Control method, console system and medical device

Abstract

The present specification relates to the technical field of medical robots, and specifically discloses a control method, an operating table system and a medical device. The method comprises: in the case that a surgical end instrument does not reach a target position, acquiring data information of the surgical end instrument, and sending the data information to a first control mechanism and a second control mechanism; receiving a first control instruction sent by the first control mechanism based on the data information, to control the surgical end instrument to move towards the target position; receiving a second control instruction sent by the second control mechanism based on the data information, to control the surgical end instrument to reach or pass through the target position; and the control accuracy of the second control mechanism is higher than that of the first control mechanism. The above scheme can realize two-stage control of the surgical end instrument, and can meet the needs of different surgical scenarios.

Description

Technical Field

[0001] This specification relates to the field of medical robot technology, and in particular to a control method, an operating console system, and a medical device. Background Technology

[0002] Currently, surgeries involving cardiovascular diseases, neurological disorders, peripheral vascular diseases, and tumors often require X-ray assistance, resulting in prolonged exposure of surgeons to X-rays. In these surgeries, the surgical operating system and control cabinet are typically integrated and inseparable, usually placed within the operating room along with the surgical execution equipment. A small radiation shield is placed next to the surgical operating system to reduce the harmful effects of radiation on medical personnel.

[0003] However, the radiation shields currently in use are not effective at preventing radiation or have a limited range of protection. Regardless of whether the surgery is complex or simple, medical staff need to operate instruments in a space with radiation exposure, and the operating doctors will be exposed to radiation hazards.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides a control method, operating table system, and medical device to reduce the X-ray radiation hazards to operators during cardiovascular and other surgeries.

[0006] This specification provides a control method, the method comprising:

[0007] If the surgical instrument fails to reach the target position, the data information of the surgical instrument is acquired and sent to the first and second control mechanisms of the surgical operating system.

[0008] The system receives a first control command sent by the first control mechanism based on the data information to control the surgical instrument to move toward the target position; it also receives a second control command sent by the second control mechanism based on the data information to control the surgical instrument to reach or pass through the target position; the control precision of the second control mechanism is higher than that of the first control mechanism.

[0009] In one embodiment, the surgical operating system further includes a micro-switch;

[0010] Accordingly, before receiving the first control command sent by the first control mechanism based on the data information, the method further includes:

[0011] Receive the micro-control signal sent by the micro-control switch;

[0012] Based on the micro-control signal, the first control mechanism is controlled to switch working states; the working states include a first working state and a second working state. In the first working state, the first control mechanism provides resistance to the operator and / or receives a first control command input by the operator. In the second working state, the first control mechanism is locked.

[0013] In one embodiment, receiving a first control command sent by the first control mechanism based on the data information to control the surgical instrument to move toward the target position includes:

[0014] When the first control mechanism is in the first working state, it receives the first operation instruction sent by the operator through the first control mechanism based on data information.

[0015] In response to the first operation command, the translational movement of the surgical instrument is controlled according to a first preset ratio and / or the rotation of the surgical instrument is controlled proportionally to control the surgical instrument to move toward the target position.

[0016] In one embodiment, receiving a second control command sent by the second control mechanism based on the data information to control the surgical instrument to reach or pass through the target location includes:

[0017] When the first control mechanism is in the second working state, it receives a second operation command sent by the operator through the second control mechanism based on the data information.

[0018] In response to the second operation command, the translational movement of the surgical instrument is controlled according to a second preset ratio and / or the rotation of the surgical instrument is controlled proportionally to control the surgical instrument to reach or pass through the target position; the second preset ratio is less than the first preset ratio.

[0019] In one embodiment, the surgical operating system further includes an image display device; correspondingly, the method further includes:

[0020] The data information and preoperative image data are sent to the image display device, so that the image display device displays the resistance data of the surgical instrument, the real-time position of the surgical instrument, and the preoperative image data.

[0021] In one embodiment, the method further includes:

[0022] Acquire preoperative imaging data and construct a static model based on the preoperative imaging data; the target location is marked in the static model;

[0023] The static model is sent to the image display device, so that the image display device displays the static model.

[0024] This specification provides an embodiment of an operating console system, including a surgical operating system and a control cabinet; the surgical operating system includes a first control mechanism and a second control mechanism; the control cabinet includes a main controller;

[0025] The first control mechanism and the second control mechanism are used to receive data information from the surgical instruments; the first control mechanism is used to send a first control command to the main controller based on the data information; the second control mechanism is used to send a second control command to the main controller based on the data information; the control precision of the second control mechanism is higher than that of the first control mechanism.

[0026] The main controller is used to receive a first control command sent by the first control mechanism to control the surgical instrument to move toward the target position; the main controller is also used to receive a second control command sent by the second control mechanism to control the surgical instrument to reach or pass through the target position; the control accuracy of the second control mechanism is higher than that of the first control mechanism.

[0027] In one embodiment, the surgical operating system is detachably connected to the control cabinet via a disassembly / reassembly mechanism; the disassembly / reassembly mechanism includes a fixing device and a spring-loaded device.

[0028] The fixing device is fixed to the control cabinet, and the fixing device is provided with a hook groove and a hook hole;

[0029] The rebound device includes a rebound base, a pressing handle, a rotating shaft, and a hook. The rebound base is fixed on the surgical operating system, the rotating shaft is disposed on the rebound base, the pressing handle can rotate around the rotating shaft, and a hook is provided at one end of the pressing handle.

[0030] When the pressing handle rotates around the rotating axis, the hook can move in and out of the hook slot and the hook hole.

[0031] In one embodiment, the rebound device further includes an elastic element and a guide rod; the fixing device is also provided with a guide hole;

[0032] The elastic element and the hook are arranged parallel to each other on the same side of the pressing handle, and the other end of the elastic element is fixed to the surgical operating system; the elastic element is in a free state when the hook enters the hook hole;

[0033] The guide rod is arranged parallel to the pressing handle; when the pressing handle rotates around the rotating axis, the guide rod can enter and exit the guide hole.

[0034] In one embodiment, the control panel system further includes a radiation shield, the upper end of which is made of a radiation-proof transparent material, and the lower end of which is provided with a horizontal plate.

[0035] The radiation shield includes multiple folded plates, which are connected in sequence by connecting members. A damper is provided between two connected folded plates to limit the rotation angle between the two connected folded plates.

