A control method of a surgical bed leg board and a surgical bed

Abstract

A control method of a surgical bed leg plate and a surgical bed, the method comprising: outputting a first control instruction to a hydraulic system of the surgical bed, controlling the hydraulic system to drive left and right leg plates of the surgical bed to move to a target position of end flush; detecting a first angle difference between the left and right leg plates after outputting the first control instruction; if the first angle difference is greater than a first preset threshold, outputting a second control instruction to the hydraulic system, and controlling the hydraulic system to drive the left and / or right leg plates to move to reduce the first angle difference. The present application can improve the control accuracy of the surgical bed leg plate.

Description

Technical Field

[0001] This invention relates to the medical field, and more specifically to a method for controlling the leg panels of an operating table and an operating table. Background Technology

[0002] For the operating table industry, the currently widely used electro-hydraulic operating tables use a hydraulic system to drive the movement of the operating table legs to achieve different control postures and meet clinical positioning needs.

[0003] Due to hydraulic system oil leakage and the compressibility of the oil itself, after the hydraulic system drives the left and right leg plates to a level position, the ends of the left and right leg plates usually become uneven, affecting the control accuracy of the operating table leg plates. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] One embodiment of the present invention provides a method for controlling the leg board of an operating table, the method comprising:

[0006] Output a first control command to the hydraulic system of the operating table, controlling the hydraulic system to drive the left and right leg plates of the operating table to the target position where their ends are flush.

[0007] The first angle difference between the left leg plate and the right leg plate is detected after the first control command is output;

[0008] If the first angle difference is greater than the first preset threshold, a second control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, so as to reduce the first angle difference.

[0009] In one embodiment, outputting a second control command to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move includes:

[0010] The hydraulic system is controlled to drive the higher leg plate of the left and right leg plates downward, and / or the hydraulic system is controlled to drive the lower leg plate of the left and right leg plates upward.

[0011] In one embodiment, outputting a second control command to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move includes:

[0012] Obtain the pre-established correspondence between adjustment angle and control time;

[0013] The first control time for the hydraulic system is determined based on the first angle difference and the corresponding relationship;

[0014] The hydraulic system is controlled according to the first control time.

[0015] In one embodiment, the step of establishing the correspondence includes:

[0016] The adjustment angle of the operating table was tested under normal operating conditions at different control times to obtain the test results;

[0017] The correspondence is established based on the test results, and the correspondence is applicable to different operating tables.

[0018] In one embodiment, the step of establishing the correspondence includes:

[0019] The adjustment angle of each operating table was tested at different control times to obtain the test results;

[0020] The corresponding relationship for each operating table is established and stored based on the test results.

[0021] In one embodiment, the step of establishing the correspondence includes:

[0022] The adjustment angles of multiple operating tables were tested at different control times to obtain test results for multiple operating tables;

[0023] The test results of the multiple operating tables are statistically analyzed to obtain the corresponding relationship, which is applicable to different operating tables.

[0024] In one embodiment, after outputting the second control command to the hydraulic system, the method further includes:

[0025] Detect whether the first angle difference has decreased to below the first preset threshold;

[0026] If the first angle difference after outputting the second control command is still greater than the first preset threshold, then a third control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, so as to further reduce the first angle difference.

[0027] In one embodiment, before outputting the second control command, the method further includes:

[0028] Detect the second angle difference between the left leg plate and the target position, and the third angle difference between the right leg plate and the target position;

[0029] If the second angle difference is greater than the second preset threshold, the second control command is also used to control the hydraulic system to drive the left leg plate to move, so as to reduce the second angle difference;

[0030] If the third angle difference is greater than the third preset threshold, the second control command is also used to control the hydraulic system to drive the right leg plate to move, so as to reduce the third angle difference.

[0031] In one embodiment, the target location includes a horizontal location.

[0032] Another embodiment of the present invention provides an operating table, the operating table comprising:

[0033] The bed frame includes a left legboard and a right legboard;

[0034] A hydraulic system is used to drive the movement of the left leg plate and the right leg plate;

[0035] A controller, connected to the hydraulic system, is used to execute the control method for the operating table leg as described above.

