Foot pedal adjustment device and surgical robotic system

Abstract

The application discloses a pedal adjusting device and a surgical robot system. The pedal adjusting device comprises a pedal panel, at least one supporting part is arranged at the bottom of the pedal panel, and a guide assembly is arranged between the pedal panel and a preset installation position. When the front and back positions of the pedal panel are adjusted, the pedal panel moves forward and backward along the guide assembly. When the inclination angle of the pedal panel is adjusted, the pedal panel is pivoted at the supporting part, and at least part of the pedal panel is lifted or lowered along the guide assembly. The application solves the technical problem that the adjustable range of the pedal device of the surgical robot is small.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a foot pedal adjustment device and a surgical robot system. Background Technology

[0002] Currently, during minimally invasive surgery, surgeons need to control the actions of the surgical robot system's execution end (such as electrocautery, electrocoagulation, clutch engagement, endoscope control, and robot arm switching) from the control terminal. The footrests on the control terminal of the surgical robot system have some adjustment capabilities, allowing for forward and backward movement to accommodate different operator leg lengths. However, this adjustment function only allows the operator to adjust while in an upright sitting position, and the footrests are limited to forward and backward movement, failing to meet the operator's need to adjust the footrest angle after changing sitting postures. Compared to an upright sitting position, a reclining sitting position is more comfortable, but if a solution integrating the seat and control console is used, the overall size of the machine would be too large, making it unsuitable for small operating rooms.

[0003] There is currently no effective solution to the problem of the limited adjustability of the foot pedals in surgical robots in related technologies.

[0004] Therefore, based on years of experience and practice in related industries, the inventor proposes a foot pedal adjustment device and surgical robot system to overcome the shortcomings of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a foot pedal adjustment device and a surgical robot system, which increases the forward and backward adjustment stroke of the foot pedal and allows for angle adjustment during the forward and backward adjustment process, thereby enhancing the adjustability of the foot pedal and making it suitable for different sitting postures of the operator.

[0006] The objective of this invention can be achieved through the following methods:

[0007] The present invention provides a foot pedal adjustment device, including a foot pedal panel, at least one support portion is provided at the bottom of the foot pedal panel, and a guide component is provided between the foot pedal panel and a preset installation position;

[0008] When the fore-and-aft position of the foot pedal is adjusted, the foot pedal moves back and forth along the guide assembly; and / or when the tilt angle of the foot pedal is adjusted, the foot pedal, with the support as a fulcrum, raises or lowers at least a portion of the foot pedal along the guide assembly.

[0009] In a preferred embodiment of the present invention, the support portion is located at the bottom of the foot pedal panel and near the front of the foot pedal panel, so that the foot pedal panel can gradually tilt upward in a front-to-back direction.

[0010] In a preferred embodiment of the present invention, the guide component includes a connector disposed on the foot pedal panel and a guide structure disposed at the preset installation position. The connector and the guide structure are rotatably connected to drive the foot pedal panel to synchronously adjust its front-to-back position and tilt angle.

[0011] In a preferred embodiment of the present invention, the guide structure includes a first guide rail and / or a second guide rail disposed at the preset installation position. The first guide rail is gradually inclined upward in the direction from front to back, and a first slider that can slide is disposed on the first guide rail. The first slider is rotatably connected to the connecting member through a first adapter. The second guide rail is disposed horizontally in the direction from front to back, and a second slider that can slide is disposed on the second guide rail. A second adapter that can slide in the vertical direction is disposed on the second slider, and the second adapter is rotatably connected to the connecting member.

[0012] In a preferred embodiment of the present invention, the foot pedal adjustment device further includes a lifting component that can adjust the tilt angle of the foot pedal panel. The lifting component is located at the rear of the foot pedal panel, the fixed end of the lifting component is disposed on the foot pedal panel, and the bottom of the moving end of the lifting component is provided with a second roller.

[0013] In a preferred embodiment of the present invention, the foot pedal adjustment device further includes an angle adjustment component capable of positioning the tilt angle of the foot pedal panel;

[0014] The angle adjustment assembly includes a locking rod, a telescopic rod, and a control block that can move up and down to drive the locking rod. The telescopic rod has multiple locking parts that are vertically spaced and can engage with the end of the locking rod. The locking rod has a positioning protrusion. A top rod is provided below the control block. The top end of the top rod is connected to the control block. Pressing down on the control block causes the bottom end of the top rod to abut against the positioning protrusion and move downward. The locking rod moves away from the telescopic rod until the locking rod separates from the locking parts.

[0015] In a preferred embodiment of the present invention, the foot pedal panel includes an upper panel and a lower support plate, wherein the upper panel is detachably disposed on top of the lower support plate.

[0016] In a preferred embodiment of the present invention, the foot pedal panel includes at least a first splicing portion, a second splicing portion, and a telescopic component for adjusting the distance between the first splicing portion and the second splicing portion. The telescopic component is connected to the first splicing portion and the second splicing portion respectively to adjust the width of the foot pedal panel.

[0017] The present invention provides a surgical robot system, including a robot control device, wherein the robot control device has the aforementioned foot pedal adjustment device;

[0018] The robot control device includes a monitoring component that monitors the position of the operator's feet, and the monitoring component is positioned above the foot pedal adjustment device.

[0019] In a preferred embodiment of the present invention, the surgical robot system performs the following control steps:

[0020] Acquisition control commands;

[0021] According to the control commands, the fore-and-aft position, tilt angle and / or width of the foot pedal panel are adjusted.

