Hydraulic driving device, operating bed and control method

Abstract

The embodiment of the invention provides a hydraulic driving device, an operating bed and a control method.The operating bed comprises a base, a supporting device, the hydraulic driving device and a control device; the operating bed supporting device at least comprises two supporting mechanisms used for providing support for a target object. The hydraulic driving device is used for driving the at least two operating bed supporting mechanisms to execute posture adjusting operation; and the control device is in communication connection with the operating bed hydraulic driving device and is used for controlling the operating bed hydraulic driving device to drive the at least two operating bed supporting mechanisms to synchronously execute posture adjustment operation. According to the technical scheme, under the condition that the operation bed needs to achieve composite body position adjustment formed by cooperation of multiple single actions, the hydraulic driving device drives the at least two supporting mechanisms to synchronously execute the posture adjustment operation, so that the multiple single actions can be synchronously adjusted, the time needed by composite body position adjustment is effectively saved, and the product use experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a hydraulic drive device, an operating table and a control method. Background Art

[0002] The basic function of the operating table is to adjust the surgical position, expose the surgical field, and enable the operation to proceed smoothly. The tabletop of the operating table can complete various single and compound actions such as folding up, folding down, tilting left, tilting right, rising and falling. Taking the electric hydraulic operating table as an example, the operating table uses electric hydraulic power to drive the tabletop to complete actions such as folding up, folding down, tilting left, tilting right, etc.

[0003] During the posture adjustment process, the operating table usually adopts a single motion to achieve different postures of the operating table and realize the purpose of clinical body position requirements. If it is necessary to realize a compound motion of the operating table, or to restore the initial state from the compound motion of the operating table, multiple single motions will appear and switch back and forth asynchronously in a certain order to realize the adjustment of the compound motion of the operating table.

[0004] Based on the fact that the operating table performs compound action adjustments through asynchronous switching of multiple single actions, the action adjustment time is long, and the required compound position cannot be reached efficiently, resulting in a poor product experience. Summary of the invention

[0005] The main purpose of the embodiments of the present application is to provide a hydraulic drive device, an operating table and a control method, aiming to efficiently achieve complex position adjustment of the operating table and enhance the product usage experience.

[0006] In a first aspect, an embodiment of the present application provides an operating table, comprising:

[0007] Pedestal;

[0008] A supporting device, the supporting device comprising at least two supporting mechanisms for providing support for the target object;

[0009] A hydraulic drive device, used to drive at least two of the support mechanisms to perform posture adjustment operations;

[0010] A control device is connected in communication with the hydraulic drive device and is used to:

[0011] The hydraulic drive device is controlled to drive at least two of the support mechanisms to synchronously perform posture adjustment operations.

[0012] In a second aspect, an embodiment of the present application provides an operating table, comprising:

[0013] Pedestal;

[0014] A supporting device, the supporting device comprising at least two supporting mechanisms for providing support for the target object;

[0015] A driving device, the driving device at least comprising a hydraulic driving device, for driving the supporting device to perform a posture adjustment operation relative to the base;

[0016] A control device is connected to the drive device for communication and is used for:

[0017] Controlling the driving device to drive the supporting device to perform an overall action, and at the same time driving at least one of the supporting mechanisms to perform at least one single action, so as to complete the posture adjustment action; or

[0018] The driving device is controlled to drive at least two supporting mechanisms of the supporting device to synchronously perform a single action to complete the posture adjustment operation.

[0019] In a third aspect, an embodiment of the present application further provides a control method, which is applied to the aforementioned operating table, and the method includes:

[0020] The hydraulic drive device of the operating bed is controlled to drive at least two supporting mechanisms of the operating bed to synchronously perform posture adjustment operations.

[0021] In a fourth aspect, an embodiment of the present application further provides a hydraulic drive device, which is applied to the aforementioned operating table, and the hydraulic drive device comprises: a power output unit, and at least two groups of action output units connected to the power output unit;

[0022] Wherein, a limited flow valve is provided on each group of the action output units, and the power output unit is used to drive at least two groups of the action output units to synchronously perform power output; the total flow output by the hydraulic drive device is greater than the sum of the maximum flow required by the at least two action output units.

[0023] It can be seen from the above technical scheme that the embodiment of the present application provides a hydraulic drive device, an operating bed and a control method, wherein the operating bed includes a base, a supporting device, a hydraulic drive device and a control device; the supporting device includes at least two supporting mechanisms for providing support for the target object; the hydraulic drive device is used to drive at least two of the supporting mechanisms to perform posture adjustment operations; the control device is communicatively connected to the hydraulic drive device, and is used to: control the hydraulic drive device to drive at least two of the supporting mechanisms to synchronously perform posture adjustment operations.

[0024] The control device based on the operating bed can control the hydraulic drive device to drive at least two of the supporting mechanisms to synchronously perform posture adjustment operations. Therefore, when the operating bed needs to realize a complex body position adjustment formed by the coordination of multiple single actions, the hydraulic drive device drives at least two supporting mechanisms to synchronously perform posture adjustment operations, so that multiple single actions can be adjusted synchronously, thereby effectively saving the time required for the complex body position adjustment and improving the product usage experience.

