The main control panel's display adjustment mechanism and the minimally invasive surgical robot

Abstract

This invention relates to a display adjustment mechanism for a main control console and a minimally invasive surgical robot, comprising: a support column, a display rotatably coupled to the support column, a movable connecting rod disposed between the display and the support column, and a compensation adjustment assembly disposed between the movable connecting rod and the support column; wherein the compensation adjustment assembly includes a sliding block slidably coupled to the support column, and a transmission structure disposed in the sliding block; and the movable connecting rod is adapted to link with the transmission structure to drive the sliding block to slide on the support column. This invention can reduce the displacement difference of the eyepiece aperture synchronous adjustment during the adjustment process of the main control console.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a display adjustment mechanism for a main control console and a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. However, because each surgeon has different heights, postures, and other habits, and because the minimally invasive surgical robot is a shared piece of equipment used by different surgeons, a fixed display may not provide the optimal viewing angle and may not meet the observation habits of human-computer interaction, thus affecting user comfort.

[0003] To address the aforementioned issues, for example, prior art disclosed in CN206377417U describes a device for fixing and fine-tuning a display. Similar prior art displays typically only adjust the angle of the display. However, the display device on the surgeon's console in minimally invasive surgical machines has an eyepiece port through which the surgeon can see the image of the surgical position. Therefore, while adjusting the angle of the display, the eyepiece port also changes its position synchronously with the rotation of the display. This can cause a deviation in the position of the eyepiece port, resulting in displacement differences in both the horizontal and vertical axes. Under such a structure, the surgeon needs to adjust their body position according to the position of the eyepiece port. During surgery, maintaining an inappropriate position for a long time will greatly increase fatigue and is detrimental to the operation. Summary of the Invention

[0004] The first objective of this invention is to provide a display adjustment mechanism for a main control console to solve the technical problem of reducing the displacement difference of the eyepiece aperture during synchronous adjustment in the main control console adjustment process.

[0005] The second objective of this invention is to provide a minimally invasive surgical robot to solve the technical problem of reducing the displacement difference of the eyepiece aperture during the adjustment process of the main control panel of the minimally invasive surgical robot.

[0006] The display adjustment mechanism of the main control panel of this invention is implemented as follows:

[0007] A display adjustment mechanism for a main control console includes: a support column, a display rotatably coupled to the support column, a movable connecting rod disposed between the display and the support column, and a compensation adjustment assembly disposed between the movable connecting rod and the support column; wherein

[0008] The compensation adjustment assembly includes a sliding block that is slidably engaged with the support column, and a transmission structure disposed in the sliding block; and

[0009] The movable linkage is adapted to a linkage transmission structure to drive the sliding block to slide on the support column.

[0010] In an optional embodiment of the present invention, the sliding block is formed with a receiving groove for accommodating the transmission structure; and

[0011] A connecting component is provided between the transmission structure and the movable connecting rod;

[0012] The movable connecting rod is pivotally connected to the groove wall of the receiving groove of the sliding block;

[0013] When the transmission structure rotates relative to the sliding block, the transmission structure is adapted to drive the sliding block to slide on the support column through the connecting member.

[0014] In an optional embodiment of the present invention, the connecting member is a sector-shaped toothed plate disposed on the movable connecting rod.

[0015] In an optional embodiment of the present invention, the transmission structure includes at least one stage of transmission gear connected to the sector-shaped toothed plate, and a toothed strip disposed along the sliding direction of the sliding block and meshing with the at least one stage of transmission gear.

[0016] The transmission gear is connected to the receiving groove via a gear shaft;

[0017] The toothed strip is fixed to the end face of the supporting column and the sliding block in sliding engagement.

[0018] In an optional embodiment of the present invention, the transmission gear includes a first-stage transmission gear meshing with a sector-shaped gear, a first-stage transition gear coaxially distributed with the first-stage transmission gear, a second-stage transition gear meshing with and connected to the first-stage transition gear, and a second-stage transmission gear coaxially distributed with the second-stage transition gear; wherein

[0019] The second-stage transmission gear meshes with the rack; and

[0020] A first transmission shaft passes through the first stage transmission gear and the first stage transition gear.

[0021] A second drive shaft passes through the second-stage transmission gear and the second-stage transition gear; and

[0022] The wall of the receiving groove is provided with a first shaft hole that pivotally engages with the first drive shaft, a second shaft hole that pivotally engages with the second drive shaft, and a third shaft hole that pivotally engages with the movable connecting rod.

