Pedal automatically rotatable medical console and surgical robotic system

Abstract

The present application relates to the technical field of medical console, and provides a medical console with automatically rotatable pedals and a surgical robot system, which comprises a first base, a general pedal hinged to the first base, and a first linear driving mechanism comprising a first telescopic rod and a first base, the first telescopic rod being inserted into the first base, the first base being used to drive the telescopic end of the first telescopic rod, the first base being connected to the first base, and the end of the first telescopic rod being hinged to the general pedal; wherein the hinged part of the end of the first telescopic rod and the general pedal is arranged close to the hinged part of the general pedal and the first base. During the process of regular cleaning and disinfection in the operating room or the process of moving the medical console, medical staff can easily lift the heavy general pedal automatically, thereby solving the problem that the control pedal of the existing medical console is inconvenient to use in the manual lifting mode.

Description

Technical Field

[0001] This invention relates to the field of medical control panel technology, and more specifically, to a medical control panel and surgical robot system with an automatically rotating pedal. Background Technology

[0002] With the widespread use of surgical robot systems, such as laparoscopic surgical robots, these systems are generally equipped with a medical control panel, which doctors use to control the surgical robot.

[0003] As surgical robot systems become more diversified and complex, especially complex surgical robots like laparoscopic surgical robots, the use of a combination of hand and foot operation by doctors to control the surgical robot has become an inevitable trend.

[0004] The coordination and cooperation required for operating medical control panels are also increasing. For example, the addition of multiple sub-pedales to a main pedal has led to a significant increase in the size of the pedal devices on existing medical control panels. Furthermore, most existing main pedals are manually raised, which causes considerable inconvenience for moving, cleaning, and using the medical control panel. Summary of the Invention

[0005] The present invention aims to solve the problem that the manual lifting of the control pedal on the existing medical control panel causes inconvenience to the movement, cleaning and use of the medical control panel.

[0006] To address the above problems, the present invention provides a medical control panel with an automatically rotatable pedal, comprising:

[0007] First base;

[0008] The main pedal is hinged to the first base; and

[0009] A first linear drive mechanism includes a first telescopic rod and a first base. The first telescopic rod is inserted into the first base, and the first base is used to drive the end of the first telescopic rod to extend or retract. The first base is connected to the first base plate, and the end of the first telescopic rod is hinged to the main pedal.

[0010] The end of the first telescopic rod is hinged to the main pedal near the hinge between the main pedal and the first base.

[0011] Optionally, the automatically rotating medical control panel also includes:

[0012] The second base; and

[0013] The second linear drive mechanism includes a second telescopic rod and a second base. The second telescopic rod is inserted into the second base, the second base is connected to the second base, the second telescopic rod is connected to the first base, and the second telescopic rod is arranged parallel to the first telescopic rod.

[0014] Optionally, the second base is a plate-shaped component;

[0015] The first base includes:

[0016] An upper plate is connected to the second telescopic rod, and the upper plate is positioned above the second base.

[0017] A lower plate is disposed below the second base, and a first base is disposed below the lower plate, the first base being connected to the lower plate; and

[0018] A connecting part is connected to the upper plate and the lower plate respectively. The connecting part is disposed between the main pedal and the second base. The main pedal is hinged to the connecting part.

[0019] The second base, the upper plate, and the lower plate are arranged in parallel to each other.

[0020] Optionally, the main pedal includes:

[0021] The pedal body is hinged to the connecting part;

[0022] A first guide rail is connected to the pedal body. The first guide rail is located near the hinge point between the pedal body and the connecting part, and the first guide rail is vertically arranged.

[0023] The first slider cooperates with the first guide rail, and the first slider is adapted to move along the first guide rail. The first slider is always located above the first telescopic rod.

[0024] A raised structure, connected to the pedal body, is located at the top of the first guide rail and serves to prevent the first slider from disengaging from the top of the first guide rail; and

[0025] The connecting rod is hinged to the ends of the first slider and the first telescopic rod, respectively;

[0026] Among them, there are multiple first linear drive mechanisms, multiple first guide rails and multiple first sliders, and the first guide rails, the first sliders and the first linear drive mechanisms are arranged in a one-to-one correspondence. The protrusion structure is a long strip-shaped protrusion structure, and multiple first guide rails are arranged at intervals along the protrusion structure.