[0022] In a preferred embodiment of the present invention, the acquisition control command includes: receiving an action command triggered by a control button; or

[0023] Detect the position information of the operator's legs;

[0024] Based on the location information, select the position parameters of the foot pedal panel corresponding to the location information.

[0025] In a preferred embodiment of the present invention, the acquisition control command includes:

[0026] Collect trampling information;

[0027] Based on the treading information, select the position parameters of the foot pedal panel corresponding to the treading information.

[0028] As described above, the features and advantages of the foot pedal adjustment device and surgical robot system of the present invention are as follows: Because a guide component is provided between the foot pedal panel and the preset installation position, the foot pedal panel can move back and forth along the guide component when its front-to-back position is adjusted; when the tilt angle of the foot pedal panel is adjusted, the foot pedal panel can be raised or lowered along the guide component with the support portion located at the bottom of the foot pedal panel as the fulcrum, and at least a portion of the foot pedal panel can be raised or lowered. This not only increases the front-to-back adjustment stroke of the foot pedal panel, but also allows the foot pedal panel to be adjusted at an angle independently or simultaneously during the front-to-back adjustment process, enhancing the adjustability and adjustment range of the foot pedal panel. This enables the foot pedal panel controlling the surgical robot's execution end to be suitable for different sitting postures of the operator, improving the operating experience and ensuring accurate control of the surgical robot's execution end. Attached Figure Description

[0029] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0030] Figure 1This is one of the structural schematic diagrams of the foot pedal adjustment device of the present invention.

[0031] Figure 2 This is the second schematic diagram of the foot pedal adjustment device of the present invention.

[0032] Figure 3 This is one of the schematic diagrams of the guide structure in the foot pedal adjustment device of the present invention.

[0033] Figure 4 : This is one of the right views of the foot pedal adjustment device of the present invention in a horizontal position.

[0034] Figure 5 : This is one of the right views of the foot pedal adjustment device of the present invention in an inclined position.

[0035] Figure 6 This is a second schematic diagram of the guide structure in the foot pedal adjustment device of the present invention.

[0036] Figure 7 This is the third schematic diagram of the guide structure in the foot pedal adjustment device of the present invention.

[0037] Figure 8 : This is a diagram showing the location of the lifting component in the foot pedal adjustment device of the present invention.

[0038] Figure 9 : This is the second right view of the foot pedal adjustment device of the present invention in a horizontal position.

[0039] Figure 10 : This is the second right view of the foot pedal adjustment device of the present invention in an inclined position.

[0040] Figure 11 : This is one of the configuration diagrams of the angle adjustment component in the foot pedal adjustment device of the present invention.

[0041] Figure 12 This is a schematic diagram of the angle adjustment component in the foot pedal adjustment device of the present invention.

[0042] Figure 13 This is the second diagram showing the location of the angle adjustment component in the foot pedal adjustment device of the present invention.

[0043] Figure 14 : This is the third right view of the foot pedal adjustment device of the present invention in a horizontal position.

[0044] Figure 15 : This is the third right view of the foot pedal adjustment device of the present invention in an inclined position.

[0045] Figure 16 This is the third schematic diagram of the foot pedal adjustment device of the present invention.

[0046] Figure 17: This is the trigger logic diagram of the control signal in the foot pedal adjustment device of the present invention.

[0047] Figure 18 This is the fourth schematic diagram of the foot pedal adjustment device of the present invention.

[0048] Figure 19 This is a schematic diagram of the assembly state of the upper panel and the lower support plate in the foot pedal adjustment device of the present invention.

[0049] Figure 20 This is a schematic diagram of the upper panel and lower support plate in the disassembled state of the foot pedal adjustment device of the present invention.

[0050] Figure 21 This is a schematic diagram of the locking device in the foot pedal adjustment device of the present invention.

[0051] Figure 22 : This is a schematic diagram of the surgical robot system of the present invention.

[0052] Figure 23 This is a schematic diagram of the robot control device in the surgical robot system of the present invention.

[0053] Figure 24 : This is one of the right views of the robot control device in the surgical robot system of the present invention.

[0054] Figure 25 : This is the second right view of the robot control device in the surgical robot system of the present invention.

[0055] Figure 26 This is one of the control flowcharts for the robot control device in the surgical robot system of the present invention.

[0056] Figure 27 This is the second control flowchart of the robot control device in the surgical robot system of the present invention.

[0057] Figure 28 This is the third control flowchart of the robot control device in the surgical robot system of the present invention.

[0058] The reference numerals in the accompanying drawings of this invention are:

[0059] 1. Foot pedal panel; 101. Connector; 102. First splicing part; 103. Second splicing part; 104. Pedal; 105. Detection sensor; 106. Upper panel; 1061. Connecting plate; 1062. Torsion spring; 107. Lower support plate; 108. Control part; 109. Linkage rod; 1091. Protrusion; 110. Locking device; 1101. Unlocking button; 1102. Locking ball; 2. Guide assembly; 201. Guide structure; 2011. First guide rail; 2012. First slider; 2013. First adapter; 2014. First bearing; 2015. Second guide rail; 2016. Second slider; 2017. Second adapter; 2018. Second bearing; 20 19. Third guide rail; 2020. Third adapter; 2021. Connector; 3. Trolley base; 4. Support; 5. Lifting assembly; 501. Second roller; 6. Angle adjustment assembly; 601. Control block; 602. Top rod; 603. Telescopic rod; 6031. Snap-fit ​​part; 604. First base; 605. Locking rod; 6051. Positioning protrusion; 606. Second base; 607. Fourth guide rail; 608. Third slider; 609. Third roller; 7. Monitor; 8. Robotic arm; 9. Control arm; 10. Monitoring component; 11. Telescopic component; 100. Image display device; 200. Surgical execution device; 300. Robot control device; 400. Foot pedal adjustment device. Detailed Implementation