[0025] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the block structure of an operating table in one embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of an operating table in one embodiment of the present application;

[0029] Figure 3A It is a schematic diagram of state changes of the support device of the operating table provided in the embodiment of the present application for posture adjustment;

[0030] Figures 3B to 3D It is a schematic diagram of various states of the support device of the operating table provided in the embodiment of the present application in a composite state support;

[0031] Figure 4A It is a schematic diagram of a structure in which different motion output components of an operating table provided by an embodiment of the present application are powered by the same power output unit;

[0032] Figure 4B It is a schematic diagram of a structure in which different motion output components of an operating table provided in an embodiment of the present application provide power through different power output units;

[0033] Figure 5 It is a schematic diagram of the hydraulic circuit structure of the hydraulic drive device of the operating table provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0037] Some implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features in the following embodiments and implementation methods can be combined with each other.

[0038] See also Figure 1 , Figure 1 This is a structural block diagram of an operating table provided in an embodiment of the present application.

[0039] like Figure 1 As shown, the operating bed 100 includes a supporting device 10, a base 20, a driving device 30, and a control device 50 that is communicatively connected to the driving device 30. The supporting device 10 includes at least two supporting mechanisms for providing support for the target object, each supporting mechanism has at least two supporting postures, and the supporting mechanism can switch between different supporting postures, so that the supporting device 10 has a variety of composite supporting postures, thereby realizing the multi-position support requirements for the target object. The driving device 30 is used to drive at least two supporting mechanisms of the supporting device 10 to perform posture adjustment operations, so as to realize the switching of the supporting device 10 between different composite supporting postures. The base 20 is connected to the supporting device 10, and is used to support the device 10 and adjust the height of the supporting device 10 relative to a reference surface, wherein the reference surface includes but is not limited to the ground.

[0040] Specifically, the support device 10 of the operating table 100 is used to support and adjust the posture of the target object during the operation on the target object, so that the target object's surgical site has a better surgical field of view, which is convenient for medical staff to perform the operation.

[0041] The support device 10 includes a plurality of support mechanisms, such as a head board, a back board, a waist board, a seat board, and two leg boards, and each support mechanism may further include one or more parts that can move relative to each other. Taking the target object as a patient to be operated on as an example, different support mechanisms are used to support different parts of the patient, for example, the leg board is used to support the patient's legs, the seat board is used to support the patient's buttocks, and the back board is used to support the patient's back. Due to the various requirements for the surgical field of view during the operation, it is necessary to adjust the posture of the different support mechanisms of the support device 10 through the driving device 30, so that the patient supported by the support device 10 can adjust his posture synchronously, thereby enabling the medical staff to obtain the target surgical field of view.

[0042] It can be understood that the support mechanisms used to support different parts of the target object can be considered as different types of support mechanisms, that is, the support device 10 has multiple support mechanisms, and different types of support mechanisms are used to support different body parts of the target object (such as a patient).

[0043] See also Figure 2 In some embodiments, the supporting device 10 includes at least a plurality of supporting mechanisms. Figure 2 The first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 are shown in a schematic manner, wherein the first supporting mechanism 101 and the third supporting mechanism 103 are respectively connected to opposite ends of the second supporting mechanism 102, and the first supporting mechanism 101 and the second supporting mechanism 102 are movably connected, and / or the second supporting mechanism 102 and the third supporting mechanism 103 are movably connected.

[0044] The driving device 30 is used to drive at least one of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 to perform a posture adjustment operation, so as to adjust the supporting posture of the corresponding first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 to the target object, thereby making the posture of the supporting device 10 in the target posture, wherein the posture adjustment operation includes at least one of a tilt angle adjustment and a height adjustment.

[0045] For example, the first support mechanism 101 includes a waist board, a back board, and a head board, which are used to support the back and above the target object. The second support mechanism 102 is a seat board, which is used to support the buttocks and thighs of the target object. The third support mechanism 103 is a leg board, which is used to support the legs of the target object.

[0046] That is, the support device 10 forms a support table with at least two different support segments, wherein each support mechanism forms a corresponding support segment.

[0047] For example, the first support mechanism 101 forms a first support segment for supporting the back and above of the target object. The second support mechanism 102 forms a second support segment for supporting the buttocks of the target object. The third support mechanism 103 forms a third support segment for supporting the legs of the target object, and usually the third support mechanism 103 includes two support components, which are respectively used to support the left leg and the right leg of the target object. Therefore, the two support components of the third support mechanism 103 are both support segments for supporting the legs of the target object, and belong to the same type of support segments.

[0048] It should be noted that, in the entire text of this application, only three support mechanisms are used as an example for description, and those skilled in the art will understand that this is only exemplary, and the number of support mechanisms can be other. The waist plate, back plate, and head plate in the first support mechanism 101 in the following embodiments can be described as independent support mechanisms, and can rotate relative to another connected support mechanism.

[0049] exist Figure 2 In the situation shown, the control device 50 controls the driving device 30 to drive the first supporting mechanism 101 to lift up a preset angle relative to the second supporting mechanism 102, so that the supporting surface formed between the first supporting mechanism 101 and the second supporting mechanism 102 is at a first angle, thereby facilitating the supporting device 10 to support the back and above of the target object at the first angle.

[0050] The control device 50 controls the driving device 30 to drive the third supporting mechanism 103 to descend a preset angle relative to the second supporting mechanism 102, so that the supporting surface formed between the third supporting mechanism 103 and the second supporting mechanism 102 is at a second angle, thereby facilitating the supporting device 10 to support the legs of the target object at the second angle.