[0027] Optionally, both the upper plate and the lower plate are U-shaped;

[0028] The first linear drive mechanism consists of two components, which are arranged in parallel on the U-shaped surface of the lower plate.

[0029] The second linear drive mechanism is located in the middle of the U-shaped surface of the upper plate.

[0030] Optionally, the first base further includes:

[0031] Two second guide rails are respectively set on the upper and lower plates of the second base. Both second guide rails are set above the first linear drive mechanism. The two second guide rails extend along the extension and retraction direction of the first telescopic rod.

[0032] Two second sliders are connected to the upper plate and the lower plate respectively, and the two second sliders are matched one-to-one with the two second guide rails. The second sliders are used to move along the second guide rails.

[0033] Two third guide rails are respectively disposed on the upper and lower surfaces of the second base, and both third guide rails are positioned above another first linear drive mechanism, extending along the extension and retraction direction of the first telescopic rod; and

[0034] Two third sliders are connected to the upper plate and the lower plate respectively, and the two third sliders are matched one-to-one with the two third guide rails. The third sliders are used to move along the third guide rails.

[0035] Optionally, the first linear drive mechanism further includes a first helical transmission mechanism, and the first base and the first telescopic rod are connected by the first helical transmission mechanism.

[0036] The second linear drive mechanism further includes a second helical transmission mechanism, and the second base and the second telescopic rod are connected by the second helical transmission mechanism.

[0037] Optionally, both the first linear drive mechanism and the second linear drive mechanism are electric actuators.

[0038] The aforementioned automatically rotating medical control panel also includes:

[0039] An angle sensor is disposed at the hinge point between the main pedal and the first base, and the angle sensor is used to detect the rotation angle of the main pedal relative to the first base;

[0040] A displacement sensor is connected to both the first base and the second base, and the displacement sensor is used to detect the distance the first base moves relative to the second base; and

[0041] The controller is connected to the angle sensor, the displacement sensor, the first linear drive mechanism, and the second linear drive mechanism, respectively.

[0042] Optionally, the main pedal is provided with multiple sub-pedestals.

[0043] The automatically rotating medical control panel also includes a through-beam sensor, which is installed at the pedal position. The through-beam sensor is connected to the controller and is used to detect whether the pedal is being stepped on.

[0044] In addition, the present invention also provides a surgical robot system, including the aforementioned medical control panel with automatically rotatable pedals.

[0045] Compared with the prior art, the present invention has the following technical effects:

[0046] When the main pedal needs to be rotated and raised, the first base of the first linear drive mechanism drives the first telescopic rod to extend, thereby pushing the main pedal to rotate around the hinge point between the main pedal and the first base, thus automatically raising the main pedal. When the main pedal needs to be rotated and lowered, the first linear drive mechanism is controlled to retract the first telescopic rod, thereby causing the main pedal to rotate downward around the hinge point between the main pedal and the first base, thus lowering the main pedal. This achieves automatic raising and lowering of the main pedal using the first linear drive mechanism. In this way, during regular cleaning and disinfection in the operating room or when the medical control panel needs to be moved, medical staff can easily and automatically raise the heavy main pedal, thus solving the problem of inconvenience caused by the manual lifting of the control pedals on existing medical control panels, which makes moving, cleaning, and using the medical control panel difficult. Attached Figure Description

[0047] Figure 1 This is a schematic perspective view of a medical control panel with an automatically rotatable pedal, as described in an embodiment of the present invention.

[0048] Figure 2 This is a schematic top view of a medical control panel with an automatically rotatable pedal, as described in an embodiment of the present invention.