[0023] In an optional embodiment of the invention, the sliding block includes a pair of opposing sliders, which cooperate to form the receiving groove.

[0024] In an optional embodiment of the present invention, a guide rail structure is provided between the end faces of the pair of sliders that are slidably engaged with the supporting column.

[0025] In an optional embodiment of the present invention, the guide rail structure includes a groove formed in the end face of the slider and the support column that slides together, a first guide rail disposed in the groove, a second guide rail disposed on the end face of the support column and the slider that slide together, and a plurality of rollers arranged in strips disposed on the contact end face of the first guide rail and the second guide rail.

[0026] In an optional embodiment of the present invention, at least one of the sliders in a pair of sliders has a relief groove corresponding to the toothed strip on the end face where it slides into contact with the support column.

[0027] The minimally invasive surgical robot of this invention is implemented as follows:

[0028] A minimally invasive surgical robot includes: a display adjustment mechanism for the main control panel, and a drive structure provided between the display and the movable connecting rod for adjusting the engagement angle between the support column and the display.

[0029] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: the display adjustment mechanism of the main control console and the minimally invasive surgical robot of the present invention have a movable connecting rod that is movably connected to the support column through a sliding block. When the movable connecting rod drives the display to move relative to the support column to adjust the matching angle between the display and the support column, the horizontal movement of the sliding block on the support column can compensate for the difference in lateral displacement of the eyepiece caused by the rotation of the display relative to the support column. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Figure 1 A partial structural schematic diagram of the main control panel of the minimally invasive surgical robot provided by the present invention is shown;

[0032] Figure 2 A partial structural schematic diagram of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention is shown.

[0033] Figure 3 An exploded view of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention is shown.

[0034] Figure 4A schematic diagram of the transmission structure of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention is shown.

[0035] Figure 5 This invention illustrates the cooperation between the sliding block and the transmission structure of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention.

[0036] Figure 6 An exploded view of the supporting column and sliding block of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention, as well as the transmission structure, is shown.

[0037] Figure 7 A schematic diagram of the sliding block structure of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention is shown.

[0038] Figure 8 A schematic diagram of the guide rail structure of the compensation adjustment component of the display adjustment mechanism of the main control panel of the minimally invasive surgical robot provided by the present invention is shown.

[0039] Figure 9 This is a schematic diagram of the movable block and drive structure of the main control panel of the minimally invasive surgical robot of the present invention.

[0040] Figure 10 This is a schematic diagram showing the reference surface A of the display of the main control panel of the minimally invasive surgical robot of the present invention in a horizontally downward state;

[0041] Figure 11 This is a schematic diagram showing the reference plane A of the display of the main control panel of the minimally invasive surgical robot of the present invention in a horizontally downward orientation;

[0042] Figure 12 This is a schematic diagram showing the angle adjustment range of the display and eyepiece of the main control panel of the minimally invasive surgical robot of the present invention relative to the supporting column.

[0043] In the diagram: 1. Display screen; 100. Eyepiece; 2. Support column; 21. Toothed rack; 3. Connecting seat; 4. Sliding block; 5. Movable connecting rod; 6. Movable block; 7. Lead screw; 8. Motor; 10. Elastic tensioning element; 11. Travel limit switch; 12. Slide rail; 13. Magnetic strip; 15. Sensor head; 16. Drive gear; 17. Transmission gear; 41. Slider; 42. Receiving groove; 43. First shaft hole; 44. Second shaft hole; 45. Third shaft hole; 46. Slide groove; 47. Relief groove; 51. Sector toothed plate; 52. First stage transmission gear; 53. First stage transition gear; 54. Second stage transition gear; 55. Second stage transmission gear; 56. First transmission shaft; 57. Second guide rail; 18. First guide rail; 19. Roller; 20. Toothed rack; 21. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0045] Example 1: Please refer to Figures 1 to 12 As shown, this embodiment provides a display 1 adjustment mechanism for a main control console, including: a support column 2, a display 1 that rotates with the support column 2, a movable connecting rod 5 disposed between the display 1 and the support column 2, and a compensation adjustment component disposed between the movable connecting rod 5 and the support column 2.