[0060] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0061] Implementation Method 1

[0062] like Figures 1 to 17 As shown, the present invention provides a foot pedal adjustment device, which includes a foot pedal panel 1, at least one support portion 4 provided at the bottom of the foot pedal panel 1, and a guide component 2 provided between the foot pedal panel 1 and a preset installation position; when the front and rear positions of the foot pedal panel 1 are adjusted, the foot pedal panel 1 can move back and forth along the guide component 2 (the direction closer to the operator is the front, and the direction farther from the operator is the rear); and / or when the tilt angle of the foot pedal panel 1 is adjusted, the foot pedal panel 1 can be raised or lowered along the guide component 2 with the support portion 4 as the fulcrum.

[0063] In this invention, since a guide component 2 is provided between the foot pedal panel 1 and the preset installation position, when the front and back position of the foot pedal panel 1 is adjusted, the foot pedal panel 1 can move back and forth along the guide component 2; when the tilt angle of the foot pedal panel 1 is adjusted, the foot pedal panel 1 can be raised or lowered along the guide component 2 with the support part 4 located at the bottom of the foot pedal panel 1 as the fulcrum, and at least a part of the foot pedal panel 1 can be raised or lowered. This not only increases the front and back adjustment stroke of the foot pedal panel 1, but also allows the foot pedal panel 1 to be adjusted at an angle independently or simultaneously during the front and back adjustment process. This enhances the adjustability and adjustment range of the foot pedal panel 1, making the foot pedal panel 1, which controls the execution end of the surgical robot system, suitable for different sitting postures of the operator, improving the operating experience, and ensuring accurate control of the execution end of the surgical robot system.

[0064] In an optional embodiment of the present invention, such as Figure 2 As shown, the support part 4 is located at the bottom of the foot pedal panel 1 and near the front edge of the foot pedal panel 1. Of course, the support part 4 can also be located at the front edge of the foot pedal panel 1. When the tilt angle of the foot pedal panel 1 needs to be adjusted, the support part 4 is in contact with the ground and uses the support part 4 as a fulcrum, so that the foot pedal panel 1 can gradually tilt upward in the direction from front to back.

[0065] Furthermore, such as Figure 2 As shown, the support part 4 is the first roller. During the process of adjusting the tilt angle of the foot pedal panel 1, the foot pedal panel 1 needs to move back and forth with the support part 4 as the fulcrum. Therefore, the setting of the first roller facilitates the movement of the foot pedal panel 1.

[0066] In an optional embodiment of the present invention, such as Figure 1 As shown, the preset installation position is the trolley base 3 of the surgical robot system located on both sides of the foot panel 1; the number of guide components 2 is at least two, with the two guide components 2 located on both sides of the foot panel 1 respectively, and the two guide components 2 are respectively connected to the trolley base 3 at the corresponding position to improve the stability of the foot panel 1 during the position adjustment process.

[0067] In an optional embodiment of the present invention, such as Figure 1 , Figure 2 As shown, the guide assembly 2 includes a connector 101 and a guide structure 201. The connector 101 (cylindrical) is disposed on the foot pedal panel 1, and the guide structure 201 is disposed at a preset installation position. The connector 101 and the guide structure 201 are rotatably connected. The guide structure 201 can drive the foot pedal panel 1 to adjust its front and back position and tilt angle synchronously, or drive the foot pedal panel 1 to adjust its front and back position and tilt angle independently.

[0068] In one specific embodiment of the present invention, such as Figures 2 to 5As shown, the guide structure 201 includes a first guide rail 2011, which is fixedly installed at a preset position. The first guide rail 2011 gradually tilts upwards from front to back. A first slider 2012, which can slide along the first guide rail 2011, is provided on the first guide rail 2011 and is rotatably connected to the connector 101. Through the cooperation of the first guide rail 2011 and the first slider 2012, the foot pedal panel 1 can be simultaneously adjusted in both its forward and backward position and tilt angle. As the foot pedal panel 1 moves backward along the first guide rail 2011, the rear of the foot pedal panel 1 gradually tilts upwards along the extension direction of the first guide rail 2011, thereby achieving the purpose of adjusting the tilt angle of the foot pedal panel 1. In actual use scenarios, such as... Figure 4 As shown, in a normal sitting posture, the footrest panel 1 needs to be close to the operator and kept horizontal; as Figure 5 As shown, when the operator is in a semi-reclining sitting position, the foot pedal panel 1 needs to be far away from the operator and tilted. The first guide rail 2011 can simultaneously adjust the front-to-back position and tilt angle of the foot pedal panel 1.

[0069] Furthermore, such as Figure 2 , Figure 3 As shown, the guide structure 201 also includes a first adapter 2013, which is fixedly connected to the first slider 2012. A first bearing 2014 is provided between the first adapter 2013 and the connector 101. The first adapter 2013 and the first bearing 2014 ensure that the first slider 2012 and the connector 101 can be rotatably connected.