[0036] The control method for the legboards of the operating table in this embodiment of the invention, and the secondary adjustment of the legboards when the operating table detects that the first angle difference between the left and right legboards is greater than a first preset threshold, so as to reduce the angle difference between the left and right legboards, can avoid unevenness of the left and right legboards from affecting the user experience. Attached Figure Description

[0037] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0038] Figure 1 A schematic flowchart illustrating a control method for the operating table leg board according to an embodiment of the present invention is shown.

[0039] Figure 2 A schematic diagram of a hydraulic system according to an embodiment of the present invention is shown;

[0040] Figure 3 A schematic block diagram of an operating table according to an embodiment of the present invention is shown. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention described herein without inventive effort should fall within the protection scope of the present invention.

[0042] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0043] It should be understood that the invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0044] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of said features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0045] To fully understand this invention, a detailed structure will be presented in the following description to illustrate the technical solution proposed by this invention. Optional embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0046] Below, we will refer to Figure 1 A method for controlling the operating table leg board according to an embodiment of the present invention is described. Figure 1 This is a schematic flowchart of a control method 100 for the operating table leg board according to an embodiment of the present invention.

[0047] like Figure 1 As shown, the control method 100 for the operating table leg board according to an embodiment of the present invention includes the following steps:

[0048] In step S110, a first control command is output to the hydraulic system of the operating table to control the hydraulic system to drive the left and right leg plates of the operating table to the target position where their ends are flush.

[0049] In step S120, the first angle difference between the left leg plate and the right leg plate is detected after the first control command is output;

[0050] In step S130, if the first angle difference is greater than the first preset threshold, a second control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, so as to reduce the first angle difference.

[0051] The control method 100 for the operating table legboards of this invention performs secondary adjustment on the legboards when the first angle difference between the left and right legboards is detected to be greater than a first preset threshold, so as to reduce the angle difference between the left and right legboards and avoid unevenness of the left and right legboards from affecting the user experience.

[0052] The operating table of this invention includes a bed frame and a hydraulic system, the hydraulic system being used to drive the bed frame's movement. The bed frame includes a left leg rest and a right leg rest, and may also include a seat board, a backrest, etc. See also... Figure 2 The hydraulic system includes a first leg plate cylinder 210 and a second leg plate cylinder 220. The first leg plate cylinder 210 is used to drive the left leg plate to move up and down, and the second leg plate cylinder 220 is used to drive the right leg plate to move up and down.

[0053] In some embodiments, the rod-side chamber and rodless chamber of the first leg plate cylinder 210 and the second leg plate cylinder 220 are independently connected to the solenoid valve 230, so that the oil inlet and outlet of the first leg plate cylinder 210 and the second leg plate cylinder 220 do not affect each other, and the first leg plate cylinder 210 and the second leg plate cylinder 220 independently drive the left leg plate and the right leg plate to move up and down. In some embodiments, the first leg plate cylinder 210 and the second leg plate cylinder 220 can also be arranged in series, and the specific series arrangement is not limited. For example, in one example, the rod chamber of the first leg plate cylinder 210 is connected to the rodless chamber of the second leg plate cylinder 220. When oil enters the rodless chamber of the first leg plate cylinder 210, oil returns to the rod chamber of the second leg plate cylinder 220; conversely, when oil enters the rod chamber of the second leg plate cylinder 220, oil returns to the rodless chamber of the first leg plate cylinder 210. In another example, the rodless chamber of the first leg plate cylinder 210 is connected to the rod chamber of the second leg plate cylinder 220. When oil enters the rod chamber of the first leg plate cylinder 210, oil returns to the rodless chamber of the second leg plate cylinder 220; conversely, when oil enters the rodless chamber of the second leg plate cylinder 220, oil returns to the rod chamber of the first leg plate cylinder 210. By using a solenoid valve in the oil circuit between the two leg plate cylinders, the first leg plate cylinder 210 and the second leg plate cylinder 220 can be selected to move independently or synchronously.

[0054] In step S110, a first control command can be output to the hydraulic system of the operating table in response to the received user operation command. The first control command is used to control the hydraulic system to drive the left and right leg plates of the operating table to a target position where their ends are aligned. For example, the user operation command may be an operating table zeroing operation command or an operating table reset operation command, etc., and the target position where the ends of the left and right leg plates are aligned includes, but is not limited to, a horizontal position.