[0046] Generally speaking, the compensation and adjustment assembly includes a sliding block 4 that is slidably engaged with the support column 2, a transmission structure disposed in the sliding block 4, and a movable connecting rod 5 adapted to link the transmission structure to drive the sliding block 4 to slide on the support column 2.

[0047] Specifically, the sliding block 4 has a pre-formed receiving groove 42 for accommodating the transmission structure, and a connecting member is provided between the transmission structure and the movable connecting rod 5 to achieve the linkage effect between the movable connecting rod 5 and the transmission structure. Based on this structure, the movable connecting rod 5 is pivotally connected to the groove wall of the receiving groove 42 of the sliding block 4, and when the movable connecting rod 5 rotates relative to the sliding block 4, the transmission structure is adapted to drive the sliding block 4 to slide on the support column 2 through the connecting member.

[0048] The following example, illustrated with the attached diagram, will be discussed in detail:

[0049] First, regarding the sliding block 4, in this embodiment, the sliding block 4 includes a pair of relatively mating sliders 41, which together form a receiving groove 42. This structure, using a pair of sliders 41, improves the ease of assembling the transmission structure into the receiving groove 42. The receiving groove 42 can be roughly rectangular, which is not only easy to process but also provides a large opening for easy installation of the transmission structure and the movable connecting rod 5.

[0050] Secondly, the entire receiving groove 42 is a through groove structure, with openings communicating with the receiving groove 42 on the end face of the sliding block 4 that slides with the supporting column 2 and on the end face of the sliding block 4 that faces away from the sliding support column 2.

[0051] Furthermore, the connecting component is a sector-shaped toothed plate 51 mounted on the movable connecting rod. The transmission structure includes at least one stage of transmission gear connected to the sector-shaped toothed plate 51, and a toothed strip 21 arranged along the sliding direction of the sliding block 4 and meshing with the at least one stage of transmission gear; here, the at least one stage of transmission gear is connected to the receiving groove 42 via a gear shaft; the end face of the sliding block 4 that slides into the support column 2 has an opening that communicates with the receiving groove 42; and the toothed strip 21 is fixed to the end face of the support column 2 that slides into the sliding block 4. It is also necessary to note that at least one of the pair of sliders 41 has a clearance groove 47 corresponding to the toothed strip 21 on the end face that slides into the support column 2.

[0052] Based on the above structure, and specifically referring to the accompanying drawings, in one example, the transmission gear includes a first-stage transmission gear 52 meshing with the sector-shaped toothed plate 51, a first-stage transition gear 53 coaxially distributed with the first-stage transmission gear 52, a second-stage transition gear 54 meshing with and connected to the first-stage transition gear 53, and a second-stage transmission gear 55 coaxially distributed with the second-stage transition gear 54; wherein the second-stage transmission gear 55 meshes with the toothed rack 21. For the transmission gear reduction ratio in this embodiment, a reduction ratio of, for example but not limited to, 1:15 can be used. Of course, this reduction ratio can be adjusted according to actual conditions, and the specific reduction ratio is not absolutely limited in this embodiment.

[0053] Furthermore, it is necessary to explain that, regarding the at least one stage transmission gear in this embodiment being connected to the receiving groove 42 via a gear shaft, the specific structure, in conjunction with the accompanying drawings, can be illustrated by the following example: a first transmission shaft 56 passes through between the first stage transmission gear 52 and the first stage transition gear 53; a second transmission shaft 57 passes through between the second stage transmission gear 55 and the second stage transition gear 54; the groove wall of the receiving groove 42 is provided with a first shaft hole 43 pivotally engaged with the first transmission shaft 56, a second shaft hole 44 pivotally engaged with the second transmission shaft 57, and a third shaft hole 45 pivotally engaged with the movable connecting rod 5. Here, the first shaft hole 43 and the first transmission shaft 56, the second shaft hole 44 and the second transmission shaft 57, and the third shaft hole 45 and the third transmission shaft can all employ a sliding fit structure, or a bearing transition fit structure; this embodiment does not impose absolute limitations on this.

[0054] In addition, in order to precisely limit the sliding trajectory of the slider 41 on the support column 2, and in order to form a firm fit between the support column 2 and the slider 41 and prevent the two from separating, this embodiment also provides a guide rail structure between the end faces of the pair of sliders 41 that are in sliding fit with the support column 2.