[0036] In one embodiment, the surgical operating system further includes a microcontroller switch, which is used to send a microcontroller signal to the first control mechanism;

[0037] The first control mechanism switches its working state upon receiving a micro-control signal from the micro-control switch; the working state includes a first working state and a second working state; in the first working state, the first control mechanism provides resistance to the operator and / or receives control commands input by the operator, and in the second working state, the first control mechanism locks itself.

[0038] In one embodiment, the surgical operating system further includes an image display device; the image display device is used to display force data of the surgical instrument, the real-time position of the surgical instrument, and preoperative image data;

[0039] The image display device is also used to display a static model constructed based on the preoperative image data, wherein the target location is marked in the static model.

[0040] This specification also provides a medical device, including a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it implements the control method described in any of the above embodiments, and applies the steps of the operating console system described in the above embodiments.

[0041] This specification also provides a computer-readable storage medium storing computer instructions that, when executed, implement the control method described in any of the above embodiments and are applied to the steps of the console system described in the above embodiments.

[0042] This specification provides a control method applicable to the main controller of a control cabinet in an operating table system. The operating table system may further include a surgical operating system, which includes a first control mechanism and a second control mechanism. The main controller, upon determining that the surgical instrument has not reached the target position, acquires data information about the surgical instrument and sends this data information to both the first and second control mechanisms. The main controller can receive a first control command from the first control mechanism based on the data information to control the surgical instrument to move towards the target position. The main controller can also receive a second control command from the second control mechanism based on the data information to control the surgical instrument to reach or pass through the target position. The control precision of the second control mechanism can be higher than that of the first control mechanism. In this scheme, the first and second control mechanisms can control the surgical instrument to approach, reach, or pass through the target position. The first control mechanism can control the surgical instrument to move towards the target position, achieving coarse control of the instrument's movement. The second control mechanism can control the instrument to reach or pass through the target position, achieving fine control of the instrument, ensuring that the surgical instrument reaches or passes through the target position. The above solution enables two-level control of surgical instruments. First, a first control mechanism guides the surgical instruments closer to the target location, and then a second control mechanism guides them to reach or pass through the target location. Furthermore, the surgical operating system and control cabinet can be detachably connected, allowing the operating table system to automatically execute surgical procedures or for the operator to manipulate the first and second control mechanisms to guide the surgical instruments to or through the target location. In this solution, because the control cabinet and surgical operating system are detachably connected, for some surgical procedures, the control cabinet and surgical operating system can be separated, allowing the operator to perform surgery remotely, reducing the harm of surgical radiation. For complex surgeries requiring on-site observation, the surgical operating system can be connected to the control cabinet for execution, meeting the needs of various surgical scenarios, including traditional complex on-site surgeries and remote surgeries. Attached Figure Description

[0043] The accompanying drawings, which are included to provide a further understanding of this specification and form part of it, do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 A schematic diagram of the operation console system according to one embodiment of this specification is shown;

[0045] Figure 2 This specification shows a schematic diagram illustrating an application scenario of the console system according to one embodiment.

[0046] Figure 3This specification shows a schematic diagram illustrating an application scenario of the console system according to one embodiment.

[0047] Figure 4 A schematic diagram of the disassembly and assembly mechanism in one embodiment of this specification is shown;

[0048] Figure 5 This specification shows a schematic diagram of the disassembly and reassembly mechanism of the control cabinet and surgical operating system in one embodiment of the present specification, in the separated state, when they first approach each other, when they approach each other, and after the connection is completed.

[0049] Figure 6 This specification shows a schematic diagram of the control cabinet and the surgical operating system being separated in one embodiment of the specification;

[0050] Figure 7 This specification shows a schematic diagram of the state when the control cabinet and the surgical operating system are connected in one embodiment of the specification;

[0051] Figure 8 This specification shows a schematic diagram of the control cabinet being placed inside the surgical operating system according to one embodiment of the present specification;

[0052] Figure 9 This specification shows a schematic diagram of the disassembly and reassembly mechanism used when the control cabinet is placed inside the surgical operating system, according to one embodiment of the specification.

[0053] Figure 10 This specification shows a rear view of the control cabinet placed inside the surgical operating system according to one embodiment of the present specification;

[0054] Figure 11 A schematic diagram of the structure of a radiation shield according to one embodiment of this specification is shown;

[0055] Figure 12 A schematic diagram of the structure of each component of the radiation shield in one embodiment of this specification is shown;

[0056] Figure 13 A schematic diagram of the surgical operating system in one embodiment of this specification is shown;

[0057] Figure 14 A schematic diagram of the surgical operating system in one embodiment of this specification is shown;

[0058] Figure 15 A schematic diagram of the structure of the first control mechanism in one embodiment of this specification is shown;

[0059] Figure 16 A schematic diagram of a static model of one embodiment of this specification is shown;

[0060] Figure 17A schematic diagram of key locations of a calibration image in one embodiment of this specification is shown;

[0061] Figure 18 A flowchart is shown in one embodiment of this specification of a control method applied to the console system described in the above embodiments;

[0062] Figure 19 This specification shows a schematic diagram of the overall control flow of the operating console described in the above embodiments, based on one embodiment of the present specification.

[0063] Figure 20 A flowchart illustrating the first control mechanism in one embodiment of this specification is shown;

[0064] Figure 21 A flowchart illustrating the second control mechanism in one embodiment of this specification is shown;

[0065] Figure 22 A schematic diagram of a control device according to one embodiment of this specification is shown;

[0066] Figure 23 A schematic diagram of a medical device according to one embodiment of this specification is shown. Detailed Implementation

[0067] The principles and spirit of this specification will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this specification, and are not intended to limit the scope of this specification in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0068] Those skilled in the art will recognize that the embodiments described in this specification can be implemented as a system, apparatus, method, or computer program product. Therefore, the disclosure of this specification can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0069] This specification provides an example of an operator console system. For example... Figure 1 As shown, the operating system 10 may include a surgical operating system 101 and a control cabinet 102. The surgical operating system 101 may include a first control mechanism 111 and a second control mechanism 112. The control cabinet 102 includes a main controller 121.

