm, which can timely remind the operator R1 to pay attention to the position of the foot.

[0192] Further, the first abnormal alarm has a first alarm mode and a second alarm mode. When the detection sensor 27 is in the triggered state, if the corresponding front foot switch 221 is in the signal sending state, and the corresponding rear foot switch 222 is in the signal sending state, the controller controls the alarm device to issue an alarm in the first alarm mode. If the corresponding front foot switch 221 is in the signal sending state and the corresponding rear foot switch 222 is in the no signal state, the controller controls the alarm device to issue an alarm in the second alarm mode.

[0193] This setting can better distinguish whether the corresponding rear foot switch 222 has been misstepped when the operator R1 steps on the front foot switch 221 and the corresponding detection sensor 27 is in the triggered state, by setting the first alarm mode and the second alarm mode. If the alarm device issues an alarm in the first alarm mode, it indicates that the corresponding rear foot switch 222 has been misstepped. At this time, the operator R1 should stop operating the foot pedal console 10 to the operation, and timely check whether the operation is misoperated due to misstepping. If misoperation occurs, the misoperation is timely repaired. If the alarm device issues an alarm in the second alarm mode, it indicates that the corresponding rear foot switch 222 has not been stepped at this time. At this time, the alarm of the alarm device can remind the operator R1 to correct the position of the foot, without stopping the control of the foot pedal console 10 and the operation.

[0194] Further, the control method further comprises: when the detection sensor 27 is in the triggered state, and the corresponding front foot switch 221 and rear foot switch 222 are in the no signal state, the controller controls the alarm device to issue a second abnormal alarm.

[0195] The setting of the second abnormal alarm can timely remind the operator R1 that the placement position of the foot is wrong when the operator R1 has not stepped on the foot switch 22, which is easy to cause misstepping, so that the operator R1 can timely avoid errors.

[0196] The control method further comprises: when the detection sensor 27 is in the non-trigger state and the corresponding rear foot switch 222 is in the signal sending state, the controller controls the alarm device to issue a third abnormal alarm.

[0197] In the normal state, if the operator R1 steps on the rear foot switch 222, the corresponding detection sensor 27 must be in the trigger state. If the detection sensor 27 is in the non-trigger state at this time, it is an abnormal phenomenon. Therefore, the controller controls the alarm device to issue a third abnormal alarm, so that the operator R1 can timely investigate and correct the abnormal phenomenon.

[0198] Further, in order to expand the function of the foot control console 10, the foot switch further comprises a side foot switch 223. Specifically, the foot switch assembly comprises a main mounting plate 211 and a side mounting plate 212 arranged on the left and right sides of the main mounting plate 211, and the front foot switch 221 and the rear foot switch 222 are arranged on the main mounting plate 211 and located between the two side mounting plates 212. The foot switch 22 further comprises a side foot switch 223 arranged on the side mounting plate 212.

[0199] The control method further comprises: when the side foot switch 223 is in the signal sending state, if the adjacent front foot switch 221 or the adjacent rear foot switch 222 is in the signal sending state, the controller controls the alarm device to issue a fourth abnormal alarm.

[0200] Through the setting of the fourth abnormal alarm, the operator R1 can be reminded to check and correct the abnormal state when the side foot switch 223 and the corresponding front foot switch 221 or rear foot switch 222 are stepped on at the same time, thereby further improving the operation reliability of the operator R1 on the foot control console 10.

[0201] In the embodiment, the front foot switch 221, the rear foot switch 222 and the detection sensor 27 are one-to-one corresponding. In other embodiments, the number of front foot switches 221 can be more than the number of rear foot switches 222, and at least one detection sensor 27 is arranged corresponding to each rear foot switch 222; in other embodiments, the number of rear foot switches 222 can be more than the number of front foot switches 221, and at least one detection sensor 27 is arranged corresponding to each front foot switch 221.

[0202] In the embodiment, the number of front foot switches 221 and rear foot switches 222 is three, and in other embodiments, the number of front foot switches 221 and rear foot switches 222 can be set according to the needs.