[0049] Figure 3 for Figure 2 Schematic cross-sectional view at point AA;

[0050] Figure 4 for Figure 2 A schematic side view;

[0051] Figure 5 This is another schematic perspective view of the medical control panel with an automatically rotating pedal, as described in an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached drawings: 100, First base; 110, Upper plate; 120, Lower plate; 130, Connecting part; 140, Second guide rail; 150, Second slider; 200, Second base; 300, Main pedal; 310, First guide rail; 320, First slider; 330, Protruding structure; 340, Sub-pedal; 350, Through-beam sensor; 360, Connecting rod; 370, Connecting shaft; 400, First linear drive mechanism; 410, First telescopic rod; 420, First base; 500, Second linear drive mechanism. Detailed Implementation

[0053] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0054] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0057] In the accompanying drawings, the Z-axis represents the vertical direction, i.e., the up-down direction, with the positive direction of the Z-axis (where the arrow points) indicating up and the negative direction (opposite to the positive direction) indicating down. The X-axis represents the front-back direction, with the positive direction of the X-axis (where the arrow points) indicating forward and the negative direction (opposite to the positive direction) indicating backward. The Y-axis represents the left-right direction. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0058] See Figures 1 to 5 To address the aforementioned technical problems, this embodiment provides a medical control panel with an automatically rotatable pedal, comprising:

[0059] First base 100;

[0060] The main pedal 300 is hinged to the first base 100; and

[0061] The first linear drive mechanism 400 includes a first telescopic rod 410 and a first base 420. The first telescopic rod 410 is inserted into the first base 420. The first base 420 is used to drive the end of the first telescopic rod 410 to extend and retract. The first base 420 is connected to the first base 100. The end of the first telescopic rod 410 is hinged to the main pedal 300.

[0062] The end of the first telescopic rod 410 is located at the hinge point of the main pedal 300 near the hinge point of the main pedal 300 and the first base 100.

[0063] It should be noted that multiple sub-pedales 340 can be set on the main pedal 300 here. The multiple sub-pedales 340 are used to control the surgical robot to perform corresponding surgical treatments on patients.

[0064] The first linear drive mechanism 400 here can be an electric actuator, a hydraulic cylinder piston rod mechanism, or a pneumatic cylinder piston rod mechanism, as long as it can drive the first telescopic rod 410 to extend or retract.

[0065] In addition, for the convenience of subsequent description, the hinge point between the main pedal 300 and the first base 100 is named the first hinge point; and the hinge point between the end of the first telescopic rod 410 and the main pedal 300 is named the second hinge point.

[0066] In this embodiment, when the main pedal 300 needs to be rotated and raised, the first base 420 of the first linear drive mechanism 400 drives the first telescopic rod 410 to extend, thereby pushing the main pedal 300 to rotate around the hinge point between the main pedal 300 and the first base 100, thus raising the main pedal 300 automatically. When the main pedal 300 needs to be rotated and lowered, the first linear drive mechanism 400 is controlled to retract the first telescopic rod 410, thereby causing the main pedal 300 to rotate downward around the hinge point between the main pedal 300 and the first base 100, thus lowering the main pedal 300. This achieves automatic raising and lowering of the main pedal 300 using the first linear drive mechanism 400. Thus, during regular cleaning and disinfection in the operating room or when the medical control panel needs to be moved, medical staff can easily and automatically lift the heavy main pedal 300, solving the problem of inconvenience caused by the manual lifting of the control pedal in existing medical control panels, which hinders the movement, cleaning, and use of the medical control panel.

[0067] See Figure 3 Furthermore, the aforementioned medical control panel with an automatically rotating pedal also includes:

[0068] Second base 200; and

[0069] The second linear drive mechanism 500 includes a second telescopic rod and a second base. The second telescopic rod is inserted into the second base, the second base is connected to the second base 200, the second telescopic rod is connected to the first base 100, and the second telescopic rod is arranged parallel to the first telescopic rod 410.

[0070] In use, the first base 100 is moved relative to the second base 200 by the second linear drive mechanism 500. The second telescopic rod is parallel to the first telescopic rod 410, allowing the first base 100 to move back and forth relative to the second base 200. This, in turn, causes the main pedal 300 to move accordingly, adjusting the positions of the individual pedals 340 on the main pedal 300. This allows the main pedal 300 to be moved to a comfortable position for the doctor, improving the comfort of the main pedal 300 on the medical control panel and preventing fatigue after prolonged focused operation. This solves the problem of poor pedal comfort in existing medical control panels.