[0070] The surgical operating system 101 can be used to send operating instructions to the control cabinet 102. The surgical operating system 101 can be used by the operator, and also used to control the electronic components of the surgical instruments placed at the operating end, and to send operating instructions to the electronic components of the surgical instruments placed at the operating end.

[0071] The control cabinet 102 can be used to control the movement of the surgical instruments at the end of the surgical robot and to perform surgical operations in response to received operating instructions. The control cabinet 102 can be used to house the electronic components required for operating the surgical instruments at the end, and also to control the movement of the surgical instruments at the end and to perform surgical operations after receiving operating instructions sent by the surgical operating system 101.

[0072] The first control mechanism 111 and the second control mechanism 112 can be used to receive data information from the surgical instruments. This data information may include force data and position data of the surgical instruments.

[0073] The first control mechanism 111 can be used to send a first control command to the main controller 121 based on data information. In some embodiments, the first control mechanism 111 can automatically generate the first control command based on data information. In other embodiments, the first control mechanism 111 can provide data information back to the operator to facilitate the user's input of the first control command.

[0074] The second control mechanism 112 can be used to send a second control command to the main controller based on data information. In some embodiments, the second control mechanism 112 can automatically generate a second control command based on data information. In other embodiments, the second control mechanism 112 can provide data information back to the operator, facilitating the user to input the second control command.

[0075] The control precision of the second control mechanism 112 is higher than that of the first control mechanism 111. That is, the second control mechanism 112 is used to finely control the movement of the surgical instruments, while the first control mechanism 111 is used to coarsely control the movement of the surgical instruments.

[0076] The main controller 121 can be used to receive a first control command sent by the first control mechanism 111 to control the surgical instrument to move toward the target position, that is, to control the surgical instrument to approach the target position. The target position is a critical position that the surgical instrument needs to reach, such as a lesion, a vascular bifurcation, or other critical positions that the surgical instrument needs to reach.

[0077] The main controller 121 can also be used to receive a second control command sent by the second control mechanism 112 to control the surgical instrument to reach or pass through the target position, that is, to control the surgical instrument to reach or pass through the target position from a position close to the target position.

[0078] In one embodiment, the surgical operating system 101 and the control cabinet 102 may be detachably connected. In one embodiment, the surgical operating system 101 and the control cabinet 102 may be connected by screws and nuts. In another embodiment, the surgical operating system 101 and the control cabinet 102 may be connected by hooks and hook holes. For example, the surgical operating system 101 may include at least two hooks, and the control cabinet 102 may include at least two corresponding hook holes; inserting the hooks into the hook holes will connect the surgical operating system 101 and the control cabinet 102.

[0079] like Figure 2 As shown, the surgical operating system 101 and the control cabinet 102 can be separated. The surgical operating system 101 can be located outside the operating room, while the control cabinet 102 can be located inside the operating room along with the operating table 30 and the surgical terminal equipment 20.

[0080] like Figure 3 As shown, the surgical operating system 101 can be connected to the control cabinet 102. Both the surgical operating system 101 and the control cabinet 102 are located in the operating room. A radiation shield 103 can be placed between the operating table 30 and the surgical terminal device 20 and the surgical operating system 101 and the control cabinet 102.

[0081] In the above embodiments, the surgical instrument can be controlled to approach, reach, or pass through a target position via the first control mechanism 111 and the second control mechanism 112. The first control mechanism 111 controls the surgical instrument to move towards the target position, achieving coarse control of the instrument's movement. The second control mechanism 112 controls the surgical instrument to reach or pass through the target position, achieving fine control of the instrument. This scheme enables two-level control of the surgical instrument: first, the first control mechanism 111 controls the instrument to approach the target position, and then the second control mechanism 112 controls it to reach or pass through the target position. Furthermore, the surgical operating system 101 is detachably connected to the control cabinet 102, allowing the operating table system to automatically perform surgical operations or for the operator to control the first control mechanism 111 and the second control mechanism 112 to bring the surgical instrument to or through the target position, thus completing the surgical operation. In the above embodiments, since the control cabinet 102 and the surgical operating system 101 of the operating console system are detachably connected, for some surgical operations, the control cabinet 102 and the surgical operating system 101 can be separated, allowing the operator to perform the surgery remotely and reducing the harm of surgical radiation to the operator. For complex surgeries that require on-site observation, the surgical operating system 101 can be connected to the control cabinet 102 to perform the surgery, which can meet the needs of different surgical scenarios, whether it is traditional complex on-site surgery or remote surgery.

[0082] In some embodiments of this specification, the surgical operating system 101 and the control cabinet 102 are detachably connected via a disassembly / reassembly mechanism. For example... Figure 4 As shown, the disassembly / reassembly mechanism may include a spring-loaded device 40 and a fixing device 50. In one embodiment, the fixing device 50 may be fixed to the control cabinet 102, and the spring-loaded device 40 may be fixed to the surgical operating system 101. Figure 4 As shown, the fixing device 50 is provided with a hook groove 51 and a hook hole 52.

[0083] The rebound device 40 may include a rebound base 41, a pressing handle 42, a rotating shaft 43, and a hook 44. The rebound base 41 is fixed to the surgical operating system 101, the rotating shaft 43 is disposed on the rebound base 41, the pressing handle 42 can rotate around the rotating shaft 43, and a hook 44 is provided at one end of the pressing handle 42. When the pressing handle 42 rotates around the rotating shaft 43, the hook 44 can enter and exit the hook groove 51 and hook hole 52 of the fixing device 50.

[0084] As will be understood by those skilled in the art, in another embodiment, the rebound device 40 may be fixed to the control cabinet 102, and the fixing device 50 may be fixed to the surgical operating system 101.

[0085] Please continue to refer to this. Figure 4 In some embodiments of this specification, the rebound device 40 further includes an elastic element 45 and a guide rod 46. The elastic element 45 may be a spring or other component. The fixing device 50 is also provided with a guide hole 53. The elastic element 45 may be arranged parallel to the hook 44 on the same side of the pressing handle 42. One end of the elastic element 45 is provided on the pressing handle 42, and the other end is fixed to the surgical operating system 101. The elastic element 45 is in a free state when the hook 44 enters the hook hole 52. The guide rod 46 may be arranged parallel to the pressing handle 42. When the pressing handle 42 rotates about the rotation axis 43, the guide rod 46 can move in and out of the guide hole 53.