[0070] Specifically, such as Figures 2 to 5 As shown, the first guide rail 2011 is an arc-shaped guide rail that gradually slopes upward from front to back. Of course, the first guide rail 2011 can also be a straight guide rail that gradually slopes upward from front to back; the trend of the first guide rail 2011 gradually slopes upward from front to back is sufficient.

[0071] In another specific embodiment of the present invention, such as Figure 6As shown, the guide structure 201 includes a second guide rail 2015, which is fixedly installed at a preset installation position. The second guide rail 2015 is straight from front to back (i.e., a straight guide rail arranged in the horizontal direction). A second slider 2016 that can slide along the second guide rail 2015 is provided on the second guide rail 2015. A third guide rail 2019 that extends in the vertical direction is provided on the second slider 2016. A second adapter 2017 is slidably disposed on the third guide rail 2019. A second bearing 2018 is provided between the second adapter 2017 and the connecting member 101. The second adapter 2017 is rotatably connected to the connecting member 101 through the second bearing 2018. By setting the second guide rail 2015 and the third guide rail 2019, the needs for adjusting the front and rear position and the vertical height of the foot pedal panel 1 can be met respectively. The rotational connection between the second adapter 2017 and the connector 101 can meet the needs for adjusting the tilt angle of the foot pedal panel 1. Thus, by cooperating with the second guide rail 2015, the second slider 2016 and the third guide rail 2019, the foot pedal panel 1 can be adjusted in both front and rear position and tilt angle (which can be done simultaneously or individually).

[0072] In another specific embodiment of the present invention, such as Figure 7 As shown, the guide structure 201 includes a second guide rail 2015, which is fixedly installed at a preset installation position. The second guide rail 2015 is straight from front to back (i.e., a straight guide rail arranged in the horizontal direction). A second slider 2016 that can slide along the second guide rail 2015 is provided on the second guide rail 2015. A rotatable third guide rail 2019 is provided on the second slider 2016. A connector 2021 that can slide along the third guide rail 2019 is provided on the third guide rail 2019. The connector 2021 is fixedly connected to the connector 101. Through the second guide rail 2015, the third guide rail 2019, and the rotational connection between the second guide rail 2015 and the third guide rail 2019, the needs for adjusting the front and rear position, vertical height, and tilt angle of the foot pedal panel 1 can be met respectively. Thus, through the cooperation of the second guide rail 2015, the second slider 2016, the third guide rail 2019, and the connector 2021, the front and rear position and tilt angle of the foot pedal panel 1 can be adjusted (simultaneously or individually).

[0073] In this embodiment, as Figure 7 As shown, a third adapter 2020 is provided between the second slider 2016 and the third guide rail 2019. The third adapter 2020 is fixedly connected to the second slider 2016. A third bearing (not shown) is provided between the third guide rail 2019 and the third adapter 2020. The third adapter 2020 is rotatably connected to the third guide rail 2019 through the third bearing.

[0074] In an optional embodiment of the present invention, such as Figures 8 to 10 As shown, the foot pedal adjustment device also includes a lifting component 5. The lifting component 5 is located at the rear center of the foot pedal panel 1 or at the bottom of the foot pedal panel 1 and close to the rear center of the foot pedal panel 1. The fixed end of the lifting component 5 is connected to the foot pedal panel 1, and the bottom of the moving end of the lifting component 5 is provided with a second roller 501. The second roller 501 can cooperate with the first roller of the support part 4 to jointly support the foot pedal panel 1 and facilitate the movement of the foot pedal panel 1. The lifting component 5 is a linear motion element in the vertical direction. During use, the tilt angle of the foot pedal panel 1 can be adjusted by adjusting the lifting height of the lifting component 5. The lifting component 5 can be, but is not limited to, an electric component, such as: an electric actuator, a telescopic mechanism with gear and rack driven by a motor, a telescopic mechanism with worm gear and worm, etc. The specific structure of the lifting component 5 is not limited here.

[0075] In another alternative embodiment of the invention, such as Figure 11 , Figure 12As shown, the foot pedal adjustment device also includes an angle adjustment component 6, which can adjust and position the tilt angle of the foot pedal panel 1. Specifically, the angle adjustment component 6 includes a locking rod 605 that can move in the front-to-back direction, a telescopic rod 603 that can move in the vertical direction, and a control block 601 that can move up and down to drive the locking rod 605. The telescopic rod 603 is connected to the foot pedal panel 1, and multiple locking parts 6031 are arranged at intervals in the vertical direction on the telescopic rod 603. The end of the locking rod 605 is engaged with the corresponding locking part 6031. The locking rod 605 is provided with a positioning protrusion 6051, which has a slope that gradually slopes downward from front to back. A top rod 602 is provided below the control block 601. The top of the top rod 602 is connected to the middle of the bottom of the control block 601, and the bottom of the top rod 602 slopes towards the slope of the positioning protrusion 6051. Extending in the direction, when the control block 601 is pressed down, the control block 601 moves downward and drives the push rod 602 to move downward, so that the bottom end of the push rod 602 abuts against the slope on the positioning protrusion 6051 and moves downward along the slope. Under the pressure between the bottom end of the push rod 602 and the slope of the positioning protrusion 6051, the locking rod 605 moves away from the telescopic rod 603 until the end of the locking rod 605 separates from the locking part 6031. By controlling the downward pressure applied to the control block 601 (i.e., the stepping force applied by the operator to the control block 601 by foot), the downward or upward movement distance of the telescopic rod 603 can be controlled, so that the tilt angle of the foot pedal panel 1 can be adjusted by the downward or upward movement distance of the telescopic rod 603. When the foot pedal panel 1 is adjusted to a suitable angle, the downward pressure applied to the control block 601 is released (i.e., the operator no longer steps on the control block 601 with their foot), the locking rod 605 moves back to its original position, and the end of the locking rod 605 engages with the corresponding latching part 6031, thereby locking the position of the telescopic rod 603 and locking the tilt angle of the foot pedal panel 1.