[0071] See Figure 3 Furthermore, the second base 200 is a plate-shaped component;

[0072] The first base 100 includes:

[0073] The upper plate 110 is connected to the second telescopic rod, and the upper plate 110 is disposed above the second base 200;

[0074] A lower layer plate 120 is disposed below the second base 200, and a first base 420 is disposed below the lower layer plate 120, the first base 420 being connected to the lower layer plate 120; and

[0075] The connecting part 130 is connected to the upper plate 110 and the lower plate 120 respectively. The connecting part 130 is disposed between the main pedal 300 and the second base 200. The main pedal 300 is hinged to the connecting part 130.

[0076] The second base 200, the upper plate 110, and the lower plate 120 are arranged in parallel to each other.

[0077] It should be noted that in this embodiment, the main pedal 300 and the connecting part 130 are hinged through the connecting shaft 370.

[0078] The connecting part 130 here can be a long strip plate-shaped structural member, with the long side of the long strip plate-shaped structural member arranged along the left and right direction, and the wide side of the long strip plate-shaped structural member arranged vertically, so that the two long sides of the long strip plate-shaped structural member are connected to the upper plate 110 and the lower plate 120 respectively.

[0079] In this embodiment, on the one hand, most of the components of the first base 100 are mainly composed of plate-shaped parts, such as the upper side plate and the lower plate 120, and the second base 200 is also a plate-shaped part. Moreover, the second base 200, the upper plate 110 and the lower plate 120 are arranged in parallel to each other. Thus, by taking advantage of the small space occupied by the plate-shaped structural parts, the space occupied by the first base 100 and the second base 200 in the medical control panel is fully compressed.

[0080] On the other hand, by utilizing the sandwich-like spatial relationship formed by the upper plate 110, the lower plate 120, the connecting part 130 and the second base 200, the structural strength of the first base 100 is improved. In particular, by hinged the main pedal 300 to the connecting part 130, the stress at the hinge is concentrated on the connecting part 130 and is not transferred to the connection between the upper plate 110 and the connecting part 130 or the connection between the lower plate 120 and the connecting part 130. This avoids the situation where the heavy main pedal 300 is pushed by the first telescopic rod 410 for a long time, and the hinge with the main pedal 300 is prone to twisting and deformation due to stress concentration.

[0081] In this way, by combining the above-mentioned structural form of the first base 100 with the second base 200, the space occupied by the first base 100 is reduced while ensuring the overall structural strength.

[0082] See Figure 3 and Figure 5 Furthermore, the total pedal 300 includes:

[0083] The pedal body is hinged to the connecting part 130;

[0084] The first guide rail 310 is connected to the pedal body. The first guide rail 310 is located near the hinge point between the pedal body and the connecting part 130. The first guide rail 310 is vertically arranged.

[0085] The first slider 320 cooperates with the first guide rail 310. The first slider 320 is adapted to move along the first guide rail 310. The first slider 320 is always located above the first telescopic rod 410.

[0086] A protruding structure 330, connected to the pedal body, is located at the top of the first guide rail 310. The protruding structure 330 serves to prevent the first slider 320 from disengaging from the top of the first guide rail 310.

[0087] The connecting rod 360 is hinged to the ends of the first slider 320 and the first telescopic rod 410, respectively;

[0088] There are multiple first linear drive mechanisms 400, multiple first guide rails 310 and multiple first sliders 320. The first guide rails 310, the first sliders 320 and the first linear drive mechanisms 400 are arranged in a one-to-one correspondence. The protrusion structure 330 is a long strip protrusion structure 330. Multiple first guide rails 310 are arranged at intervals along the protrusion structure 330.

[0089] There can be two first linear drive mechanisms 400, and correspondingly, there can also be two first guide rails 310 and two first sliders 320. That is to say, the number of first guide rails 310 and first sliders 320 is consistent with the number of first telescopic rods 410.

[0090] The protruding structure 330 here can be a long strip-shaped protruding structure 330, or a stepped protruding part set near the first hinge; or, the protruding structure 330 can be multiple independently set protruding structures, and the multiple independently set protruding structures can be set sequentially along the rotation axis of the first hinge.