[0086] Please refer to Figure 5 This diagram illustrates the states of the control cabinet and surgical operating system in one embodiment of this specification: separated, initially approaching each other, approaching each other, and after connection is complete. Figure 5As shown, when the control cabinet 102 and the surgical operating system 101 are separated, the elastic element 45 keeps the pressing handle 42 in a horizontal position. When the hook 44 is struck by the fixing device 50 on the control cabinet, the left side of the pressing handle 42 will tilt upward, the elastic element 45 will stretch, and the hook 44 will slide into the hook hole 52 along the inclined surface of the hook groove 51. The elastic element 45 will recover its deformation under the action of the elastic force. At the same time, the guide rod 46 will also be inserted into the guide hole 53 of the fixing device 50, that is, the surgical operating system 101 and the control cabinet 102 are combined together. When it is necessary to separate the two, press the handle 42 upward and drag the control cabinet 102 or the surgical operating system 101 to make the hook 44 disengage from the hook hole 52. At this time, the surgical operating system 101 and the control cabinet 102 can be separated.

[0087] like Figure 6 As shown, the rebound device 40 can be installed on the surgical operating system 101, and the fixing device 50 can be installed on the control cabinet 102. Figure 7 As shown, when the rebound device 40 is connected to the fixing device 50, the control cabinet 102 is connected to the surgical operating system 101.

[0088] In some embodiments of this specification, the surgical operating system 101 is provided with a preset space for accommodating the control cabinet 102. For example... Figure 8 As shown, the control cabinet 102 can be placed within the preset space of the surgical operating system 101. The surgical operating system 101 is also provided with a baffle 116, which can be closed after the control cabinet 102 is placed in the preset space.

[0089] Please refer to Figure 9 This diagram illustrates the structural schematic of the disassembly and assembly mechanism used when the control cabinet 102 is placed in the preset space of the surgical operating system 101 according to one embodiment of this specification. Figure 9 As shown, the disassembly / reassembly mechanism may include a knob 64, a through hole 63 on the surgical operating system 101, a cotter pin 62, and a conical countersunk threaded hole 61 on the control cabinet 102. The knob 64 can be fitted with the through hole 63 to allow it to slide; the cotter pin 62 prevents the knob 64 from coming off. The knob 64 engages with the conical countersunk threaded hole 61 to fix the control cabinet 102 within the preset space of the surgical operating system 101. A conical countersunk head is made on the surface of the control cabinet 102 to facilitate alignment of the knob 64. When merging the two, to place the control cabinet 102 into the preset space of the surgical operating system 101, first remove the baffle 116, place the control cabinet 102 into the surgical operating system 101, then tighten the knob 64 at the back of the surgical operating system to move the control cabinet 102 towards the rear panel of the surgical operating system 101 until the control cabinet 102 is fixed, and finally replace the baffle 116. The disassembly process is the reverse. Figure 10As shown, a knob 64 may be provided on the back of the surgical operating system 101.

[0090] In some embodiments of this specification, such as Figure 3 As shown, the operating table system may also include a radiation shield 103. The upper part of the radiation shield 103 is made of a radiation-proof transparent material, which facilitates the operator's observation of the surgical situation in the operating room. A horizontal plate is provided at the bottom of the radiation shield 103 to prevent the radiation shield from tipping over.

[0091] In some embodiments of this specification, the radiation shield 103 may include multiple folded plates, which are connected sequentially by connecting members. In one embodiment, the connecting members may include a spiral connection or a hinged connection, etc. A damper may also be provided between two interconnected folded plates to limit the rotation angle between the two interconnected folded plates, preventing the multiple folded plates from being unstable on the same plane.

[0092] like Figure 11 As shown, the radiation shield includes a left folding plate 31, a middle folding plate 32, and a right folding plate 33. The folding plates can be connected by hinges.

[0093] like Figure 12 As shown, the left folding plate 31 may include a transparent lead glass 311, a left folding base plate 312, a horizontal plate 313, casters 314, hinges 315, and a damper 316. The transparent lead glass 311 is mounted on the left folding base plate 312, allowing the operator to observe the situation in the operating room through the transparent lead glass 311. It is understood that transparent glass can be installed on one or more folding plates of the radiation shield. The casters 314 facilitate the movement of the radiation shield. The hinges 315 and the pivot hinges can rotate relative to each other, thereby allowing the folding plates to rotate and enabling the folding and unfolding of the radiation shield. The horizontal plate 313 increases the contact area between each folding plate and the ground, and the presence of the damper 316 ensures that the unfolding angle between each folding plate is less than 180° (i.e., they cannot be aligned on the same straight line), which also increases the overall contact area between the radiation shield 103 and the ground. Under the combined effect of these two factors, the tipping of the radiation shield can be effectively reduced. One end of the damper 316 is fixed to the left folding plate 31. After rotating a certain angle, the other end of the damper 316 will touch the middle folding plate 32, so that its maximum unfolding can only be less than 180°. The same applies to the right folding plate 33.

[0094] Please refer to Figure 13 and Figure 14In some embodiments of this specification, the surgical operating system 101 may further include a microswitch 113. The microswitch 113 can send microcontrol signals to the first control mechanism 111. Upon receiving the microcontrol signal from the microswitch 113, the first control mechanism 111 switches its operating state. The operating state of the first control mechanism 111 may include a first operating state and a second operating state. In the first operating state, the first control mechanism 111 provides resistance to the operator and / or receives control commands input by the operator. In the second operating state, the first control mechanism 111 is locked. When the first control mechanism 111 is locked, the operator can control the movement of surgical instruments or surgical operations through the second control mechanism 112.

[0095] When the first control mechanism 111 is in the first working state, the main controller 121 can receive a first operation command sent by the operator through the first control mechanism 111 based on data information. In response to the first operation command, the main controller 121 can control the translational movement of the surgical instrument at a first preset ratio and / or control the rotation of the surgical instrument at ...

[0096] When the first control mechanism 111 is in the second working state, the main controller 121 can receive a second operation command sent by the operator through the second control mechanism 112 based on data information. In response to the second operation command, the main controller 121 can control the translational movement of the surgical instrument at a second preset ratio and / or proportionally control the rotation of the surgical instrument at the surgical instrument to control the surgical instrument to reach or pass through the target position. The second preset ratio is less than the first preset ratio.