[0055] Based on the above, in one optional embodiment, the guide rail structure includes a groove 46 formed in the end face of the slider 41 and the supporting column 2 that slides together, a first guide rail 19 disposed in the groove 46, a second guide rail 18 disposed on the end face of the supporting column 2 and the slider 41 that slides together, and a plurality of rollers 20 arranged in strips on the contact end faces of the first guide rail 19 and the second guide rail 18. In other words, the first guide rail 19 and the second guide rail 18 have sliding grooves on their facing end faces for engaging the plurality of rollers 20.

[0056] In the adjustment mechanism of the display 1 of the main control console in this embodiment, the movable connecting rod 5 is movably connected to the support column 2 through the sliding block 4. When the movable connecting rod 5 drives the display 1 to move relative to the support column 2 to adjust the matching angle between the display 1 and the support column 2, the sliding block 4 can support the column 2 to move horizontally under the action of the movable connecting rod 5.

[0057] Example 2: Please refer to Figures 1 to 12 As shown, based on the display adjustment mechanism of the main control console in Embodiment 1, this embodiment provides a minimally invasive surgical robot, which includes: the display adjustment mechanism of the main control console in Embodiment 1, and a drive structure provided between the display and the movable connecting rod 5 for adjusting the cooperation angle between the support column and the display.

[0058] Specifically, the support column 2 maintains its basic position during the use of the main control panel, while the display 1 can rotate relative to the support column 2 to adjust the angle between the display 1 and the support column 2.

[0059] The rotational fit between the support column 2 and the display 1 is mainly achieved through the following two dimensions of connection structure:

[0060] First dimension: The movable connection between the monitor 1 and the support column 2 is achieved through a pivotally connected sliding block 4 and connecting seat 3. The sliding block 4 and connecting seat 3 can be coupled using a fixed shaft and an oil-free bushing to achieve a rotational engagement. Based on this structure, when the monitor 1 rotates relative to the support column 2, the sliding block 4 can also rotate relative to the connecting seat 3, and both only have rotational freedom; other degrees of freedom are restricted.

[0061] The second dimension: The movable connection between the display 1 and the supporting column 2 is realized by the driving structure.

[0062] Referring to the accompanying drawings, one embodiment of the driving structure includes a movable connecting rod 5, one end of which is movably connected to the support column 2; a movable block 6, the other end of which is connected to the movable connecting rod 5; and a linear motion module mounted on the display 1 for driving the movable block 6 to perform linear reciprocating motion. In an optional embodiment, one end of the movable connecting rod 5 is hinged to the support column 2, and the other end of the movable connecting rod 5 is hinged to the movable block 6. Based on this structure, when the movable block 6 moves away from the support column 2 in the display 1, the display 1 tilts upwards relative to the support column 2; and when the movable block 6 moves closer to the support column 2 in the display 1, the display 1 tilts downwards relative to the support column 2.

[0063] Considering the ease of structural design and the reduction of overall structural design and production costs, in one optional implementation, the movable block 6 and the movable connecting rod 5 can be pivotally connected using a matching fixed shaft and an oil-free bushing. As for the pivotal connection between the movable connecting rod 5 and the supporting column 2, it can be achieved using, for example, but not limited to, a matching fixed shaft and an oil-free bushing; other structures can also be used as long as they enable the movable connection between the movable connecting rod 5 and the supporting column 2. This embodiment does not impose absolute limitations on this.

[0064] Furthermore, the linear motion module here can be a linear push rod structure. Alternatively, it can include a nut connected to the movable block 6, a lead screw 7 mating with the nut, and a drive structure connecting the lead screw 7 to drive its rotation. This drive structure can be directly connected to a motor 8 connected to the lead screw 7, or it can include a transmission gear 17 fixed to the lead screw 7, a drive gear 16 meshing with the transmission gear 17, and a motor 8 connected to the drive gear 16. This embodiment, in conjunction with the accompanying drawings, only illustrates the latter scenario. More specifically, in this embodiment, the drive gear 16 and the transmission gear 17 are axially perpendicular. This arrangement minimizes the overall length of the drive structure, making it more compact and aesthetically pleasing. Additionally, this embodiment uses a T-shaped lead screw with a self-locking function, providing a high safety factor. In the event of motor 8 failure, the lead screw 7 can self-lock, preventing rotation and thus preventing the display 1 from falling due to insufficient support.