[0091] When the first telescopic rod 410 extends, it drives the connecting rod 360 to move. Taking advantage of the fact that the first slider 320 is always above the first telescopic rod 410, the connecting rod 360 causes the first slider 320 to move upwards along the first guide rail 310. When the first slider 320 reaches the top of the first guide rail 310, it is blocked by the protruding structure 330, causing the protruding structure 330 to push the main pedal 300 upwards, thus automatically raising the main pedal 300. When it is necessary for the main pedal 300 to fall, the first telescopic rod 410 retracts into the first base 420, causing the first slider 320 to stop pushing against the protruding structure 330, allowing the main pedal 300 to rotate downwards under its own weight.

[0092] During the hinged installation of the main pedal 300 and the first base 100, due to manufacturing errors of the main pedal 300, the first base 100, and the connecting shaft 370 at the hinge, as well as assembly errors by the assembly workers, the installed main pedal 300 often deflects relative to the first base 100 during rotation. The first linear drive mechanism 400 is often configured in two or three parts to simultaneously drive the main pedal 300. However, if the ends of multiple first telescopic rods 410 are directly hinged to the main pedal 300, it is easy to cause excessive parallelism error between the axis of the second hinge point formed by the hinged ends of the multiple first telescopic rods 410 and the axis of the first hinge point. This would prevent the linkage mechanism formed by the multiple first telescopic rods 410, the main pedal 300, and the first base 100 from rotating, meaning it would have zero degrees of freedom. On the other hand, even if the parallelism error between the axis of the second hinge point formed by the hinged ends of the multiple first telescopic rods 410 and the axis of the first hinge point is within a reasonable range, this will require very high assembly precision at the first and second hinge points of the multiple first telescopic rods 410. This will significantly increase manufacturing costs. Moreover, even if the assembly is qualified, because the second hinge points of the multiple first telescopic rods 410 are not collinear, the total pedal 300 is prone to deformation near the first hinge point when pushed by the multiple non-collinear first telescopic rods 410, reducing the service life of the total pedal 300. Here, non-collinearity refers to the non-collinearity of the hinge points of the multiple second hinge points.

[0093] Therefore, a first slider 320 and a first guide rail 310 are used at the second hinge, allowing the first slider 320 to slide up and down relative to the first guide rail 310. The first slider 320 is hinged to the end of the first telescopic rod 410 via a connecting rod 360. By allowing the first slider 320 to slide relative to the first guide rail 310, the collinearity requirement of multiple first telescopic rods 410 at the second hinge can be reduced, allowing the ends of multiple first telescopic rods 410 to be smoothly installed at the second hinge. At the same time, by utilizing the sliding of the first slider 320 relative to the first guide rail 310, a loose fit is formed, reducing the parallelism error requirement between the axis of the second hinge formed by the hinge of the ends of multiple first telescopic rods 410 and the axis of the first hinge and the axis of the first hinge. This allows each first telescopic rod 410 to push the corresponding first slider 320 to the protruding structure 330, thereby achieving the purpose of driving the main pedal 300 to rotate. In addition, by utilizing the fact that the protruding structure 330 is a long strip-shaped protruding structure 330 and that multiple first guide rails 310 are arranged at intervals along the protruding structure 330, the thrust of the ends of multiple first telescopic rods 410 is transmitted to the protruding structure 330. The protruding structure 330 concentrates and absorbs the corresponding thrust, thereby avoiding uneven distribution of the thrust of multiple first linear drive mechanisms 400 on the total pedal 300, which would cause the total pedal 300 to be easily deformed near the first hinge.

[0094] See Figure 5 Furthermore, both the upper plate 110 and the lower plate 120 are U-shaped;

[0095] Two first linear drive mechanisms 400 are arranged in parallel on the U-shaped surface of the lower plate 120.

[0096] The second linear drive mechanism 500 is disposed in the middle of the U-shaped plate surface of the upper plate 110.

[0097] By making both the upper plate 110 and the lower plate 120 U-shaped, the weight of the upper plate 110 and the lower plate 120 is reduced. Simultaneously, the second linear drive mechanism 500 is positioned in the middle of the U-shaped surface of the upper plate 110, cleverly utilizing the remaining space of the U-shaped plate to install the second linear drive mechanism 500, thereby fully compressing the space occupied. Furthermore, by having two first linear drive mechanisms 400 arranged in parallel on the U-shaped surface of the lower plate 120, the functionality of the lower plate 120 remains unchanged.