[0097] The data information may include force data and position data of the surgical instruments. The first control mechanism 111 can receive force data detected by sensors in the surgical instruments of the surgical robot and provide resistance to the operator based on this data. That is, the first control mechanism 111 can provide force feedback, allowing the operator to feel the resistance experienced by the surgical instruments within the object, facilitating adjustments to the instrument's orientation. The first control mechanism 111 can also receive the operator's first operating command to control the translational movement of the surgical instruments according to a first preset ratio and / or proportionally control their rotation. In other words, the first control mechanism can perform remote operation, controlling the movement of the surgical instruments according to the operator's commands. The first control mechanism 111 can be used for relatively coarse motion control.

[0098] like Figure 15As shown, the first control mechanism 111 may include a telegraph 81 and a rotating rudder 82. The rotating rudder 82 is used to adjust the direction of the surgical instrument (e.g., a guidewire or catheter). Its rotation changes the orientation of the surgical instrument, thereby adjusting its forward direction. The telegraph 81 is used to push the guidewire or catheter and provides feedback on the resistance encountered during the pushing process, so that the operator experiences resistance during pushing. This resistance value can be proportionally amplified or reduced based on factors such as the flexibility of the guidewire or catheter, the force exerted on the blood vessel, the sharpness of the guidewire tip, and the magnitude of the force perceived by the operator. The ratio of the actual distance the guidewire moves in the blood vessel to the distance the telegraph moves is k. Here, k is the first preset ratio, which can be set to be greater than 1.

[0099] The second control mechanism 112 can be used to receive a second operating command from the operator to control the translational movement of the surgical instrument at a second preset ratio and / or proportionally control the rotation of the surgical instrument at the surgical end. The second preset ratio is less than the first preset ratio. In one embodiment, the second preset ratio can be less than or equal to 1. For example, the second control mechanism 112 can control the translational movement of the surgical instrument at the surgical end proportionally to achieve more precise control. Figure 13 and Figure 14 As shown, the second control mechanism 112 can be controlled and displayed via a touchscreen. The touchscreen can display in real time the magnitude of the resistance encountered by the surgical instrument (e.g., catheter or guidewire) in the blood vessel and its coordinate position within the calibrated area. In one embodiment, the operator can determine the required advance distance of the catheter or guidewire based on the coordinates marked on the static model, and then input the corresponding value on the touchscreen to advance the catheter or guidewire the specified distance.

[0100] In one embodiment, when a surgical procedure requires precise control to allow surgical instruments such as catheters or guidewires to pass through or reach a desired location, the operator can first press the microcontroller switch 113 on the surgical operating system 101 to lock the first control mechanism 111 (reducing misoperation). Then, the second control mechanism 112 is used for fine-tuning to allow the surgical instrument to pass through or reach the designated position. Subsequently, when the microcontroller switch 113 needs to be used again, pressing the microcontroller switch 113 can send a microcontroller signal to unlock the first control mechanism 111, allowing for operation using the first control mechanism 111.

[0101] In one embodiment, the surgical operating system may further include a handle 115 to facilitate movement of the surgical operating system.

[0102] In some embodiments of this specification, the surgical operating system may further include an image display device 114. The image display device 114 can be used to display force data of the surgical instruments, the real-time position of the surgical instruments, and preoperative image data. The image display device 114 is also used to display a static model constructed based on the preoperative image data, in which the target location is marked.

[0103] The image display device 114 can be used to display data on the resistance experienced by the surgical instruments, the real-time position of the surgical instruments, and surgical imaging data. When operating the first and second control mechanisms, the operator can perform operations based on the data displayed on the image display device.

[0104] In some embodiments of this specification, the image display device 114 can also be used to display a static model constructed based on preoperative image data. Please refer to... Figure 16 This diagram illustrates a static model after preoperative CT image segmentation and 3D model reconstruction. This static model can be displayed on image display devices and touchscreens.

[0105] The static model is marked with multiple target locations, including the lesion location, key tissue locations, and surgical operation locations. That is, after the 3D model is reconstructed, the coordinates of some key locations (lesion site, vascular bifurcation, and the desired target location) need to be marked on the model to facilitate 1:1 scale control by the second control mechanism 112, enabling the surgical instruments (guidewire or catheter) to quickly enter the bifurcation or accurately reach the final desired location. For example... Figure 17 As shown, multiple target positions are calibrated in the static model.

[0106] The first control mechanism 111 can be used to control the surgical instrument to approach each of multiple target locations. The second control mechanism 112 can be used to precisely control the surgical instrument to reach or pass through each of the multiple target locations, so that the surgical instrument performs a preset surgical operation. Two-level control of the surgical instrument can be achieved through the first control mechanism 111 and the second control mechanism 112.

[0107] This specification also provides a control method that can be applied to the console system in any of the above embodiments. Figure 18A flowchart of a control method according to one embodiment of this specification is shown. While this specification provides method operation steps or apparatus structures as illustrated in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this specification. When the method or module structure is applied in actual devices or end products, it can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment) according to the method or module structure shown in the embodiments or figures.

[0108] Specifically, such as Figure 18 As shown, a control method provided in one embodiment of this specification may include the following steps:

[0109] Step S181: If the surgical instrument has not reached the target position, acquire the data information of the surgical instrument and send the data information to the first control mechanism and the second control mechanism of the surgical operating system.

[0110] The methods described in this specification can be applied to the main controller of a control cabinet for an operating console system, which may further include a surgical operating system. The surgical operating system may include a first control mechanism and a second control mechanism. In one embodiment, the control cabinet may be detachably connected to the surgical operating system.

[0111] The main controller determines whether the surgical instruments have reached the target location. The target location is the critical position that the surgical instruments need to reach, such as the lesion site, vascular bifurcation, or other key locations the surgical instruments must access. The surgical instruments can be catheters or guidewires, among other instruments.

[0112] In one embodiment, the main controller can acquire the real-time position of the surgical instruments in the target tissue and compare the real-time position with the coordinates of the target position to determine whether the target position has been reached.

[0113] If the surgical instrument fails to reach its target position, the main controller can acquire data from the sensors within the surgical robot. This data includes force and position data of the surgical instrument. Force data may include resistance levels experienced by the instrument, while position data may include the instrument's coordinates within the target tissue. The main controller can then transmit this data to both the first and second control mechanisms.