[0065] In this embodiment, the nut can be integrated with the movable block 6 or made into a separate structure; this embodiment does not impose an absolute limitation on this. To support and limit the lead screw 7, the display 1 is provided with support frames for supporting the two ends of the lead screw 7. Optionally, the support frame farther from the support column 2 can be L-shaped, allowing it to support not only the lead screw 7 but also the motor 8. This simplifies the overall structure of the display 1 and simplifies the assembly process.

[0066] Furthermore, to limit the linear motion trajectory of the movable block 6, this embodiment also includes at least one slide rail 12 distributed parallel to the linear motion direction of the movable block 6 between the movable block 6 and the display 1. The accompanying drawings of this embodiment show an example of a pair of slide rails 12 distributed on both sides of the lead screw 7, with the movable block 6 slidingly engaged with the pair of slide rails 12. The movable block 6 can be pre-fabricated with a sliding groove that engages with the linear slide rail 12, or it can be further assembled with a slider 41 structure. This embodiment does not impose an absolute limitation on this.

[0067] Based on the above structure, this embodiment further improves the structure as follows: at least one pair of elastic tension members 10 are provided on the display 1 along the movement direction of the movable block 6. This embodiment, in conjunction with the accompanying drawings, takes the case where a pair of elastic tension members 10 are provided on both sides of the lead screw 7 as an example. Preferably, in order to ensure that the pair of elastic tension members 10 exert a balanced elastic force on the movable block 6, the pair of elastic tension members 10 are symmetrically distributed on both sides of the lead screw 7. Specifically, one end of each pair of elastic tension members 10 is fixed to a support frame in an L-shape, and the other end of each pair of elastic tension members 10 is connected to the movable block 6.

[0068] Specifically, without the elastic tension member 10, due to gravity, the display 1 tends to rotate downwards relative to the support column 2. The tension provided by the elastic tension member 10 causes the display 1 to slide upwards. However, due to the limitations of the mechanical structures such as the movable connecting rod 5, the movable block 6, and the slide rail 12, this tendency is transformed into an upward rotation of the display 1. In this way, the downward rotation tendency of the display 1 is offset, thus achieving gravitational balance. In this case, only a very small external force (provided by the linear motion module in this embodiment) is needed to adjust the engagement angle of the display 1 relative to the support column 2.

[0069] It should be noted that as the monitor 1 tilts upward relative to the supporting column 2, the angle between the monitor 1 and the vertical direction gradually decreases. If the tension of the elastic tension member 10 remains constant, the vertical component of the force will increase, potentially exceeding the required balancing force of gravity. Therefore, the tension of the elastic tension member 10 needs to decrease simultaneously as the monitor 1 tilts upward.

[0070] In an alternative implementation, the elastic tension member 10 is a gas spring (constant tension spring), see reference. Figure 9 To better illustrate the fit, only the end of the gas spring assembled with the support frame is shown, while the other end of the metal spring (the side closer to the movable block 6) is not assembled. At this point, a gas spring is installed on each side of the lead screw 7. Using gas springs provides a constant tension to balance the effects of gravity, facilitating the adjustment of the fitting angle between the display 1 and the support column 2. Compared to metal springs, gas springs are relatively slower, have less dynamic force variation (generally within 1:1.2), and are easier to control. It is understood that the tension of the gas springs here can be determined through mechanical analysis of the display 1, which is a conventional mechanical technique; therefore, it will not be elaborated upon in this embodiment.

[0071] Of course, the gas spring here can also be replaced with a metal spring. Using a metal spring provides better responsiveness to the gravity required for adjusting the angle between the display 1 and the support column 2, because the tension of the metal spring can change with the deformation. The material, elastic coefficient and length of the metal spring can be determined through conventional mechanical analysis, which will not be elaborated here.

[0072] In an optional implementation, this embodiment also incorporates the following structural design: Two travel limit switches 11 are spaced apart on the display 1 to sense the position of the movable block 6. Here, the two travel limit switches 11 work together to sense when the movable block 6 slides to a fixed position, transmitting the sensing signal to the controller. The controller receives and processes the information, then sends a signal to the motor 8 to control its start and stop, thus limiting the travel distance and restricting the adjustment of the display 1 within a certain angle.