[0055] Specifically, the operating table controller can output a first control command to the oil pump and solenoid valve in the hydraulic system, causing the hydraulic system to drive the left and right leg plates to move to the same target position. The first and second leg plate cylinders can synchronously receive and return oil. For example, the hydraulic system supplies oil to the inlet chamber of the first leg plate cylinder to drive its piston to the target position. The oil from the first leg plate cylinder then enters the second leg plate cylinder through the oil passage between the two cylinders, causing its piston to also move to the target position, and the oil returns through the second leg plate cylinder. Alternatively, the first and second leg plate cylinders can receive and return oil independently.

[0056] Due to factors such as oil leakage and the compressibility of the oil itself, after the first control command is output to control the hydraulic system to drive the left and right leg plates to the target position, there may be a certain angle difference between the left and right leg plates. To avoid an excessive angle difference affecting the user experience, in step S120, the first angle difference between the left and right leg plates is detected after the first control command is output. Specifically, after the first control command is output and the hydraulic system completes the driving operation, the first angle difference between the left and right leg plates is detected. For example, the position information of the left leg plate can be obtained by a sensor installed on the left leg plate, and the position information of the right leg plate can be obtained by a sensor installed on the right leg plate. The position information of the left and right leg plates is compared to obtain the first angle difference between the left and right leg plates.

[0057] In step S130, if the first angle difference is greater than a first preset threshold, a second control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, thereby reducing the first angle difference. This embodiment of the invention improves the control accuracy of the leg plates by adding a second control after the first control, thus avoiding the problem of unevenness at the end of the leg plates. For example, the first preset threshold is not greater than 1°, for example, it can be 0.5°.

[0058] Specifically, to reduce the angle difference between the left and right leg plates, the hydraulic system can be controlled to drive the higher leg plate (left or right) downwards, or the lower leg plate (left or right) upwards. Optionally, the hydraulic system can also be controlled to drive the higher leg plate downwards and the lower leg plate upwards.

[0059] In addition to detecting whether the first angle difference between the left and right leg plates is greater than the first preset threshold, before performing secondary adjustment, the angle difference between the left and right leg plates and the target position can also be detected. Based on the angle difference between the left and right leg plates and the angle difference between the left and right leg plates and the target position, a secondary adjustment strategy can be jointly formulated to avoid the problem of the left and right leg plates being level but deviating too much from the target position, thereby further improving the control accuracy of the leg plates.

[0060] Specifically, the system detects a second angle difference between the left leg plate and the target position, and a third angle difference between the right leg plate and the target position. If the second angle difference is greater than a second preset threshold, a second control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate to move, thereby reducing the second angle difference. If the third angle difference is greater than a third preset threshold, the second control command is also used to control the hydraulic system to drive the right leg plate to move, thereby reducing the third angle difference. In other words, the second control command controls the hydraulic system to reduce the angle difference between the left and right leg plates, and also to reduce the angle difference between the left or right leg plate and the target position.

[0061] For example, assuming condition 1 is that the angle difference between the left and right leg plates is less than 0.5°, and condition 2 is that the angle difference between the left and right leg plates and the target position is less than 1°, then after completing the first leg plate adjustment operation, if both conditions 1 and 2 are met, no secondary adjustment is needed. If condition 2 is met but condition 1 is not, then: if the right leg plate is found to be more than 0.5° higher than the left leg plate, the hydraulic system is controlled to drive the left leg plate upward, and / or the hydraulic system is controlled to drive the right leg plate downward; if the left leg plate is found to be more than 0.5° higher than the right leg plate, the hydraulic system is controlled to drive the right leg plate upward, and / or the hydraulic system is controlled to drive the left leg plate downward. When selecting the leg plate for secondary adjustment, the angle difference between the leg plate and the target position can be considered to avoid the angle difference between the leg plate being adjusted and the target position exceeding a threshold. If condition 1 is met but condition 2 is not, then the left and right leg plates can be adjusted synchronously to simultaneously reduce the angle difference between the left and right leg plates and the target position.