[0114] Step S182: Receive a first control command sent by the first control mechanism based on data information to control the surgical instrument to move toward the target position; receive a second control command sent by the second control mechanism based on data information to control the surgical instrument to reach or pass through the target position; the control precision of the second control mechanism is higher than that of the first control mechanism.

[0115] The first and second control mechanisms can receive data from the surgical instruments. The first control mechanism can send a first control command to the main controller based on the data. In some embodiments, the first control mechanism can automatically generate the first control command based on the data. In other embodiments, the first control mechanism can provide feedback data to the operator, facilitating the user's input of the first control command.

[0116] The second control mechanism can be used to send second control commands to the main controller based on data information. In some embodiments, the second control mechanism can automatically generate second control commands based on data information. In other embodiments, the second control mechanism can provide data information back to the operator, facilitating the user's input of second control commands.

[0117] The control precision of the second control mechanism can be higher than that of the first control mechanism. That is, the second control mechanism can finely control the movement of the surgical instruments, while the first control mechanism can coarsely control the movement of the surgical instruments.

[0118] The main controller can receive the first control command sent by the first control mechanism to control the surgical instrument to move toward the target position, that is, to control the surgical instrument to move closer to the target position.

[0119] The main controller can also receive a second control command sent by the second control mechanism to control the surgical instrument to reach or pass through the target position, that is, to control the surgical instrument to reach or pass through the target position from a position close to the target position.

[0120] In the above embodiments, the surgical instrument can be controlled to approach, reach, or pass through a target position through a first control mechanism and a second control mechanism. The first control mechanism can control the surgical instrument to move towards the target position, achieving coarse control of the instrument's movement. The second control mechanism can control the surgical instrument to reach or pass through the target position, achieving fine control of the instrument. The method in the above embodiments can achieve two-level control of the surgical instrument: first, the first control mechanism controls the surgical instrument to approach the target position, and then the second control mechanism controls it to reach or pass through the target position. Furthermore, the surgical operating system is detachably connected to the control cabinet, allowing the operating table system to automatically perform surgical operations or for the operator to control the first and second control mechanisms to bring the surgical instrument to or through the target position, thus completing the surgical operation. In this solution, since the control cabinet and surgical operating system of the operating console system are detachably connected, for some surgical operations, the control cabinet and surgical operating system can be separated, allowing the operator to perform the surgery remotely, effectively reducing the harm of surgical radiation to the operator. For complex surgeries that require on-site observation, the surgical operating system can be connected to the control cabinet to perform the surgery, which can meet different surgical scenarios, whether it is traditional complex on-site surgery or remote surgery.

[0121] In some embodiments of this specification, the surgical operating system further includes a micro-switch; correspondingly, before receiving the first control command sent by the first control mechanism based on data information, the control method may further include: receiving a micro-control signal sent by the micro-switch; controlling the first control mechanism to switch working states based on the micro-control signal; the working states include a first working state and a second working state, wherein the first control mechanism provides resistance to the operator and / or receives the first control command input by the operator in the first working state, and the first control mechanism is locked in the second working state. In this embodiment, the main controller can switch the working state of the first control mechanism through the micro-switch, so that when the first control mechanism is in the first working state, the operator can use the first control mechanism to control the movement and operation of the surgical instruments, and when the first control mechanism is in the second working state, the operator can use the second control mechanism to control the movement and operation of the surgical instruments, thereby realizing two-level control of the surgical instruments.

[0122] In some embodiments of this specification, receiving a first control command sent by a first control mechanism based on data information to control the surgical instrument to move toward a target position may include: receiving a first operation command sent by an operator through the first control mechanism based on data information when the first control mechanism is in a first working state; and responding to the first operation command by controlling the translational movement of the surgical instrument according to a first preset ratio and / or controlling the rotation of the surgical instrument proportionally to control the surgical instrument to move toward the target position.

[0123] Specifically, when the first control mechanism is in its first operating state, the main controller can receive a first operating command sent by the operator through the first control mechanism. The first control mechanism can provide resistance feedback to the operator based on the received force data. In response to the first operating command, the main controller can control the translational movement of the surgical instrument at the surgical end according to a first preset ratio and / or control the rotation of the surgical instrument at the surgical end proportionally. Here, the first preset ratio refers to the ratio between the actual translational distance of the surgical instrument at the surgical end and the translational distance of the translational carriage in the first control mechanism. Generally, the first preset ratio can be set to a natural number greater than 1. In this way, the operator can remotely perform surgical operations through the first control mechanism.

[0124] In some embodiments of this specification, receiving a second control command sent by a second control mechanism based on data information to control the surgical instrument to reach or pass through a target position may include: receiving a second operation command sent by an operator through the second control mechanism based on data information when the first control mechanism is in a second working state; responding to the second operation command, controlling the translational movement of the surgical instrument according to a second preset ratio and / or controlling the rotation of the surgical instrument proportionally to control the surgical instrument to reach or pass through the target position; the second preset ratio is less than the first preset ratio.

[0125] Specifically, when the first control mechanism is in the second operating state, it is locked, and the operator can use the second control mechanism to control the movement of the surgical instruments. The main controller can receive a second operation command sent by the operator through the second control mechanism. In response to the second operation command, the main controller can control the translational movement of the surgical instruments and / or proportionally control the rotation of the surgical instruments according to a second preset ratio. The second preset ratio is less than the first preset ratio. In one embodiment, the second preset ratio can be set to a positive number less than or equal to 1. In this way, the operator can precisely control the surgical instruments to perform surgical operations through the second control mechanism.

[0126] In some embodiments of this specification, the surgical operating system further includes an image display device; correspondingly, the control method may also include: sending data information and preoperative image data to the image display device, so that the image display device displays resistance data of the surgical instrument, the real-time position of the surgical instrument, and the preoperative image data. In this embodiment, by displaying data information and preoperative image data in the image display device, the operator can easily operate the first control mechanism and the second control mechanism based on the data displayed in the image display device.

[0127] In some embodiments of this specification, the control method may further include: acquiring preoperative image data and constructing a static model based on the preoperative image data; marking the target location in the static model; and sending the static model to an image display device, causing the image display device to display the static model. Through the above embodiments, the static model and the target location can be displayed in the image display device, facilitating the operator to perform surgical operations based on the displayed static model and target location.