[0076] Furthermore, such as Figure 12As shown, the angle adjustment assembly 6 also includes a first base 604, which is located below the foot pedal panel 1 and above the telescopic rod 603. The first base 604 is connected to a preset installation position. The first base 604 is a cylindrical structure with a closed top and an open bottom arranged vertically. A first spring (not shown) that can extend and retract vertically is provided inside the first base 604. The first spring is located between the telescopic rod 603 and the top inner wall of the first base 604. The top end of the telescopic rod 603 extends into the first base 604 through the bottom opening. The top end of the first spring is connected to the top inner wall of the first base 604, and the bottom end of the first spring is connected to the top end of the telescopic rod 603. The first spring can be in a stretched state or a compressed state. When the first spring is in a stretched state, after the end of the locking rod 605 separates from the locking part 6031, the first spring can drive the telescopic rod 603 to move upward, thereby increasing the tilt angle of the foot pedal panel 1. When the first spring is in a compressed state, after the end of the locking rod 605 separates from the locking part 6031, the first spring can drive the telescopic rod 603 to move downward, thereby decreasing the tilt angle of the foot pedal panel 1.

[0077] Furthermore, such as Figure 12 As shown, the angle adjustment assembly 6 also includes a second base 606, which is located below the foot pedal panel 1 and in front of the locking rod 605. The second base 606 is connected to a preset installation position. A blind hole (not shown) is provided at the end of the locking rod 605 away from the telescopic rod 603. A second spring (not shown) is disposed within the blind hole, located between the second base 606 and the inner wall of the blind hole. At least a portion of the second base 606 extends into the blind hole. One end of the second spring is connected to the second base 606, and the other end is connected to the inner wall of the blind hole. The second spring is always in a compressed state, so that after the downward pressure applied to the control block 601 is released, the locking rod 605 can be translated and reset under the elastic force of the second spring, and the end of the locking rod 605 re-engages with the corresponding latching part 6031.

[0078] Furthermore, such as Figure 11 , Figure 12 As shown, the control block 601 is located above the foot pedal panel 1, and the bottom end of the push rod 602 passes through the foot pedal panel 1 and extends to the bottom of the foot pedal panel 1, making it convenient for the operator to control the control block 601.

[0079] In another alternative embodiment of the invention, such as Figures 13 to 15As shown, the angle adjustment component 6 includes a fourth guide rail 607, which is disposed at the bottom of the foot pedal panel 1 along the front-to-back direction. The fourth guide rail 607 extends from the middle position or near the middle position of the foot pedal panel 1 to the rear edge position or near the rear edge position of the foot pedal panel 1. A third slider 608 is disposed on the fourth guide rail 607, which can slide along the fourth guide rail 607. A third roller 609 is disposed on the third slider 608. Figure 14 As shown, when the third slider 608 is located on the fourth guide rail 607 and away from the support part 4, the rear height of the foot pedal panel 1 is greater than the front height, but the tilt angle is smaller; as Figure 15 As shown, when the third slider 608 slides along the fourth guide rail 607 to a position close to the support part 4, the distance between the third roller 609 and the support part 4 decreases, and the tilt angle of the foot pedal panel 1 increases, thereby adjusting the tilt angle of the foot pedal panel 1. In this embodiment, it is necessary to ensure that when the third slider 608 is located on the fourth guide rail 607 and away from the support part 4, there is a height difference between the rear and front parts of the foot pedal panel 1 (this height difference can be generated by setting the radius of the third roller 609 to be larger than the radius of the first roller, etc.). Therefore, after changing the support point (i.e., the position of the third roller 609), the height difference will change, thereby achieving the purpose of adjusting the tilt angle of the foot pedal panel 1.

[0080] In an optional embodiment of the present invention, such as Figure 19 , Figure 20 As shown, the foot pedal panel 1 includes an upper panel 106 and a lower support plate 107, with the upper panel 106 detachably mounted on top of the lower support plate 107. Since the operator's feet primarily come into contact with the upper panel 106 during use, the upper panel 106 experiences greater wear and is more prone to damage than the lower support plate 107. Therefore, the foot pedal panel 1 is designed with a detachable structure for the upper panel 106 and the lower support plate 107, facilitating the individual replacement of the upper panel 106. This modular design provides greater convenience for maintenance personnel and improves the efficiency of maintenance and replacement of various components.

[0081] Furthermore, such as Figure 19 , Figure 20As shown, the upper panel 106 and the lower support plate 107 are detachably connected by at least one locking device 110, which has at least a locked state and an unlocked state. The foot panel 1 includes a control unit 108 and a linkage rod 109. When the linkage rod 109 does not trigger the locking device 110, the locking device 110 is in the locked state, and the upper panel 106 and the lower support plate 107 are connected by the locking device 110. When the control unit 108 drives the linkage rod 109 and triggers the locking device 110, the locking device 110 is in the unlocked state, and the upper panel 106 can be separated from the lower support plate 107.