[0203] Preferably, the main mounting plate 211 comprises a front mounting plate portion 2111, a transition plate portion 2112 and a rear mounting plate portion 2113 connected in sequence from front to rear, the rear mounting plate portion 2113 is higher than the front mounting plate portion 2111, each of the front foot switches 221 is arranged on the front mounting plate portion 2111, each of the rear foot switches 222 is arranged on the rear mounting plate portion 2113, and each of the detection sensors 27 is arranged on the transition plate portion 2112. In this way, the installation height of the rear foot switches 222 can be raised, so as to further avoid the missteps of the front foot switches 221 and the rear foot switches 222.

[0204] Preferably, the detection sensor 27 is an optical sensor, specifically a proximity switch, so as to detect the presence of the foot when the operator R1 stands above the detection sensor 27 without direct contact, and the detection reliability and accuracy are relatively high. Preferably, the transition plate portion 2112 is inclined from front to rear, so as to make the detection light emitted by the detection sensor 27 be inclined to shoot forward and upward, thereby improving the detection reliability of the detection sensor 27.

[0205] Preferably, the footrest assembly 2 is arranged on the base 1 in a slidable manner, the driving member 32 is in communication connection with the controller, and the driving member 32 is used to drive the footrest assembly 2 to slide, so as to make the front end of the footrest assembly 2 slide out of the front side of the base 1 and be supported on the ground.

[0206] The control method further comprises: before the operator R1 operates the foot switch 22, controlling the driving member 32 to operate according to the height and / or standing posture of the operator R1, and the driving member 32 drives the footrest assembly 2 to slide, so as to adjust the position of the front end of the footrest assembly 2.

[0207] In this way, the comfort of the operator in operating the footrest assembly 2 can be improved, the fatigue degree is reduced, and the operation reliability and accuracy of the foot switch 222 are improved.

[0208] The way of adjusting the position of the front end of the footrest assembly 2 according to the height and / or standing posture of the operator can be referred to Embodiment Three, which will not be described herein again.

[0209] The other structures of the footrest console 10 provided in the embodiment can be arranged by referring to Embodiment One, which will not be described herein again. It can be understood that the footrest assembly 2 and the control method provided in the embodiment can also be applied to the footrest console 10 in which the footrest assembly 2 is relatively fixed on the base 1.

[0210] The embodiment also provides a surgical console and a surgical robot system, wherein the surgical console 100 comprises the foot control console 10 described above, and the surgical robot system comprises the surgical console 100 described above.

[0211] In the embodiment, the three front foot switches 221 are respectively a first front foot switch 2211, a second front foot switch 2212 and a third front foot switch 2213, the first front foot switch 2211 can realize cauterization function in monopolar mode by using the surgical instrument 400; the second front foot switch 2212 can realize cauterization function in bipolar mode by using the surgical instrument 400; and the third front foot switch 2213 can operate the surgical instrument 400 realizing endoscope function.

[0212] The three rear foot switches 222 are respectively a first rear foot switch 2221, a second rear foot switch 2222 and a third rear foot switch 2223. The first rear foot switch 2221 can cut in monopolar mode by using the surgical instrument 400; the second rear foot switch 2222 can cut in bipolar mode by using the surgical instrument 400 or realize functions such as setting or position change of the surgical instrument 400; and the third rear foot switch 2223 can realize clutch mode of the surgical instrument 400.

[0213] The side foot switches 223 are provided with two, and the two side foot switches 223 can respectively adjust activation and disablement of different mechanical arms 2001.

[0214] It can be understood that the functions realized by each foot switch 22 are exemplary settings, and the functions realized by each foot switch 22 can be self-set according to the needs of surgery.

[0215] Note that the above are only preferred embodiments of the present application and the technical principles applied. It can be understood by those skilled in the art that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the appended claims.

Claims

1. A foot pedal control console, characterized in that, Includes foot pedal assembly, controller, and alarm device; The foot pedal assembly includes a foot switch (22) and a detection sensor (27). The foot switch (22) includes a front foot switch (221) and a rear foot switch (222) arranged side by side. The front foot switch (221) has one or at least two spaced apart in the left-right direction. The rear foot switch (222) has one or at least two spaced apart in the left-right direction. Each front foot switch (221) is directly opposite a rear foot switch (222), or each rear foot switch (222) is directly opposite a front foot switch (221). The detection sensor (27) is arranged between the front foot switch (221) and the rear foot switch (222) arranged directly opposite each other. The detection sensor (27) has a triggered state that can be triggered by obstruction or contact, and a non-triggered state. The alarm device, the foot switch (22) and the detection sensor are all connected to the controller. The alarm device is used to issue an alarm when the foot control console is in an abnormal state. The controller is used to control the alarm device to issue a first abnormal alarm when the detection sensor (27) is in the triggered state and the corresponding front foot switch (221) is in the signal sending state.