[0098] Therefore, in summary, both the upper plate 110 and the lower plate 120 are U-shaped; the first linear drive mechanism 400 consists of two parallel units arranged on the U-shaped surface of the lower plate 120, and the second linear drive mechanism 500 is located in the middle of the U-shaped surface of the upper plate 110. This reduces the weight of the entire medical control panel and compresses the corresponding space occupied, while maintaining the original performance. Therefore, it facilitates the formation of modular components, allowing it to be applied to various types of medical control panels, thus improving the adaptability of the chassis of the medical control panel in this application.

[0099] join Figure 4 and Figure 5 Furthermore, the first base 100 also includes:

[0100] Two second guide rails 140 are respectively disposed on the upper and lower plates of the second base 200. Both second guide rails 140 are disposed above a first linear drive mechanism 400. The two second guide rails 140 extend along the extension and retraction direction of the first telescopic rod 410.

[0101] Two second sliders 150 are respectively connected to the upper plate 110 and the lower plate 120. The two second sliders 150 are correspondingly engaged with the two second guide rails 140. The second sliders 150 are used to move along the second guide rails 140.

[0102] Two third guide rails are respectively disposed on the upper and lower surfaces of the second base 200. Both third guide rails are positioned above another first linear drive mechanism 400, and extend along the extension / retraction direction of the first telescopic rod 410.

[0103] Two third sliders are connected to the upper plate 110 and the lower plate 120 respectively. The two third sliders are matched with the two third guide rails in a one-to-one correspondence. The third sliders are used to move along the third guide rails.

[0104] The second guide rail 140 and the second slider 150 cooperate with each other, as do the third guide rail and the third slider, to guide the movement of the first base 100.

[0105] Since the upper plate 110, the lower plate 120 and the second base 200 form a sandwich structure, a second guide rail 140 and a third guide rail are respectively provided on the upper and lower plates of the second base 200, which makes the guidance more stable.

[0106] See Figure 3Furthermore, the first linear drive mechanism 400 also includes a first screw transmission mechanism, and the first base 420 and the first telescopic rod 410 are connected by the first screw transmission mechanism.

[0107] The second linear drive mechanism 500 further includes a second helical transmission mechanism, through which the second base and the second telescopic rod are connected.

[0108] The attached figures are not shown. Further, both the first linear drive mechanism 400 and the second linear drive mechanism 500 are electric actuators. The automatically rotatable medical control panel also includes:

[0109] An angle sensor is disposed at the hinge between the main pedal 300 and the first base 100, and the angle sensor is used to detect the rotation angle of the main pedal 300 relative to the first base 100.

[0110] A displacement sensor is connected to both the first base 100 and the second base 200, and the displacement sensor is used to detect the distance the first base 100 moves relative to the second base 200; and

[0111] The controller is connected to the angle sensor, the displacement sensor, the first linear drive mechanism 400, and the second linear drive mechanism 500, respectively.

[0112] It should be noted that the first base 100 and the second base 200 are respectively equipped with drive motors, which drive the first screw transmission mechanism and the second screw transmission mechanism, thereby causing the first telescopic rod 410 and the second telescopic rod to move in a corresponding telescopic manner.

[0113] In addition, the first and second helical transmission mechanisms here can be a screw and a moving block with a threaded hole. The moving block is connected to the corresponding first telescopic rod 410 or second telescopic rod, and the screw is connected to the output shaft of the corresponding drive motor. In this way, during the rotation of the drive motor, the screw rotates and drives the moving block to extend and retract along the screw, thereby realizing the extension and retraction of the first telescopic rod 410 or the second telescopic rod.

[0114] When the electric actuator stops driving the corresponding first telescopic rod 410 or second telescopic rod to move, the self-locking function of the first and second helical transmission mechanisms allows the main pedal 300 to be suspended in the air. Furthermore, when the doctor steps on the main pedal 300, it remains stationary in the designated suspended position, thus satisfying the doctor's needs for adjusting the rotation angle of the main pedal 300.

[0115] In addition, the first base 100 is moved to a set position relative to the second base 200 by the second linear drive mechanism 500, so that the main pedal 300 can be extended and retracted to a specified position to meet the needs of doctors of different heights for stepping on the main pedal 300 at different positions.