[0082] Furthermore, such as Figure 19 As shown, the middle part of the linkage rod 109 is hinged to the upper panel 106, one end of the linkage rod 109 is hinged to the control part 108, and the other end of the linkage rod 109 forms a downwardly protruding protrusion 1091. The locking device 110 is located below the protrusion 1091. Moving the control part 108 upward causes the protrusion 1091 to move downward and triggers the locking device 110 to complete the unlocking action. The number of locking devices 110 and linkage rods 109 can be two, such as... Figure 19 , Figure 20 As shown, two locking devices 110 are symmetrically arranged on both sides of the control unit 108, and one end of each of the two linkage rods 109 is hinged to the control unit 108. The protrusions 1091 on the other end of the two linkage rods 109 can trigger the corresponding locking device 110.

[0083] Specifically, such as Figures 19 to 20 As shown, the control unit 108 can be, but is not limited to, a pull handle. A connecting plate 1061 is provided on the top edge of the upper panel 106, and the middle part of the linkage rod 109 is hinged to the connecting plate 1061 by a torsion spring 1062. Figure 21As shown, the locking device 110 includes an unlocking button 1101 and a plurality of locking beads 1102. The unlocking button 1101 is located on the top of the locking device 110. The plurality of locking beads 1102 are telescopically movably disposed on the lower outer wall of the locking device 110, and are spaced apart circumferentially along the locking device 110. The unlocking button 1101 is linked to the plurality of locking beads 1102. A slot or a locking hole (not shown) is provided on the lower support plate 107 at a position opposite to the locking device 110. When the unlocking button 1101 is not pressed, the elastic force of the torsion spring 1062 causes the protrusion 1091 on the linkage rod 109 to move upward and separate from the locking device 110. At this time, at least one of the plurality of locking beads 1102 on the locking device 110 is released. Part of the locking device 110 extends to the outside and engages with the slot or locking hole on the lower support plate 107 to lock the locking device 110, preventing the upper panel 106 from separating from the lower support plate 107. When the handle is lifted, the linkage rod 109 overcomes the spring force of the torsion spring 1062, causing the protrusion 1091 on the linkage rod 109 to move downward and press the unlock button 1101. At this time, multiple locking beads 1102 retract into the locking device 110, allowing the locking device 110 to separate from the slot or locking hole on the lower support plate 107, thus unlocking the locking device 110. Consequently, the upper panel 106 can be separated from the lower support plate 107, completing the disassembly of the upper panel 106 and the lower support plate 107.

[0084] When it is not necessary to disassemble the upper panel 106 and the lower support plate 107, the handle can be pulled down to the inside of the upper panel 106 under the action of the torsion spring 1062, which will not affect the normal use of the foot pedal panel 1.

[0085] In an optional embodiment of the present invention, such as Figure 18 As shown, the foot pedal panel 1 includes at least a first splicing part 102, a second splicing part 103, and a telescopic component 11. The first splicing part 102 and the second splicing part 103 are arranged along the width direction of the foot pedal panel 1. The two ends of the telescopic component 11 are connected to the first splicing part 102 and the second splicing part 103, respectively. The distance between the first splicing part 102 and the second splicing part 103 can be adjusted through the telescopic component 11, thereby adjusting the width of the foot pedal panel 1. This allows the distance between the first splicing part 102 and the second splicing part 103 to be adjusted according to the distance between the feet of different operators in a more comfortable posture, thus adapting to different operators' foot spacing and improving the operator's user experience. The telescopic component 11 may be, but is not limited to, a push rod.

[0086] In an optional embodiment of the present invention, such as Figure 16As shown, the foot panel 1 is equipped with multiple pedals 104 that can control the surgical robot system execution end to perform different actions. The multiple pedals 104 are all located on the upper panel 106. Through each pedal 104, the actions of the surgical robot system execution end, such as electrocautery, electrocoagulation, clutch (i.e., stopping the current action of the surgical robot system execution end and re-controlling the action of the surgical robot system execution end to adjust the working range of the surgical robot's surgical arm), endoscopy, and switching the surgical operating arm of the surgical robot system execution end, can be controlled respectively.

[0087] Furthermore, such as Figure 16 , Figure 17 As shown, detection sensors 105 are respectively installed on the foot pedal panel 1 at positions opposite to the front and rear of each pedal 104. When the operator controls the execution end of the surgical robot system (e.g., electrocautery, electrocoagulation, etc.), the signal emitted by the detection sensor 105 can be used to determine whether the detection sensor 105 corresponding to the pedal 104 is triggered. Only when the pedal 104 and the corresponding detection sensor 105 are activated simultaneously can it be determined that the operator is operating correctly, and the instruments corresponding to the pedal 104 can output energy normally, thereby preventing misoperation and ensuring the safety of the surgery. The detection sensor 105 can be, but is not limited to, a photoelectric sensor, which can detect by collecting directly emitted signals or returned signals. When the operator steps on the pedal 104, the operator's leg will block the signal of the detection sensor 105, thereby changing the signal transmitted by the detection sensor 105, and thus determining whether the operator is in the correct operating position.

[0088] The features and advantages of the foot pedal adjustment device of the present invention are as follows:

[0089] This foot pedal adjustment device allows for adjustment of the foot pedal panel 1's front-to-back position, tilt angle, and width, thereby enhancing the adjustability and range of the foot pedal panel 1. This enables the foot pedal panel 1, which controls the execution end of the surgical robot system, to be suitable for different sitting postures of the operator (from slightly leaning forward to semi-reclining, etc.), ensuring the comfort and accuracy of the operation and effectively improving the operating experience.