[0051] The control device 50 controls the driving device 30 to drive the second supporting mechanism to rotate relative to the base 20 by a preset angle, so that the entire operating table 100 is adjusted to Figure 3A Surgical position shown.

[0052] In some embodiments, the driving device 30 is also used to adjust the distance between the supporting device 10 and the base 20. That is, under the control of the control device 50, the driving device 30 can drive the supporting device 10 to rise or fall relative to the base 20 to adjust the distance between the base 20 and the supporting device 10, that is, the relative height adjustment between the supporting device 10 and the base 20 is realized. For example, the driving device 30 is used to adjust the distance between the second supporting mechanism 102 and the base 20.

[0053] like Figure 2 As shown, in some embodiments, the support device 10 includes a support column 104, which connects the support table and the base 20. Specifically, the support column 104 connects the second support mechanism 102 and the base 20, and the support column 104 is a retractable structure. Under the drive of the drive device 30, the top of the support column 104 can extend in the direction away from the base 20 or retract in the direction close to the base 20, thereby driving the second support mechanism 102 to rise or fall relative to the base 20. Based on the fact that the first support mechanism 101 and the third support mechanism 103 are respectively connected to the opposite ends of the second support mechanism 102, therefore, when the support column 104 drives the second support mechanism 102 to rise or fall relative to the base 20, the first support mechanism 101 and the third support mechanism 103 are synchronously driven to rise or fall through the second support mechanism 102. In some embodiments, the operating bed 100 also includes a sensor device 40, which is communicatively connected to the control device 50 and is at least used to obtain posture data of the support device 10, wherein the posture data includes but is not limited to the tilt angle, rotation angle and height of the support device 10.

[0054] Optionally, the sensor device 40 may be used to obtain the posture data of each support mechanism in the support device 10. For example, the sensor device 40 is used to detect the tilt angle of at least one target component of the base 20 during the posture adjustment process of the target component, and the control device 50 obtains the signal of the sensor device 40 and controls the operation or stop of the driving device 30 according to the signal of the sensor device 40, so that the angle of the base 20 is adjusted to a preset requirement, wherein the target component includes at least one of the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103.

[0055] In some embodiments, the control device 50 includes at least a processor (not shown), a memory (not shown), a communication interface (not shown), and an I / O interface (not shown). The processor, the memory, the communication interface, and the I / O interface communicate via a bus. The processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0056] The memory is equipped with various computer programs such as operating systems and applications for the processor to execute and the data required to execute the computer programs. For example, in the process of controlling the operating table, if there is data that needs to be stored locally, it can be stored in the memory. The I / O interface includes but is not limited to serial interfaces such as USB, IEEE1394 or RS-232C, parallel interfaces such as SCSI, IDE or IEEE1284, and analog signal interfaces composed of D / A converters and converters. An input device is connected to the I / O interface, and the user can use the input device to directly input data to the control device 50. The input device includes but is not limited to a keyboard, a mouse, a touch screen or a control button. The display device can be connected to the control device 50 through the I / O interface to communicate with the control device 50 to provide relevant information prompts. The communication interface can be an interface of any currently known communication protocol. The communication interface communicates with the outside world through a network. The control device 50 can transmit data between any device connected through the network through the communication interface using a preset communication protocol.

[0057] It can be understood that the control device 50 can be one or more and can be arranged in at least any one of the support device 10, the base 20, and the drive device 30, or can be arranged independently, which is not limited here.

[0058] In some embodiments, the control device 50 is used to implement the following control method steps, specifically, the processor of the control device 50 calls the computer program in the memory to implement the following control method steps:

[0059] The hydraulic driving device is controlled to drive at least two supporting mechanisms of the supporting device 10 to synchronously perform posture adjustment operations.

[0060] For example, the control device 50 can control the drive device 30 to drive any one of the support mechanisms of the support device 10 through corresponding control instructions to complete single actions such as folding up, folding down, tilting left, tilting right, rising and falling, or at least any two support mechanisms to perform corresponding single actions to form a corresponding composite action in combination, wherein the drive device 30 includes but is not limited to a hydraulic drive device. Optionally, the drive device 30 includes but is not limited to a hydraulic drive device, a motor drive device, and a pneumatic drive device. In the embodiment of the present application, the drive device 30 is described as a hydraulic drive device, but it is not limited to the drive device 30 being only a hydraulic drive device.

[0061] When the operating bed 100 needs to perform a compound motion adjustment, the control device 50 controls the hydraulic drive device to drive at least two supporting mechanisms of the supporting device 10 to synchronously perform posture adjustment operations, so that at least two supporting mechanisms synchronously perform corresponding single motion adjustments, thereby efficiently realizing compound motion adjustment.

[0062] See also Figure 3A The supporting device 10 comprises a first supporting mechanism 101, a second supporting mechanism 102 and a third supporting mechanism 103. When the operating bed 100 is in an initial state, the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 of the supporting device 10 are parallel to the horizontal plane.

[0063] During the operation on the patient, the medical staff needs to adjust the operating bed 100 in the initial state to a preset compound posture. The medical staff sends a posture adjustment instruction to the operating bed 100 by triggering the input device connected to the operating bed 100 for communication. The control device 50 determines the adjustment parameters required to adjust the operating bed 100 to the preset compound posture according to the posture adjustment instruction, and controls the driving device 30 to drive the corresponding at least two supporting mechanisms to synchronously perform the posture adjustment operation according to the adjustment parameters until the posture of the operating bed 100 is adjusted to the preset compound posture. The input device includes but is not limited to a mouse, a keyboard, a button, a touch panel, a touch display screen and a remote controller.