[0128] like Figure 19 As shown, the main control methods employed by the operating table system include force-sensing control of the first control mechanism and precise control of the second control mechanism, which are complementary. When the surgical instrument (guidewire or catheter) is far from the target position, the first control mechanism moves (moves or rotates) the surgical instrument to the vicinity of the target position, and then the second control mechanism precisely controls the surgical instrument to reach the desired position. Reaching the desired position can be: finally reaching the lesion, passing through a vascular bifurcation, etc. If the target position is passing through a vascular bifurcation, after passing through using this operation method, further advancement is needed. The first control mechanism can be used again, followed by the second control mechanism, and so on, until the final position is reached. The micro-switch can switch back and forth between the two control models. The touch screen of the second control mechanism 112 can display in real time the magnitude of the resistance encountered by the surgical instrument in the blood vessel and its coordinate position within the calibrated area. The display screen of the image display device can display the entire movement process of the surgical instrument. When performing surgical operations in the operating room, the operator can also observe the overall situation of the operating room through the lead glass of the radiation shield. The first control mechanism can provide corresponding resistance to the translational telegraph based on the signals provided by the force processing data center.

[0129] like Figure 20 As shown, the first control mechanism controls the proportional propulsion of the surgical instrument (guidewire or catheter) to the vicinity of the target position. Proportional propulsion means that when the telegraph of the first control mechanism moves a distance 'a', the distance the surgical instrument moves is k × a, where k is a proportionality coefficient greater than 1. When the target surgical instrument needs to rotate, it rotates proportionally to the rotation rudder of the first control mechanism, meaning they rotate at the same angle. The micro-switch is a button used by the operator to switch between two control modes and can send micro-control signals. When the operator pushes the telegraph to move, the resistance experienced by the telegraph changes according to the resistance experienced by the target surgical instrument within the blood vessel. When the operator feels the resistance is too high, they can adjust the angle of the target surgical instrument to reduce the resistance until it reaches the vicinity of the desired target position. After reaching the vicinity of the target position, the surgical instrument needs to be adjusted to a suitable angle to prepare for the next step of control by the second control mechanism.

[0130] like Figure 21As shown, when precise control is needed to pass through or reach the target location, the operator first presses the micro-control switch on the operating system to lock the first control mechanism (to prevent accidental operation). Based on the coordinates of the target location marked on the static model, the operator determines the required advance distance of the surgical instrument. Then, the operator inputs the corresponding value on the touchscreen, which is sent to the main controller, causing the surgical instrument to advance the corresponding distance until it matches the input value.

[0131] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the foregoing descriptions of the relevant processing embodiments; they will not be repeated here.

[0132] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0133] Based on the same inventive concept, this specification also provides a control device in the embodiments, applied to the main controller of the console system in the above embodiments, as shown in the following embodiment. Since the principle of the control device in solving the problem and the control method applied in the above embodiments are similar, the implementation of the control device can refer to the implementation of the control method, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. Figure 22 As shown, the control device includes an acquisition module 221 and a receiving module 222, and the structure is described below.

[0134] The acquisition module 221 is used to acquire data information of the surgical instrument when the surgical instrument has not reached the target position, and send the data information to the first control mechanism and the second control mechanism of the surgical operating system.

[0135] The receiving module 222 is used to receive a first control command sent by the first control mechanism based on data information to control the surgical instrument to move toward the target position; and to receive a second control command sent by the second control mechanism based on data information to control the surgical instrument to reach or pass through the target position; the control precision of the second control mechanism is higher than that of the first control mechanism.

[0136] This specification also provides a medical device, which can be found in the following description. Figure 23 The diagram shown illustrates the structural composition of a medical device based on the control method provided in the embodiments of this specification. Specifically, the medical device may include an input device 231, a processor 232, and a memory 233. The memory 233 stores processor-executable instructions. When the processor 232 executes the instructions, it implements the control method described in any of the above embodiments, applying the steps of the console system described above.

[0137] In this embodiment, input device 231 can specifically be one of the main devices for information exchange between the user and the computer system. Input devices may include keyboards, mice, cameras, scanners, light pens, handwriting input tablets, voice input devices, etc.; input devices are used to input raw data and programs that process this data into the computer. Input devices can also receive data transmitted from other modules, units, and devices. The processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. Memory can specifically be a memory device used to store information in modern information technology. Memory can include multiple layers; in digital systems, anything that can store binary data can be memory; in integrated circuits, a circuit without physical form but with storage function is also called memory, such as RAM, FIFO, etc.; in a system, a storage device with physical form is also called memory, such as a memory module, TF card, etc.

[0138] The specific functions and effects of the medical device in this embodiment can be explained by comparison with other embodiments, and will not be repeated here.

[0139] This specification also provides a computer storage medium based on a control method applied to the console system in the above embodiments. The computer storage medium stores computer program instructions, which, when executed, implement the control method in any of the above embodiments and the steps applied to the console system in the above embodiments.

[0140] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0141] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained by comparison with other embodiments, and will not be repeated here.

[0142] Obviously, those skilled in the art will understand that the modules or steps of the embodiments described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this specification are not limited to any particular combination of hardware and software.

[0143] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0144] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to the embodiments described herein by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this specification should be included within the scope of protection of this specification.

Claims

1. A computer readable storage medium having stored thereon computer instructions, wherein, When the instruction is executed by the processor, it implements a control method for the operating table system. The operating table system includes a surgical operating system and a control cabinet. The surgical operating system and the control cabinet are detachably connected via a disassembly mechanism to enable switching between on-site and remote operation. The surgical operating system includes a micro-switch, a first control mechanism, and a second control mechanism. The first control mechanism and the second control mechanism control the same surgical instrument. The control cabinet also includes a main controller. The control method is applied to the main controller and includes: If the surgical instrument fails to reach the target position, data information of the surgical instrument is acquired and sent to the first and second control mechanisms of the surgical operating system; the data information includes force data and position data of the surgical instrument. When the first control mechanism is in the first working state, it provides resistance feedback to the operator of the first control mechanism based on the force data, receives the first operation command sent by the operator through the first control mechanism based on the data information, and responds to the first operation command by controlling the translational movement of the surgical instrument according to the first preset ratio to control the surgical instrument to move toward the target position. Receive the micro-control signal sent by the micro-control switch, and based on the micro-control signal, control the first control mechanism to switch to the locked second working state, and control the second control mechanism to switch to the active working state; The operator receives a second operation command sent by the second control mechanism based on data information. In response to the second operation command, the operator controls the translational movement of the surgical instrument at a second preset ratio to control the surgical instrument to reach or pass through the target position. The second preset ratio is less than the first preset ratio. The control precision of the second control mechanism is higher than that of the first control mechanism.