[0090] Implementation Method 2

[0091] like Figures 22 to 25As shown, the present invention provides a surgical robot system, which includes an image display device 100, a surgical execution device 200, and a robot control device 300. The control signal output terminal of the robot control device 300 is connected to the control terminal of the surgical execution device 200, and the image signal receiving terminal of the image display device 100 is connected to the image signal output terminal of the surgical execution device 200. The robot control device 300 has the aforementioned foot pedal adjustment device 400.

[0092] The image display device 100, surgical execution device 200, and robot control device 300 are used in conjunction with endoscopes, various surgical instruments, and accessories to jointly complete surgeries (such as laparoscopic surgery). During the surgery, the image display device 100 is placed on one side of the operating table. The image display device 100 processes the endoscopic images and outputs them to its own 2D display and the stereoscopic monitor in the robot control device 300. The surgical execution device 200 is located on one side of the operating table and performs the surgical operation. The robot control device 300 is located outside the sterile area. The operator (doctor) controls the surgical execution device 200 on the robot control device 300, allowing the surgeon to achieve the flexibility of open surgery in a minimally invasive environment.

[0093] In an optional embodiment of the present invention, such as Figures 23 to 25 As shown, the robot control device 300 includes a trolley base 3 and a monitoring component 10 that monitors the position of the operator's legs (e.g., the knee area). A foot pedal adjustment device 400 is located in the middle of the trolley base 3, and the monitoring component 10 is positioned above it. The monitoring component 10 can adjust parameters such as the fore-and-aft position, tilt angle, and width of the foot pedal panel 1 by collecting the position information of the operator's legs. Specifically, a deep learning method can be used to identify the position of the operator's knee area and adjust the fore-and-aft position, tilt angle, and / or width of the foot pedal panel 1. While deep learning is a conventional method, this invention collects data on the position of the operator's knee area and uses a deep learning algorithm to calculate and output corresponding adjustment parameters for the foot pedal panel 1. Based on these parameters, the fore-and-aft position, tilt angle, and / or width of the foot pedal panel 1 are adjusted, thereby ensuring that the position of the foot pedal panel 1 is adapted to a comfortable sitting posture for the operator.

[0094] Furthermore, the monitoring component 10 can be, but is not limited to, a depth camera, a camera (such as a regular camera, a structured light camera, an infrared camera, etc.) or other photosensitive elements. Among them, a structured light camera is preferred, as it has the advantages of simple structure and strong anti-interference ability.

[0095] In an optional embodiment of the present invention, such as Figures 23 to 25As shown, the robot control device 300 also includes a monitor 7 and a robotic arm 8. The fixed end of the robotic arm 8 is located above the trolley base 3, and the monitor 7 is located at the movable end of the robotic arm 8. The monitor 7 displays the surgical site captured by the endoscope, and the position of the monitor 7 can be adjusted by the robotic arm 8 for the operator to view.

[0096] In an optional embodiment of the present invention, such as Figures 23 to 25 As shown, the robot control device 300 also includes a control arm 9. The control arm 9 is located above the trolley base 3, and the operator can control the surgical execution device 200 to perform different actions through the control arm 9.

[0097] In an optional embodiment of the present invention, such as Figure 26 As shown, the surgical robot system of the present invention can control the foot pedal adjustment device 400 as described above, including the following steps:

[0098] Step S1: Acquire control commands;

[0099] Step S2: Adjust the fore-and-aft position and / or tilt angle of the foot pedal panel 1 according to the control command.

[0100] Furthermore, in step S2, the width of the foot pedal panel 1 can be adjusted according to the control command.

[0101] In step S1, control commands are collected, which can be active adjustment or passive detection adjustment. Passive detection adjustment can be further divided into recommended adjustment and intelligent adjustment.

[0102] In an optional embodiment of the present invention, in active adjustment, an action command triggered by a control button is directly received (directly operated by the operator), and the fore-and-aft position and / or tilt angle of the foot pedal panel 1 are adjusted according to the action command. The control button can be a touch button or a physical button.

[0103] In an optional embodiment of the invention, the recommended adjustment is as follows: Figure 27 As shown, steps S1 and S2 respectively include:

[0104] Step S101: Detect the position information of the operator's legs; wherein the position information may be, but is not limited to, the position and posture of the operator's legs.

[0105] Step S102: Based on the detected position information, select the position parameters (i.e., self-recommended adjustment parameters) of the foot panel 1 corresponding to the position information; wherein, the position parameters of the foot panel 1 corresponding to different position information can be set by the user. The position parameters of the foot panel 1 can be set according to factors such as the height, leg length and foot position of the user's habitual comfortable posture. Of course, the position parameters of the foot panel 1 can also be set according to other factors, which are not limited here.

[0106] Step S201: Confirm position parameters; the operator can view the position parameters and then confirm them by clicking the confirmation button or other methods.

[0107] Step S202: Adjust the front-to-back position, tilt angle and / or width of the foot pedal panel 1 according to the position parameters so that the position of the adjusted foot pedal panel 1 conforms to the position parameters.

[0108] In an optional embodiment of the present invention, in intelligent adjustment, such as Figure 28 As shown, steps S1 and S2 respectively include:

[0109] Step S101': Collect trampling information; wherein, trampling information includes the number of times the foot pedal panel 1 was accidentally stepped on, the location, and the scene when the accidental stepping occurred.