[0073] Next, let's talk about the active linkage 5 itself:

[0074] The accompanying drawings of this embodiment use a C-shaped structure for the movable connecting rod 5 as an example. Here, the movable connecting rod 5 with a C-shaped structure is used to increase the strength of the movable connecting rod 5. That is to say, under the premise of appropriately reducing the strength requirements, a straight rod or other structure can be used to replace the C-shaped structure here.

[0075] In summary, the specific adjustment principle of the cooperation angle between the display 1 and the support column 2 of the minimally invasive surgical robot in this embodiment is as follows:

[0076] There are three pivot points between the monitor 1, the supporting column 2, and the movable connecting rod 5. The first pivot point is between the monitor 1 and the supporting column 2; the second pivot point is between the movable connecting rod 5 and the movable block on the monitor; and the third pivot point is between the movable connecting rod 5 and the supporting column 2. When the movable block 6 moves linearly on the monitor 1, the movable connecting rod 5 rotates around the third pivot point, and the monitor 1 rotates around the first pivot point, thus achieving angle adjustment.

[0077] When the movable block 6 moves away from the support column 2 in the display 1, the display 1 tilts upward relative to the support column 2; and when the movable block 6 moves closer to the support column 2 in the display 1, the display 1 tilts downward relative to the support column 2. The angle adjustment mechanism of the display in this embodiment uses the bottom surface of the display 1 as a reference surface A. When the reference surface A is horizontal, an adjustment range K of ±10° is achieved using the reference surface A as a reference plane.

[0078] More specifically, taking the orientation shown in the attached diagram as an example, when it is necessary to adjust the display 1 upwards (similar to a person looking up), the linear motion module drives the movable block 6 to move upwards along the slide rail 12 (corresponding to the first direction in this embodiment). The movable connecting rod 5 rotates synchronously relative to the movable block 6 and the support column 2, while the sliding block 4 also rotates synchronously relative to the connecting seat 3, thereby realizing the upward adjustment of the display 1. When it is necessary to adjust the display 1 downwards (similar to a person looking down), the linear motion module extends and drives the movable block 6 to move downwards along the slide rail 12 (corresponding to the second direction in this embodiment). The movable connecting rod 5 rotates synchronously relative to the movable block 6 and the support column 2, while the sliding block 4 and the connecting seat 3 also rotate synchronously, thereby realizing the downward adjustment of the display 1.

[0079] The movable linkage 5 connects to both the display 1 and the support column 2, and coordinates with the linear movement of the movable block 6 on the display 1, as well as the pivotal engagement between the movable and fixed components. This creates both a direct connection between the display 1 and the support column 2, and an indirect connection via the movable linkage 5. For a heavy control console, this ensures effective support for the display 1, improving its stability and balance during adjustments to the angle between the support column 2 and the display 1. Furthermore, it effectively guarantees the connection strength between the display 1 and the support column 2, preventing damage due to long-term load-bearing fatigue.

[0080] Additionally, see Figure 2As shown, the sliding block 4 can slide horizontally relative to the flat end of the support column (reference surface A is horizontal in the neutral state). When the display 1 can be adjusted at an angle of ±10° relative to the support column 2 with the first pivot connection point as the axis, the corresponding movable connecting rod 5 can be adjusted at an angle of ±6° relative to the support column 2 with the third pivot connection point as the axis. After adjusting the angle, it can be observed that the position of the eyepiece 100 on the display has a deviation in the horizontal coordinate direction (in this embodiment, only the horizontal coordinate offset difference is adjusted, and the displacement difference generated by the vertical coordinate is not considered). After rotating counterclockwise in the neutral state, the position of the eyepiece 100 shifts to the right and needs to be compensated to the left. Similarly, after rotating clockwise in the neutral state, it needs to be compensated to the right. In this embodiment, the movable connecting rod 5 is movably connected to the support column 2 via the sliding block 4. When the movable connecting rod 5 drives the display 1 to move relative to the support column 2 to adjust the fitting angle between the display 1 and the support column 2, the horizontal movement of the sliding block 4 on the support column 2 can compensate for the horizontal coordinate displacement difference of the eyepiece 100 caused by the angular rotation of the display 1 relative to the support column 2.