[0116] Preferably, the distance between the doctor's forefoot and knee should be between 260mm and 370mm, with 300mm to 320mm being optimal. This distance is suitable for the vast majority of people.

[0117] In addition, to improve the overall throughput of the device, when the entire doctor's console needs to be moved, the main pedal 300 can be moved toward the second base 200 and the main pedal 300 can be raised 15° around the first hinge, thereby achieving a higher throughput when the entire console passes through obstacles such as thresholds.

[0118] The controller here can obtain the corresponding angle of rotation of the master pedal 300 through the angle sensor, and the controller can identify whether the angle of rotation of the master pedal 300 is within the normal operating range, which is named the set angle range. If the set angle of rotation of the master pedal 300 is within the set angle range and the dwell time is greater than the first set time, the controller defaults to the dwell angle as the comfortable angle recognized by the doctor, and thus saves the angle.

[0119] The time setting here can be 1 minute.

[0120] When the second linear drive mechanism 500 drives the first base 100 to extend relative to the second base 200, the displacement sensor detects the corresponding moving distance and transmits it to the controller. When the controller detects that the first base 100 has moved to a set distance range and the first base 100 stays in the set distance range for a longer time than a second set time, the controller defaults to the stay distance being the comfortable distance for the total pedal 300 to extend as determined by the doctor, and thus saves the distance.

[0121] See Figure 1 Furthermore, the main pedal 300 is provided with multiple sub-pedales 340.

[0122] The automatically rotating medical control panel also includes a through-beam sensor 350, which is located at the pedal 340. The through-beam sensor 350 is connected to the controller and is used to detect whether the pedal 340 is being stepped on.

[0123] The through-beam sensor 350 here can be connected to the controller.

[0124] The use of the through-beam sensor 350 is to prevent doctors from accidentally stepping on the important sub-pedal 340 and to accurately identify foot placement information; the important sub-pedal 340 can be used to control energy devices.

[0125] When the device is not in operation, the laser receivers of both through-beam sensors 350 can identify photoelectric signals, thus putting the energy device of the entire medical control panel into a dormant state. When the doctor is about to operate the device, he places his foot on the important pedal 340 button, which blocks the light column in the middle of the through-beam sensor 350, and the energy device is in the on state. When the doctor steps on the important pedal 340, the energy device starts to work.

[0126] To prevent accidental activation of buttons corresponding to important pedals, when an object falls or an important pedal is accidentally activated, the energy device will determine that the light beam in the middle of the through-beam sensor 350 has not been continuously blocked, and therefore will not operate.

[0127] In addition, this embodiment also provides a surgical robot system, including the aforementioned medical control panel with an automatically rotatable pedal. Since the technical effects achieved by the surgical robot system are the same as those achieved by the medical control panel with an automatically rotatable pedal, the surgical robot system will not be explained further.

[0128] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A medical control panel with an automatically rotating pedal, characterized in that, include: First base (100); The main pedal (300) is hinged to the first base (100); The first linear drive mechanism (400) includes a first telescopic rod (410) and a first base (420). The first telescopic rod (410) is inserted into the first base (420). The first base (420) is used to drive the end of the first telescopic rod (410) to extend or retract. The first base (420) is connected to the first base (100). The end of the first telescopic rod (410) is hinged to the main pedal (300). Second base (200); as well as The second linear drive mechanism (500) includes a second telescopic rod and a second base. The second telescopic rod is inserted into the second base. The second base is connected to the second base (200). The second telescopic rod is connected to the first base (100). The second telescopic rod is arranged parallel to the first telescopic rod (410). Wherein, the end of the first telescopic rod (410) is hinged to the main pedal (300) near the hinge between the main pedal (300) and the first base (100), and the second base (200) is a plate-shaped piece; The first base (100) includes: The upper plate (110) is connected to the second telescopic rod and is positioned above the second base (200); A lower plate (120) is disposed below the second base (200), and a first base (420) is disposed below the lower plate (120), the first base (420) being connected to the lower plate (120); and The connecting part (130) is connected to the upper plate (110) and the lower plate (120) respectively. The connecting part (130) is disposed between the main pedal (300) and the second base (200). The main pedal (300) is hinged to the connecting part (130). The second base (200), the upper plate (110), and the lower plate (120) are arranged in parallel to each other.