[0110] Step S102': Based on the pedaling information, select the position parameters (i.e., self-recommended adjustment parameters) of the pedal panel 1 corresponding to the pedaling information; wherein, the position parameters of the pedal panel 1 corresponding to different pedaling information can be set by the user. The position parameters of the pedal panel 1 can be set according to different factors such as the number of times the pedal is accidentally stepped on, the location, and the scenario in which the pedal is accidentally stepped on. Of course, the position parameters of the pedal panel 1 can also be set according to other factors, which are not limited here.

[0111] Step S201': Confirm position parameters; the operator can view the position parameters and then confirm them by clicking the confirmation button or other methods.

[0112] Step S202': Adjust the front-to-back position, tilt angle and / or width of the foot pedal panel according to the position parameters so that the position of the adjusted foot pedal panel conforms to the position parameters, thereby reducing the probability of misoperation.

[0113] The features and advantages of the surgical robot system of the present invention are as follows:

[0114] This surgical robot system can collect control commands in multiple ways and adjust the front-to-back position, tilt angle, and width of the footrest panel 1 according to the control commands. This effectively enhances the adjustability and adjustment range of the footrest panel 1, enabling the footrest panel 1 at the execution end of the surgical robot system to automatically adapt to different sitting postures of the operator, ensuring the comfort and accuracy of the operation. It has a higher degree of intelligence and automation, effectively improving the operating experience.

[0115] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A foot pedal adjustment device, characterized in that, Includes a foot pedal panel, the bottom of which is provided with at least one support portion, and a guide component is provided between the foot pedal panel and a preset installation position; When the front and rear position of the foot pedal is adjusted, the foot pedal moves back and forth along the guide assembly; when the tilt angle of the foot pedal is adjusted, the foot pedal is raised or lowered along the guide assembly with the support as the fulcrum and at least a part of the foot pedal is raised or lowered with respect to the guide assembly. The guide assembly includes a connector disposed on the foot pedal panel and a guide structure disposed at the preset installation position. The connector and the guide structure are rotatably connected. The guide structure includes a first guide rail disposed at the preset installation position. A first slider is disposed on the first guide rail. The first slider is rotatably connected to the connector through a first adapter. The first guide rail gradually tilts upward in a front-to-back direction to simultaneously adjust the front-to-back position and tilt angle of the foot pedal panel along the first guide rail.

2. The foot pedal adjustment device as described in claim 1, characterized in that, The support is located at the bottom of the foot pedal panel and near the front of the foot pedal panel, so that the foot pedal panel can gradually tilt upward in the direction from front to back.

3. The foot pedal adjustment device as described in claim 1 or 2, characterized in that, The guide structure includes a second guide rail disposed at the preset installation position. The second guide rail is straight from front to back. A second slider that can slide is disposed on the second guide rail. A second adapter that can slide in the vertical direction is disposed on the second slider. The second adapter is rotatably connected to the connecting member.

4. The foot pedal adjustment device as described in claim 2, characterized in that, The foot pedal adjustment device also includes a lifting component that can adjust the tilt angle of the foot pedal panel. The lifting component is located at the rear of the foot pedal panel, the fixed end of the lifting component is disposed on the foot pedal panel, and the bottom of the moving end of the lifting component is provided with a second roller.

5. The foot pedal adjustment device as described in claim 2, characterized in that, The foot pedal adjustment device also includes an angle adjustment component that can position the tilt angle of the foot pedal panel; The angle adjustment assembly includes a locking rod, a telescopic rod, and a control block that can move up and down to drive the locking rod. The telescopic rod has multiple locking parts that are vertically spaced and can engage with the end of the locking rod. The locking rod has a positioning protrusion. A top rod is provided below the control block. The top end of the top rod is connected to the control block. Pressing down on the control block causes the bottom end of the top rod to abut against the positioning protrusion and move downward. The locking rod moves away from the telescopic rod until the locking rod separates from the locking parts.

6. The foot pedal adjustment device as described in claim 1, characterized in that, The foot pedal panel includes an upper panel and a lower support plate, wherein the upper panel is detachably mounted on top of the lower support plate.

7. The foot pedal adjustment device as described in claim 1, characterized in that, The foot pedal panel includes at least a first splicing part, a second splicing part, and a telescopic component for adjusting the distance between the first splicing part and the second splicing part. The telescopic component is connected to the first splicing part and the second splicing part respectively to adjust the width of the foot pedal panel.

8. A surgical robot system, characterized in that, Includes a robot control device, said robot control device having a foot pedal adjustment device as described in any one of claims 1 to 7; The robot control device includes a monitoring component that monitors the position of the operator's feet, and the monitoring component is positioned above the foot pedal adjustment device.

9. The surgical robot system as described in claim 8, characterized in that, The surgical robot system performs the following control steps: Acquisition control commands; According to the control commands, the fore-and-aft position, tilt angle and / or width of the foot pedal panel are adjusted.

10. The surgical robot system as described in claim 9, characterized in that, The acquisition control command includes: receiving an action command triggered by a control button; or Detect the position information of the operator's legs; Based on the location information, select the position parameters of the foot pedal panel corresponding to the location information.

11. The surgical robot system as described in claim 9, characterized in that, The acquisition control commands include: Collect trampling information; Based on the treading information, select the position parameters of the foot pedal panel corresponding to the treading information.

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