2. The computer-readable storage medium of claim 1, wherein, The surgical operating system further includes an image display device; correspondingly, the method further includes: The data information and preoperative image data are sent to the image display device, so that the image display device displays the resistance data of the surgical instrument, the real-time position of the surgical instrument, and the preoperative image data.

3. The computer-readable storage medium of claim 2, wherein, Also includes: Acquire preoperative image data and construct a static model based on the preoperative image data; the target location is marked in the static model; The static model is sent to the image display device, so that the image display device displays the static model.

4. The computer-readable storage medium of claim 2, wherein, The method further includes: In response to the first operation command, the rotation of the surgical instrument is controlled proportionally to control the movement of the surgical instrument toward the target position; In response to the second operation command, the rotation of the surgical instrument is controlled proportionally to control the surgical instrument to reach or pass through the target position.

5. A console system, characterized in that The system includes a surgical operating system and a control cabinet. The surgical operating system and the control cabinet are detachably connected via a disassembly mechanism to enable switching between on-site and remote operation. The surgical operating system includes a micro-control switch, a first control mechanism, and a second control mechanism. The first control mechanism and the second control mechanism control the same surgical instrument. The control cabinet also includes a main controller. The first control mechanism and the second control mechanism are used to receive data information from the surgical instruments; the data information includes force data and position data of the surgical instruments. When the first control mechanism is in the first working state, the main controller is used to control the first control mechanism to provide resistance feedback to the operator of the first control mechanism based on the force data, and is also used to receive the first operation command sent by the operator through the first control mechanism based on the data information, and in response to the first operation command, control the translational movement of the surgical instrument at the first preset ratio to control the surgical instrument to move toward the target position. The main controller is also used to receive micro-control signals sent by the micro-control switch, and based on the micro-control signals, control the first control mechanism to switch to the locked second working state, and control the second control mechanism to switch to the active working state; When the second control mechanism switches to the active working state, the main controller is also used to receive a second operation command sent by the operator through the second control mechanism based on data information, and in response to the second operation command, control the translational movement of the surgical instrument at a second preset ratio to control the surgical instrument to reach or pass through the target position; the second preset ratio is less than the first preset ratio.

6. The console system of claim 5, wherein, The disassembly / reassembly mechanism includes a fixing device and a spring-back device; The fixing device is fixed to the control cabinet, and the fixing device is provided with a hook groove and a hook hole; The rebound device includes a rebound base, a pressing handle, a rotating shaft, and a hook. The rebound base is fixed on the surgical operating system, the rotating shaft is disposed on the rebound base, the pressing handle can rotate around the rotating shaft, and a hook is provided at one end of the pressing handle. When the pressing handle rotates around the rotating axis, the hook can move in and out of the hook slot and the hook hole.

7. The console system of claim 6, wherein, The rebound device also includes an elastic element and a guide rod; the fixing device is also provided with a guide hole; The elastic element and the hook are arranged parallel to each other on the same side of the pressing handle, and the other end of the elastic element is fixed to the surgical operating system; the elastic element is in a free state when the hook enters the hook hole; The guide rod is arranged parallel to the pressing handle; when the pressing handle rotates around the rotating axis, the guide rod can enter and exit the guide hole.

8. The operating platform system of claim 6, wherein, It also includes a radiation shield, the upper part of which is made of a radiation-proof transparent material, and the lower part of which is provided with a horizontal plate; The radiation shield includes multiple folded plates, which are connected in sequence by connecting members. A damper is provided between two connected folded plates to limit the rotation angle between the two connected folded plates.

9. The console system according to claim 5, characterized in that, The main controller is also configured to respond to the first operation command and proportionally control the rotation of the surgical instrument to control the surgical instrument to move toward the target position; The main controller is also configured to respond to the second operation command by proportionally controlling the rotation of the surgical instrument to control the surgical instrument to reach or pass through the target position.

10. The operating platform system of claim 5, wherein, The surgical operating system also includes an image display device; the image display device is used to display the force data of the surgical instruments, the real-time position of the surgical instruments, and preoperative image data; The image display device is also used to display a static model constructed based on the preoperative image data, wherein the target location is marked in the static model.

11. A medical device, characterized by The system includes a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it implements a control method for an operating table system. The operating table system includes a surgical operating system and a control cabinet. The surgical operating system and the control cabinet are detachably connected via a disassembly mechanism to enable switching between on-site and remote operation. The surgical operating system includes a micro-switch, a first control mechanism, and a second control mechanism. The objects controlled by the first control mechanism and the second control mechanism are the same surgical instrument. The control method includes: If the surgical instrument fails to reach the target position, data information of the surgical instrument is acquired and sent to the first and second control mechanisms of the surgical operating system; the data information includes force data and position data of the surgical instrument. When the first control mechanism is in the first working state, it provides resistance feedback to the operator of the first control mechanism based on the force data, receives the first operation command sent by the operator through the first control mechanism based on the data information, and responds to the first operation command by controlling the translational movement of the surgical instrument according to the first preset ratio to control the surgical instrument to move toward the target position. Receive the micro-control signal sent by the micro-control switch, and based on the micro-control signal, control the first control mechanism to switch to the locked second working state, and control the second control mechanism to switch to the active working state; The operator receives a second operation command sent by the second control mechanism based on data information. In response to the second operation command, the operator controls the translational movement of the surgical instrument at a second preset ratio to control the surgical instrument to reach or pass through the target position. The second preset ratio is less than the first preset ratio. The control precision of the second control mechanism is higher than that of the first control mechanism.

12. The medical device of claim 11, wherein, The method further includes: In response to the first operation command, the rotation of the surgical instrument is controlled proportionally to control the movement of the surgical instrument toward the target position; In response to the second operation command, the rotation of the surgical instrument is controlled proportionally to control the surgical instrument to reach or pass through the target position.

Images