[0062] In this embodiment of the invention, the secondary adjustment of the leg plate is a jog fine-tuning, with a small adjustment angle. For example, to enable fine adjustment of the leg plate, a pre-established correspondence between the adjustment angle and control time can be obtained. A first control time for the hydraulic system is determined based on the first angle difference and the correspondence between the adjustment angle and control time; the hydraulic system is then controlled according to this first control time. The control time for the hydraulic system includes the control time for the oil pump and the control time for the solenoid valve, both of which determine the movement distance of the leg plate cylinder piston, and thus determine the adjustment angle of the leg plate.

[0063] For example, one method for establishing the correspondence between adjustment angle and control time is as follows: Under normal operating conditions, the adjustment angle of the operating table is tested at different control times to obtain test results; based on the obtained test results, the aforementioned correspondence is established, and this correspondence applies to different operating tables. For operating tables of the same batch or model, only one operating table can be tested under normal operating conditions, and the test results can be used as the correspondence between adjustment angle and control time for all operating tables of that batch or model, thereby reducing testing time.

[0064] For example, another method for establishing the correspondence between adjustment angle and control time is to test the adjustment angle of each operating table under different control times to obtain test results; establish and store the correspondence of each operating table based on the test results of each operating table, and the correspondence of each operating table is established based on its own test results, thereby improving the accuracy of the correspondence.

[0065] For example, another method for establishing the correspondence between adjustment angle and control time is as follows: test the adjustment angle of multiple operating tables under different control times to obtain test results for multiple operating tables; statistically analyze the test results of multiple operating tables to obtain a correspondence applicable to different operating tables. In this example, statistical analysis of the test results of multiple operating tables yields a correspondence applicable to all operating tables, eliminating the need to test each operating table individually, while also ensuring the accuracy of the correspondence.

[0066] In some embodiments, the secondary adjustment of the legboards can also be performed at a fixed adjustment angle. Since the initial angle difference between the left and right legboards after the first adjustment of the legboards on a current operating table is usually around 1°, it is possible to default to lowering the higher legboard by 0.5° or raising the lower legboard by 0.5°, so that the angle difference between the left and right legboards after adjustment is reduced to within an acceptable 0.5°.

[0067] In some embodiments, after outputting the second control command to the hydraulic system, it can be detected whether the first angle difference between the left and right leg plates has decreased to below a first preset threshold. If, after a second adjustment, the first angle difference between the left and right leg plates is still greater than the first preset threshold, a third control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, thereby further reducing the first angle difference. The control logic of the third control command is the same as that of the second control command described above. For example, after outputting the third control command, the angle difference between the left and right leg plates is no longer detected, and no further adjustment is made to the left and right leg plates to avoid the adjustment process being too long and affecting the user's normal use of the operating table. In other embodiments, a third adjustment may not be performed, or a fourth or more adjustments may be performed after the third adjustment.

[0068] In summary, the control method 100 for the operating table legboards of this embodiment of the invention performs secondary adjustment of the legboards when the first angle difference between the left and right legboards is detected to be greater than a first preset threshold, so as to reduce the angle difference between the left and right legboards and avoid unevenness of the left and right legboards from affecting the user experience.

[0069] This invention also provides an operating table, see [link to relevant documentation]. Figure 3 The operating table 300 includes at least a bed body 310, a hydraulic system 320, and a controller 330. The bed body 310 includes a left leg plate 311 and a right leg plate 312; the hydraulic system 320 is used to drive the left leg plate 311 and the right leg plate 312 to move; the controller 330 is connected to the hydraulic system 320 and is used to execute the operating table leg plate control method 100 as described above.

[0070] The operating table 300 includes a bed frame 310 used to support the patient's body during surgery. The bed frame 310 can be composed of multiple support plates that support different parts of the patient's body, including a left leg support 311, a right leg support 312, a seat, and a backrest. The support plates are movably connected, and each support plate can perform specific actions based on the directional driving force of the hydraulic system 320.

[0071] Furthermore, the operating table 300 also includes a column and a base, wherein the column is located between the bed body 310 and the base. A hydraulic system 320 and a controller 330 may be disposed in the column for driving the bed body to translate. The column can also be used to perform lifting actions to adjust the height of the bed body 310. In some embodiments, the column may also include a pivot for tilting the bed body forward and backward or left and right. Exemplarily, the base may include casters for facilitating the movement of the operating table, and may further include a brake locking component for restricting the movement of the operating table.