[0081] Example 3: Based on the minimally invasive surgical robot of Example 3 or Example 2, the minimally invasive surgical robot provided in this example has the following structural improvements:

[0082] A magnetic strip 13 is also provided on the display 1 along the sliding trajectory of the movable block 6. That is, the magnetic strip 13 is arranged parallel to the slide rail 12, and its length is at least the same as the maximum sliding trajectory of the movable block 6, so as to meet the usage requirements of recording the movable block 6 at different positions; and a sensor head 15 suitable for use with the magnetic strip 13 is provided on the movable block 6. The sensor head 15 can be connected to the control system wirelessly or wiredly.

[0083] Based on this structure, when the monitor angle adjustment mechanism of the doctor's console in this embodiment is in a specific doctor's console, the specific position of the adjusted movable block 6 can be recorded, thus completing the recording of each doctor's adjustment habits. The next time the doctor uses it, they only need to log into the system to automatically adjust the pitch angle through the control system. It should be noted that the magnetic strip 13 and sensor head 15 used here can also be replaced with other systems capable of recording position or angle (rotation angle of the movable linkage 5 or operating state of the motor 8) to achieve the overall memory function of the monitor angle adjustment mechanism of the doctor's console.

[0084] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0085] In the description of this invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0086] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0087] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0088] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0089] In this invention, unless otherwise expressly specified and limited, "above or below" a first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

Claims

1. A display adjustment mechanism for a main control console, characterized in that, include: The support column, the display that rotates with the support column, the movable connecting rod between the display and the support column, and the compensation adjustment assembly between the movable connecting rod and the support column. in The compensation adjustment assembly includes a sliding block that is slidably engaged with the support column, and a transmission structure disposed in the sliding block; and The movable linkage is adapted to a linkage transmission structure to drive the sliding block to slide on the support column; The sliding block has a receiving groove formed therein for accommodating the transmission structure; a connecting piece is provided between the transmission structure and the movable connecting rod; the movable connecting rod is pivotally connected to the groove wall of the receiving groove of the sliding block; When the transmission structure rotates relative to the sliding block, the transmission structure is adapted to drive the sliding block to slide on the support column through the connecting member; the connecting member is a sector-shaped toothed piece provided on the movable connecting rod; The transmission structure includes at least one stage of transmission gear connected to the sector-shaped toothed plate, and a toothed rack arranged along the sliding direction of the sliding block and meshing with the at least one stage of transmission gear; the transmission gear is connected to the receiving groove through a gear shaft; the toothed rack is fixed to the end face of the support column and the sliding block in sliding engagement.

2. The display adjustment mechanism of the main control console according to claim 1, characterized in that, The transmission gear includes a first-stage transmission gear meshing with a sector-shaped gear, a first-stage transition gear coaxially distributed with the first-stage transmission gear, a second-stage transition gear meshing with and connected to the first-stage transition gear, and a second-stage transmission gear coaxially distributed with the second-stage transition gear; wherein The second-stage transmission gear meshes with the rack; and A first transmission shaft passes through the first stage transmission gear and the first stage transition gear. A second drive shaft passes through the second-stage transmission gear and the second-stage transition gear; and The wall of the receiving groove is provided with a first shaft hole that pivotally engages with the first drive shaft, a second shaft hole that pivotally engages with the second drive shaft, and a third shaft hole that pivotally engages with the movable connecting rod.

3. The display adjustment mechanism of the main control console according to claim 1 or 2, characterized in that, The sliding block includes a pair of opposing sliders, which work together to form the receiving groove.

4. The display adjustment mechanism of the main control console according to claim 3, characterized in that, Each pair of sliders is provided with a guide rail structure between the end faces that slide with the supporting column.

5. The display adjustment mechanism of the main control console according to claim 4, characterized in that, The guide rail structure includes a groove formed in the end face of the slider and the support column that slide together, a first guide rail in the groove, a second guide rail on the end face of the support column and the slider that slide together, and a plurality of rollers arranged in strips on the contact end face of the first guide rail and the second guide rail.

6. The display adjustment mechanism of the main control console according to claim 3, characterized in that, At least one of the sliders in a pair has a relief groove on its end face that slides with the support column, corresponding to the toothed strip.

7. A minimally invasive surgical robot, characterized in that, include: The main control console display adjustment mechanism as described in any one of claims 1 to 6, and the drive structure provided between the display and the movable connecting rod for adjusting the engagement angle between the support column and the display.

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