2. The medical control panel with an automatically rotatable pedal according to claim 1, characterized in that, The main pedal (300) includes: The pedal body is hinged to the connecting part (130); The first guide rail (310) is connected to the pedal body. The first guide rail (310) is located near the hinge point between the pedal body and the connecting part (130). The first guide rail (310) is vertically arranged. The first slider (320) cooperates with the first guide rail (310), the first slider (320) is adapted to move along the first guide rail (310), and the first slider (320) is always located above the first telescopic rod (410); A raised structure (330) is connected to the pedal body. The raised structure (330) is located on top of the first guide rail (310). The raised structure (330) is used to prevent the first slider (320) from disengaging from the top of the first guide rail (310). The connecting rod (360) is hinged to the ends of the first slider (320) and the first telescopic rod (410), respectively; There are multiple first linear drive mechanisms (400), multiple first guide rails (310) and multiple first sliders (320), and the first guide rails (310), the first sliders (320) and the first linear drive mechanisms (400) are arranged in a one-to-one correspondence. The protruding structure (330) is a long strip protruding structure (330), and multiple first guide rails (310) are arranged at intervals along the protruding structure (330).

3. The medical control panel with an automatically rotatable pedal according to claim 1, characterized in that, Both the upper plate (110) and the lower plate (120) are U-shaped; The first linear drive mechanism (400) consists of two parts, which are arranged in parallel on the U-shaped plate surface of the lower plate (120). The second linear drive mechanism (500) is located in the middle of the U-shaped plate surface of the upper plate (110).

4. The medical control panel with an automatically rotatable pedal according to claim 3, characterized in that, The first base (100) also includes: Two second guide rails (140) are respectively disposed on the upper and lower plates of the second base (200). Both second guide rails (140) are disposed above a first linear drive mechanism (400). The two second guide rails (140) extend along the extension and retraction direction of the first telescopic rod (410). Two second sliders (150) are connected to the upper plate (110) and the lower plate (120) respectively. The two second sliders (150) are in one-to-one correspondence with the two second guide rails (140). The second sliders (150) are used to move along the second guide rails (140). Two third guide rails are respectively disposed on the upper and lower surfaces of the second base (200), and both third guide rails are disposed above another first linear drive mechanism (400). The two third guide rails extend along the extension and retraction direction of the first telescopic rod (410); and Two third sliders are connected to the upper plate (110) and the lower plate (120) respectively. The two third sliders are matched with the two third guide rails in a one-to-one correspondence. The third sliders are used to move along the third guide rails.

5. The medical control panel with an automatically rotatable pedal according to any one of claims 1 to 4, characterized in that, The first linear drive mechanism (400) further includes a first screw transmission mechanism, and the first base (420) and the first telescopic rod (410) are connected by the first screw transmission mechanism. The second linear drive mechanism (500) further includes a second helical transmission mechanism, and the second base and the second telescopic rod are connected by the second helical transmission mechanism.

6. The medical control panel with an automatically rotatable pedal according to claim 5, characterized in that, Both the first linear drive mechanism (400) and the second linear drive mechanism (500) are electric actuators. The aforementioned automatically rotating medical control panel also includes: An angle sensor is disposed at the hinge between the main pedal (300) and the first base (100), and the angle sensor is used to detect the rotation angle of the main pedal (300) relative to the first base (100). A displacement sensor is connected to both the first base (100) and the second base (200), and the displacement sensor is used to detect the distance the first base (100) moves relative to the second base (200); and The controller is connected to the angle sensor, the displacement sensor, the first linear drive mechanism (400), and the second linear drive mechanism (500), respectively.

7. The medical control panel with an automatically rotatable pedal according to claim 6, characterized in that, The main pedal (300) is provided with multiple sub-pedales (340). The automatically rotating medical control panel also includes a through-beam sensor (350) located at the sub-pedal (340). The through-beam sensor (350) is connected to the controller and is used to detect whether the sub-pedal (340) is stepped on.

8. A surgical robot system, characterized in that, The medical control panel includes the pedal that can be automatically rotated, as described in any one of claims 1 to 7.

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