[0072] The controller 330 is connected to the hydraulic system 320 via wired or wireless means to control the hydraulic system 320 to operate or stop. The controller 330 can be a central processing unit, digital signal processor, application-specific integrated circuit, off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The controller 330 can be a microprocessor or any conventional processor. Specifically, the controller 330 executes the control method 100 for the operating table leg boards, outputting a first control command to the hydraulic system 320 to drive the left leg board 311 and right leg board 312 to a target position with their ends aligned; detecting a first angle difference between the left leg board 311 and right leg board 312 after outputting the first control command; if the first angle difference is greater than a first preset threshold, then outputting a second control command to the hydraulic system 320 to drive the left leg board 311 and / or right leg board 312 to move, thereby reducing the first angle difference. Specific details regarding the control method 100 for the operating table leg boards can be found above and will not be repeated here.

[0073] When the operating table 300 of this embodiment detects that the first angle difference between the left and right leg boards is greater than the first preset threshold, it performs secondary adjustment of the leg boards to reduce the angle difference between the left and right leg boards, thereby avoiding unevenness of the left and right leg boards and affecting the user experience.

[0074] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0075] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0076] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0077] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0078] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, this approach should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0079] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0080] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0081] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing some or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0082] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0083] The above description is merely a specific embodiment of the present invention or an explanation of that embodiment. The scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the legs of an operating table, characterized in that, The method includes: Output a first control command to the hydraulic system of the operating table, controlling the hydraulic system to drive the left and right leg plates of the operating table to the target position where their ends are flush. The first angle difference between the left leg plate and the right leg plate is detected after the first control command is output; If the first angle difference is greater than the first preset threshold, a second control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, so as to reduce the first angle difference; The step of outputting a second control command to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move includes: Obtain the pre-established correspondence between adjustment angle and control time, wherein the control time includes the control time of the oil pump and the control time of the solenoid valve; The first control time for the hydraulic system is determined based on the first angle difference and the corresponding relationship; The hydraulic system is controlled according to the first control time; Before outputting the second control command, the following is also included: Detect the second angle difference between the left leg plate and the target position, and the third angle difference between the right leg plate and the target position; If the second angle difference is greater than the second preset threshold, the second control command is also used to control the hydraulic system to drive the left leg plate to move, so as to reduce the second angle difference; If the third angle difference is greater than the third preset threshold, the second control command is also used to control the hydraulic system to drive the right leg plate to move, so as to reduce the third angle difference.

2. The method as described in claim 1, characterized in that, The step of outputting a second control command to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move includes: The hydraulic system is controlled to drive the higher leg plate of the left and right leg plates downward, and / or the hydraulic system is controlled to drive the lower leg plate of the left and right leg plates upward.

3. The method as described in claim 2, characterized in that, The steps for establishing the correspondence include: The adjustment angle of the operating table was tested under normal operating conditions at different control times to obtain the test results; The correspondence is established based on the test results, and the correspondence is applicable to different operating tables.

4. The method as described in claim 1, characterized in that, The steps for establishing the correspondence include: The adjustment angle of each operating table was tested at different control times to obtain the test results; The corresponding relationship for each operating table is established and stored based on the test results.

5. The method as described in claim 1, characterized in that, The steps for establishing the correspondence include: The adjustment angles of multiple operating tables were tested at different control times to obtain test results for multiple operating tables; The test results of the multiple operating tables are statistically analyzed to obtain the corresponding relationship, which is applicable to different operating tables.

6. The method as described in claim 1 or 2, characterized in that, After outputting the second control command to the hydraulic system, the method further includes: Detect whether the first angle difference has decreased to below the first preset threshold; If the first angle difference after outputting the second control command is still greater than the first preset threshold, then a third control command is output to the hydraulic system to control the hydraulic system to drive the left leg plate and / or the right leg plate to move, so as to further reduce the first angle difference.

7. The method as described in claim 1 or 2, characterized in that, The target location includes a horizontal location.

8. An operating table, characterized in that, The operating table includes: The bed frame includes a left legboard and a right legboard; A hydraulic system is used to drive the movement of the left leg plate and the right leg plate; A controller, connected to the hydraulic system, is used to execute the control method for the operating table leg board according to any one of claims 1-7.

Images