[0064] For example, the composite posture requires that the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane. After the operating bed 100 receives the posture adjustment instruction, the control device 50 of the operating bed 100 drives the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to synchronously perform the posture adjustment operation by controlling the driving device 30, and after the posture adjustment operation of all the support mechanisms is completed, the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane. Alternatively, the control device 50 controls the driving device 30 to drive any two of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 to synchronously perform the posture adjustment operation, and after the two have completed the posture adjustment operation, controls the other one to perform the posture adjustment operation, and after the posture adjustment operation of all the supporting mechanisms is completed, the first supporting mechanism 101 forms an angle α with the horizontal plane, the second supporting mechanism 102 forms an angle β with the horizontal plane, and the third supporting mechanism 103 forms an angle γ with the horizontal plane.

[0065] For another example, after the operation is completed, the operating table 100 is in a composite posture in which the first supporting mechanism 101 forms an angle α with the horizontal plane, the second supporting mechanism 102 forms an angle β with the horizontal plane, and the third supporting mechanism 103 forms an angle γ with the horizontal plane.

[0066] The medical staff can restore the composite posture of the operating bed 100 and restore it to the initial state by sending a restoration command to the operating bed 100. After receiving the posture adjustment command, the control device 50 determines the adjustment parameters required to adjust the operating bed 100 from the preset composite posture to the initial state according to the restoration command, and controls the driving device 30 to drive at least two of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 to synchronously perform the posture adjustment operation according to the adjustment parameters until the posture of the operating bed 100 is restored to the initial state.

[0067] It can be understood that the composite action formed by the combination of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 can be that the first supporting mechanism 101 is folded up to a first preset angle (e.g., folded up to x°), and the second supporting mechanism 102 and the third supporting mechanism 103 remain in the initial state, such as Figure 3B The composite action formed by the combination of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 can also be that the third supporting mechanism 103 is folded up to a second preset angle (e.g., folded up to y°), and the second supporting mechanism 102 and the first supporting mechanism 101 remain in the initial state, such as Figure 3C shown.

[0068] The composite action formed by the combination of the first supporting mechanism 101, the second supporting mechanism 102 and the third supporting mechanism 103 can also be that the first supporting mechanism 101 is folded down to a third preset angle, and the second supporting mechanism 102 and the third supporting mechanism 103 are folded up to a third preset angle, such as Figure 3D shown.

[0069] The operating table of the present application can be adjusted to different operating positions according to the operating situation, such as forward and reverse beach chair positions, forward and reverse knee flexion positions, Z position, low beach chair position, etc.

[0070] In some embodiments, the operating table 100 is provided with a first working mode and a second working mode, and the control device 50 is further used for:

[0071] In the first working mode, the hydraulic drive device is controlled to drive at least two supporting mechanisms to asynchronously perform posture adjustment operations;

[0072] In the second working mode, the hydraulic drive device is controlled to drive at least two supporting mechanisms to synchronously perform posture adjustment operations.

[0073] Optionally, when the support device 10 includes multiple support mechanisms, in the first working mode, the control device 50 controls the hydraulic drive device to drive the multiple support mechanisms to asynchronously perform posture adjustment operations; in the second working mode, the control device 50 controls the hydraulic drive device to drive at least two of the multiple support mechanisms to synchronously perform posture adjustment operations. Exemplarily, the operating bed 100 has at least a first working mode and a second working mode, and the operating bed 100 can switch between the first working mode and the second working mode. In the first working mode, if the operating bed 100 needs to perform posture adjustment, the control device 50 controls the drive device 30 to drive at least two support mechanisms to asynchronously perform posture adjustment operations. In the second working mode, if the operating bed 100 needs to perform posture adjustment, the control device 50 controls the drive device 30 to drive at least two support mechanisms to synchronously perform posture adjustment operations. Among them, all the support mechanisms of the asynchronous posture adjustment support device 10 start to perform posture adjustment operations at different times. Among them, the posture adjustment of the second working mode can be that the support device 10 is restored from a preset compound posture to an initial state, or adjusted from the initial state to a preset compound posture, or adjusted from the first posture to a preset compound posture, or adjusted from the first compound posture to the second compound posture, and there is no limitation here.

[0074] For example, the support device 10 has a first support mechanism 101, a second support mechanism 102 and a third support mechanism 103. When the operating bed 100 is in an initial state, the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 of the support device 10 are parallel to the horizontal plane.

[0075] When the operating bed 100 is in the first working mode, the medical staff needs to adjust the operating bed 100 in the initial state to a preset composite posture during the operation on the patient. The composite posture requires that the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane. After the operating bed 100 receives the posture adjustment instruction, the control device 50 of the operating bed 100 drives the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to asynchronously perform the posture adjustment operation by controlling the driving device 30, and after the posture adjustment operation of all the support mechanisms is completed, the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane.