2. The foot pedal control console according to claim 1, characterized in that, The front foot switch (221), the rear foot switch (222), and the detection sensor (27) are all set in a corresponding manner.

3. The foot pedal control console according to claim 1, characterized in that, The foot pedal assembly also includes a main mounting plate (211), which includes a front mounting plate (2111), a connecting plate (2112), and a rear mounting plate (2113) connected from front to back. The rear mounting plate (2113) is higher than the front mounting plate (2111). The front foot pedal switches (221) are all located on the front mounting plate (2111), the rear foot pedal switches (222) are all located on the rear mounting plate (2113), and the detection sensors (27) are all located on the connecting plate (2112).

4. The foot pedal control console according to claim 1, characterized in that, The detection sensor (27) is a photoelectric sensor.

5. A control method for a foot pedal control console, characterized in that, Applied to the foot pedal console as described in any one of claims 1-4, the control method includes: when the detection sensor (27) is in the triggered state and the corresponding front foot pedal switch (221) is in the signal transmission state, the controller controls the alarm device to issue a first abnormal alarm.

6. The control method according to claim 5, characterized in that, The control method further includes: when the detection sensor (27) is in the triggered state, and the corresponding front foot switch (221) and rear foot switch (222) are both in the no-signal state, the controller controls the alarm device to issue a second abnormal alarm.

7. The control method according to claim 5, characterized in that, The first abnormal alarm has a first alarm mode and a second alarm mode. When the detection sensor (27) is in the trigger state, if the corresponding front foot switch (221) is in the signal sending state and the corresponding rear foot switch (222) is in the signal sending state, the controller controls the alarm device to issue an alarm in the first alarm mode. If the corresponding front foot switch (221) is in the signal sending state and the corresponding rear foot switch (222) is in the no-signal state, the controller controls the alarm device to issue an alarm in the second alarm mode.

8. The control method according to claim 5, characterized in that, The control method further includes: when the detection sensor (27) is in the non-triggered state and the corresponding rear foot switch (222) is in the signal sending state, the controller controls the alarm device to issue a third abnormal alarm.

9. The control method according to claim 5, characterized in that, The foot pedal assembly includes a main mounting plate (211) and side mounting plates (212) disposed opposite to each other on the left and right sides of the main mounting plate (211). The front foot switch (221) and the rear foot switch (222) are both disposed on the main mounting plate (211) and located between the two side mounting plates (212). The foot switch (22) also includes a side foot switch (223) disposed on the side mounting plate (212). The control method further includes: when the side foot switch (223) is in the signal transmission state, if the adjacent front foot switch (221) or the adjacent rear foot switch (222) is in the signal transmission state, the controller controls the alarm device to issue a fourth abnormal alarm.

10. The control method according to claim 5, characterized in that, The foot pedal control unit also includes a base (1) and a drive unit (32). The foot pedal assembly is slidably mounted on the base (1). The drive unit (32) is communicatively connected to the controller. The drive unit (32) is used to drive the foot pedal assembly to slide so that the front end of the foot pedal assembly can slide out of the front side of the base (1) and be supported on the ground. The control method further includes: before the operator operates the foot switch (22), controlling the drive unit (32) to operate according to the operator's height and / or standing / sitting posture, the drive unit (32) driving the foot pedal assembly to slide, so as to adjust the front end position of the foot pedal assembly.

11. The control method according to claim 10, characterized in that, The control method further includes: The controller has built-in adjustment for the extension of the foot pedal components corresponding to different heights and standing / sitting postures; Controlling the operation of the drive unit (32) according to the operator's height and standing / sitting posture specifically includes: The controller acquires the operator's height parameters and standing / sitting posture. The controller obtains the target extension adjustment amount based on the height parameter and the standing / sitting posture. The controller controls the drive unit (32) to move according to the target extension adjustment amount, so that the foot pedal assembly extends to the target position.

12. A surgical console, comprising a foot pedal console as described in any one of claims 1-4.

13. A surgical robot system, including the surgical console as described in claim 12.

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