[0076] When the operating bed 100 is in the second working mode, the medical staff needs to adjust the operating bed 100 in the initial state to a preset composite posture during the operation on the patient. The composite posture requires that the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane. After the operating bed 100 receives the posture adjustment instruction, the control device 50 of the operating bed 100 drives at least two of the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to synchronously perform the posture adjustment operation by controlling the driving device 30, and after the posture adjustment operation of all the support mechanisms is completed, the first support mechanism 101 forms an angle α with the horizontal plane, the second support mechanism 102 forms an angle β with the horizontal plane, and the third support mechanism 103 forms an angle γ with the horizontal plane.

[0077] In which, during the posture adjustment process, the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 can complete the posture adjustment operation synchronously; or the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 that perform the posture adjustment operation synchronously can complete the posture adjustment operation synchronously.

[0078] In the present application, synchronous completion of the posture adjustment operation means that the time difference between the two support mechanisms in completing the posture adjustment is less than a preset value, for example, the time difference may be 0.5s-4s.

[0079] See also FIG. 4A to FIG. 4B In some embodiments, at least two supporting mechanisms include a first supporting mechanism and a second supporting mechanism, and the hydraulic drive device includes a power output unit and at least two groups of motion output units connected to the power output unit; wherein the at least two groups of motion output units include a first motion output unit and a second motion output unit; the first motion output unit is connected to the first supporting mechanism, and is used to drive the first supporting mechanism to perform a posture adjustment operation through the power output of the power output unit; the second motion output unit is connected to the second supporting mechanism, and is used to drive the second supporting mechanism to perform a posture adjustment operation through the power output of the power output unit.

[0080] Optionally, each group of action output units 302 has a limiting flow valve, and the operating bed is in the second working mode, the power output unit 301 drives at least two groups of action output units 302 to synchronously perform power output, so that at least two groups of supporting mechanisms connected to the action output units 302 synchronously perform posture adjustment operations.

[0081] Optionally, the first motion output unit and the second motion output unit are powered by the same power output unit.

[0082] Exemplarily, the drive device 30 includes but is not limited to a hydraulic drive device, and the drive device 30 includes a power output unit 301 and at least two motion output units 302. Each motion output unit is connected to a support mechanism, and is used to drive the corresponding support mechanism to perform a posture adjustment operation through the power output of the power output unit 301.

[0083] like Figure 4A As shown, for example, the driving device 30 has three motion output units 302, namely, a first motion output unit 302a, a second motion output unit 302b and a third motion output unit 302b. Among them, the first motion output unit 302a is connected to the first supporting mechanism 101, and is used to drive the first supporting mechanism 101 to perform a posture adjustment operation through the power output of the power output unit 301. The second motion output unit 302b is connected to the second supporting mechanism 102, and is used to drive the second supporting mechanism 102 to perform a posture adjustment operation through the power output of the power output unit 301. The third motion output unit 302c is connected to the third supporting mechanism 103, and is used to drive the third supporting mechanism 103 to perform a posture adjustment operation through the power output of the same power output unit 301.

[0084] In some embodiments, the hydraulic drive device is provided with at least two power output units, and the first motion output unit and the second motion output unit are powered by different power output units.

[0085] like Figure 4B As shown, for example, the driving device 30 has three motion output units 302, namely, a first motion output unit 302a, a second motion output unit 302b and a third motion output unit 302b. The power output unit 301 includes a first power output unit 301a, a second power output unit 301b and a third power output unit 301c. Among them, the first motion output unit 302a is connected to the first supporting mechanism 101, and is used to drive the first supporting mechanism 101 to perform a posture adjustment operation through the power output of the first power output unit 301a. The second motion output unit 302b is connected to the second supporting mechanism 102, and is used to drive the second supporting mechanism 102 to perform a posture adjustment operation through the power output of the second power output unit 301b. The third motion output unit 302c is connected to the third supporting mechanism 103, and is used to drive the third supporting mechanism 103 to perform a posture adjustment operation through the power output of the third power output unit 301c.

[0086] In some embodiments, when all the action output units 302 of the driving device 30 are powered by the same power output unit 301, in the second working mode, the total flow rate output by the driving device 30 is greater than the sum of the maximum flow rates required for each action output unit to drive the corresponding support mechanism to perform posture adjustment operations.

[0087] For example, when the first action output unit 302a and the second action output unit 302b are powered by the same power output unit 301, in the second working mode, if the maximum flow required by the first action output unit 302a to drive the first support mechanism 101 to perform the posture adjustment operation is the first flow Q1, and the maximum flow required by the second action output unit 302b to drive the second support mechanism 102 to perform the posture adjustment operation is the second flow Q2; then the total flow output by the hydraulic drive device is Q, and the total flow Q is greater than the sum of the first flow and the second flow, that is, Q>Q1+Q2.

[0088] For another example, when the first action output unit 302a, the second action output unit 302b, and the third action output unit 302c are powered by the same power output unit 301, in the second working mode, if the maximum flow required by the first action output unit 302a to drive the first support mechanism 101 to perform the posture adjustment operation is the first flow Q1, the maximum flow required by the second action output unit 302b to drive the second support mechanism 102 to perform the posture adjustment operation is the second flow Q2, and the maximum flow required by the third action output unit 302c to drive the third support mechanism 103 to perform the posture adjustment operation is the third flow Q3; then the total flow output by the hydraulic drive device is Q, and the total output flow Q is greater than the sum of the first flow, the second flow and the third flow, that is, Q>Q1+Q2+Q3.

[0089] In some embodiments, each motion output unit has a maximum flow rate required for driving the corresponding support mechanism to perform a posture adjustment operation; in the second working mode, when there are N motion output units, the total flow rate output by the hydraulic drive device is greater than the sum of the maximum flow rates required by at least N-1 motion output units, where N is a positive integer and N≥2. The hydraulic drive device distributes the flow rate so that all N motion output units can act.

[0090] For example, when the first motion output unit 302a and the second motion output unit 302b are powered by the same power output unit 301, in the second working mode, if the maximum flow required by the first motion output unit 302a to drive the first support mechanism 101 to perform the posture adjustment operation is the first flow Q1, and the maximum flow required by the second motion output unit 302b to drive the second support mechanism 102 to perform the posture adjustment operation is the second flow Q2; then the total flow output by the hydraulic drive device is Q, and the total flow Q is greater than the first flow Q1, or the total flow Q is greater than the second flow Q2, or the total flow Q is greater than the sum of the first flow and the second flow. That is, Q>Q1, or Q>Q2, or Q>Q1+Q2.

[0091] For another example, when the first action output unit 302a, the second action output unit 302b, and the third action output unit 302c are powered by the same power output unit 301, in the second working mode, if the maximum flow required by the first action output unit 302a to drive the first support mechanism 101 to perform the posture adjustment operation is the first flow Q1, the maximum flow required by the second action output unit 302b to drive the second support mechanism 102 to perform the posture adjustment operation is the second flow Q2, and the maximum flow required by the third action output unit 302c to drive the third support mechanism 103 to perform the posture adjustment operation is the third flow Q3; then the total flow output by the hydraulic drive device is Q, and the total output flow Q is greater than the sum of at least two of the first flow, the second flow and the third flow, that is, Q>Q1+Q2, or, Q>Q1+Q3, or, Q>Q2+Q3, or, Q>Q1+Q2+Q3.

[0092] See also Figure 5 In some embodiments, the power output unit 301 of the drive device 10 includes an oil supply unit and an oil return unit. Each action output unit 302 of the drive device 10 includes a hydraulic cylinder, two groups of oil circuit components, and a flow limiting unit 3024a which is at least arranged on any one group of oil circuit components and is used to limit the flow of the oil circuit components. The hydraulic cylinder is connected to the corresponding support mechanism, and the oil supply unit and the oil return unit of the power output unit 301 are respectively connected through the two groups of oil circuit components, so as to provide power for the extension and retraction of the piston rod of the hydraulic cylinder through the oil supply unit and the oil return unit of the power output unit 301, thereby driving the support mechanism to move.

[0093] The flow limiting unit 3024a is used to make the flow on the corresponding oil circuit component less than the maximum flow required by the corresponding action output unit, and greater than the minimum flow required by the corresponding action output unit, so that when the power output unit 301 synchronizes multiple action output units 302 to perform action output, the output action speed is within a controllable range, avoiding the situation where when multiple support mechanisms 102 act at the same time, the flow obtained by the oil circuit components corresponding to one of the support mechanisms is lower than the minimum flow required by the support mechanism, resulting in the failure to act or the action being too slow due to the oil circuit components corresponding to other support mechanisms diverting too much flow when the oil circuit components corresponding to one of the support mechanisms act. Optionally, the minimum flow required by the action output unit is 0.2 times the maximum flow required by the action output unit.

[0094] For example, if the maximum flow required for the first action output unit 302a to drive the first support mechanism 101 to perform a posture adjustment operation is a first flow Q1, and the flow limiting unit 3024a is set on any group of oil circuit components of the first action output unit 302a, then when the first action output unit 302a is actuated, the flow of any oil circuit component set on the first action output unit 302a is less than Q1 and greater than 0.2Q1.

[0095] Similarly, if the maximum flow required for the second action output unit 302b to drive the second support mechanism 102 to perform the posture adjustment operation is the second flow Q2, and the flow limiting unit 3024a is set on any group of oil circuit components of the second action output unit 302b, then when the second action output unit 302b is actuated, the flow of any oil circuit component set on the second action output unit 302b is less than Q2 and greater than 0.2Q2.

[0096] It can be understood that each group of oil circuit components includes a hydraulic oil circuit and an oil circuit switch arranged in the hydraulic oil circuit and used to control the on and off of the hydraulic oil circuit. The oil circuit switch includes but is not limited to a solenoid valve and a reversing valve.

[0097] Exemplarily, the driving device 10 includes at least two motion output units 302 , and the at least two motion output units 302 include a first motion output unit 302 a , a second motion output unit 302 b , and a third motion output unit 302 c .

[0098] The first action output unit 302a includes a hydraulic cylinder 3021a, a first oil circuit component 3022a, a second oil circuit component 3023a, and a current limiting unit 3024a disposed on the first oil circuit component 3022a and / or the second oil circuit component 3023a.

[0099] The hydraulic cylinder 3021a includes a piston rod 3025a and a cylinder body with an inner cavity. The piston rod 3025a is located in the cylinder body and divides the inner cavity of the cylinder body into a first chamber and a second chamber. The power output unit 301 is connected to the first chamber of the hydraulic cylinder 3021a through the first oil circuit component 3022a, and is connected to the second chamber of the hydraulic cylinder 3021a through the second oil circuit component 3023a.

[0100] The hydraulic drive device has a first working state and a second working state that can be switched, wherein in the first working state, the oil supply unit of the power output unit 301 supplies oil to the first chamber of the hydraulic cylinder 3021a through the first oil circuit component 3022a, and the second chamber of the hydraulic cylinder 3021a returns oil to the oil return unit through the second oil circuit component 3023a, so that the piston rod 3025a of the hydraulic cylinder 3021a is displaced to the side away from the first chamber of the hydraulic cylinder 3021a.

[0101] In the second working state, the oil supply unit of the power output unit 301 supplies oil to the second chamber of the hydraulic cylinder 3021a through the second oil circuit assembly, and the first chamber of the hydraulic cylinder 3021a returns oil to the oil return unit through the first oil circuit assembly 3022a, so that the piston rod 3025a of the hydraulic cylinder 3021a moves toward the side close to the first chamber of the hydraulic cylinder 3021a. Thus, the corresponding support mechanism is driven to perform the corresponding posture adjustment operation through the extension and contraction of the piston rod 3025a, such as driving the first support mechanism 101 to perform the tilt angle adjustment operation.

[0102] In some implementations, the first action output unit 302a, the second action output unit 302b, and the third action output unit 302c have the same structure.

[0103] like Figure 5 As shown, in some embodiments, the second action output unit 302b is different from the first action output unit 302a in that the second action output unit 302b includes two hydraulic cylinders 3021a, wherein the power output unit 301 is connected to the first chambers of the two hydraulic cylinders 3021a through the first oil circuit component 3022a, and is connected to the second chambers of the two hydraulic cylinders 3021a through the second oil circuit component 3023a.

[0104] In the first working state, the oil supply unit of the power output unit 301 supplies oil to the first chambers of the two hydraulic cylinders 3021a through the first oil circuit assembly 3022a. At this time, the second chambers of the two hydraulic cylinders 3021a return oil to the oil return unit through the second oil circuit assembly 3023a, so that the piston rods 3025a of the two hydraulic cylinders 3021a are displaced to the side away from the first chamber of the hydraulic cylinder 3021a.

[0105] In the second working state, the oil supply unit of the power output unit 301 supplies oil to the second chamber of the hydraulic cylinder 3021a through the second oil circuit assembly 3023a, and at this time, the first chambers of the two hydraulic cylinders 3021a return oil to the oil return unit through the first oil circuit assembly 3022a, so that the piston rods 3025a of the two hydraulic cylinders 3021a are displaced to the side close to the first chamber of the hydraulic cylinder 3021a. Thus, the corresponding support mechanism is driven to perform the corresponding posture adjustment operation through the extension and contraction of the piston rod 3025a, such as driving the second support mechanism 102 to perform the tilt angle adjustment operation.

[0106] like Figure 5As shown, in some embodiments, the third action output unit 302c is different from the first action output unit 302a in that the third action output unit 302c includes two hydraulic cylinders 3021a, wherein the power output unit 301 is connected to the first chamber of a hydraulic cylinder 3021a through the first oil circuit component 3022a, the second chamber of the hydraulic cylinder 3021a is connected to the first chamber of another hydraulic cylinder 3021a, and the second chamber of the other hydraulic cylinder 3021a is connected to the power output unit 301 through the second oil circuit component 3023a.

[0107] For the convenience of description, the two hydraulic cylinders 3021a are respectively referred to as the first hydraulic cylinder 3021' and the second hydraulic cylinder 3021", in the first working state, the oil supply unit of the power output unit 301 supplies oil to the first chamber of the first hydraulic cylinder 3021' through the first oil circuit assembly 3022a. At this time, the second chamber of the first hydraulic cylinder 3021' supplies oil to the first chamber of the second hydraulic cylinder 3021" through the pipeline, and the second chamber of the second hydraulic cylinder 3021" returns oil to the oil return unit through the second oil circuit assembly 3023a, so that the piston rods of the first hydraulic cylinder 3021' and the second hydraulic cylinder 3021" are displaced to the side away from the first chamber of the corresponding hydraulic cylinder.

[0108] In the second working state, the oil supply unit of the power output unit 301 supplies oil to the second chamber of the second hydraulic cylinder 3021" through the second oil circuit assembly 3023a. At this time, the first chamber of the second hydraulic cylinder 3021" supplies oil to the second chamber of the first hydraulic cylinder 3021' through the pipeline, so that the first chamber of the first hydraulic cylinder 3021' returns oil to the oil return unit through the first oil circuit assembly 3022a, so that the piston rods of the first hydraulic cylinder and the second hydraulic cylinder are displaced to the side close to the first chamber of the corresponding hydraulic cylinder. Thereby, the corresponding support mechanism is driven to perform the corresponding posture adjustment operation through the extension and retraction of the piston rod 3025a, such as driving the third support mechanism 103 to perform the tilt angle adjustment operation.

[0109] It can be understood that the first action output unit 302a, the second action output unit 302b, and the third action output unit 302c can be driven by outputting power from the same power output unit 301, or can be driven by outputting power from different power output units 301, which is not limited here.

[0110] In some embodiments, the control device 50 performs the following steps when controlling the hydraulic drive device to drive at least two support mechanisms to synchronously perform the posture adjustment operation:

[0111] Acquiring adjustment feedback information during a process in which the hydraulic drive device drives at least two support mechanisms to perform a posture adjustment operation;

[0112] Feedback fine-tuning is performed on the hydraulic drive device according to the adjustment feedback information, so that the time difference for at least two of the support mechanisms to complete the posture adjustment operation is less than a preset value.

[0113] Optionally, during the process of performing feedback fine-tuning on the hydraulic drive device according to the adjustment feedback information, the control device 50 executes:

[0114] Determining whether the posture adjustment actions of at least two support mechanisms meet the requirement of synchronously executing the posture adjustment operation according to the adjustment feedback information;

[0115] When the posture speeds of at least two supporting mechanisms do not meet the requirements for synchronously executing the posture adjustment action, the driving parameters of each supporting mechanism are adjusted according to the adjustment feedback information, and the hydraulic driving device is controlled according to the adjusted driving parameters to drive at least two supporting mechanisms to perform the posture adjustment operation.

[0116] Optionally, the adjustment feedback information includes at least one of rotation angle information, rotation speed information, and height adjustment information during the posture adjustment operation performed by the support mechanism.

[0117] Exemplarily, during the process of posture adjustment performed by the support mechanism of the support device 10, the control device 50 can collect sensor data of each support mechanism during the posture adjustment process through the sensor device 40, and use the sensor data as adjustment feedback information, which is used to characterize whether the posture adjustment operation performed by the support mechanism meets the preset requirements.

[0118] When the operating bed 100 is in the second working mode, the control device 50 controls the driving device 30 to drive at least two supporting mechanisms of the supporting device 10 to synchronously perform the posture adjustment operation, and obtains the sensing data of at least two supporting mechanisms through the sensing device 40, so that it can be determined through the sensing data whether the posture adjustment operation of each supporting mechanism is abnormal, and feedback adjustment is performed according to the specific circumstances of the abnormality, so that the time difference for at least two supporting mechanisms to complete the posture adjustment operation is less than a preset value, thereby allowing the two supporting mechanisms to complete the posture adjustment operation synchronously.

[0119] For example, the example of at least two support mechanisms including a first support mechanism 101 and a second support mechanism 102 is used for explanation. The goal of the support mechanism posture adjustment of the support device 10 is that the first support mechanism 101 needs to be adjusted from an angle of 0° with the horizontal plane to an angle of α° with the horizontal plane, and the second support mechanism 102 needs to be adjusted from an angle of 0° with the horizontal plane to an angle of β° with the horizontal plane.

[0120] During the process of synchronously executing the posture adjustment operation of the first support mechanism 101 and the second support mechanism 102 of the driving support device 10, the first support mechanism 101 and the second support mechanism 102 meet the requirements for synchronously executing the posture adjustment operation: the first support mechanism 101 is driven by the driving device 30 and needs to rotate through a first angle within a preset time, and the second support mechanism 102 is driven by the driving device 30 and needs to rotate through a second angle within a preset time.

[0121] During the process of the first supporting mechanism 101 and the second supporting mechanism 102 synchronously performing the posture adjustment operation, the first angle of rotation of the first supporting mechanism 101 and the second angle of rotation of the second supporting mechanism 102 are obtained in real time or at intervals of a preset time through the sensor device 40, and the difference between the first angle and the second angle is calculated. When the difference between the first angle and the second angle is less than the preset value, it indicates that the posture adjustment operation performed by the first supporting mechanism 101 and the second supporting mechanism 102 is in a normal state. When the difference between the first angle and the second angle is greater than or equal to the preset value, it indicates that the first supporting mechanism 101 and the second supporting mechanism 102 may not be able to synchronously complete the posture adjustment.

[0122] Therefore, it is necessary to perform feedback adjustment on the driving parameters of the driving device 30 based on the sensor data collected by the sensor device 40 as feedback adjustment information, so as to drive the first support mechanism 101 and the second support mechanism 102 to continue the posture adjustment operation through the adjusted driving parameters, so that the time difference between the first support mechanism 101 and the second support mechanism 102 to complete the posture adjustment operation is less than the preset value, so that the two support mechanisms can complete the posture adjustment operation synchronously.

[0123] For example, when the first angle of rotation of the first support mechanism 101 is smaller than the second angle of rotation of the second support mechanism 102, it indicates that the rotation speed of the first support mechanism 101 is too slow. The driving compensation parameters of the first support mechanism 101 can be calculated according to the rotation speeds of the first support mechanism 101 and the second support mechanism 101, so as to use the driving compensation parameters to adjust the driving force of the driving device 30 on the first support mechanism 101, so that the time difference between the first support mechanism 101 and the second support mechanism 102 to complete the posture adjustment operation is less than the preset value, so that the posture adjustment operation of the two support mechanisms can be completed synchronously.

[0124] Alternatively, when the first angle of rotation of the first support mechanism 101 is smaller than the second angle of rotation of the second support mechanism 102, it indicates that the second support mechanism 102 rotates faster. The drive compensation parameters of the second support mechanism 102 can be calculated according to the rotation speeds of the first support mechanism 101 and the second support mechanism 101, so as to use the drive compensation parameters to adjust the driving force of the drive device 30 on the second support mechanism 102, so that the time difference between the first support mechanism 101 and the second support mechanism 102 to complete the posture adjustment operation is less than the preset value, so that the posture adjustment operation of the two support mechanisms can be completed synchronously.

[0125] Optionally, the number of executions of feedback fine-tuning the hydraulic drive device according to the adjusted feedback information can be set as needed, that is, the number of feedback fine-tuning is not limited to once.

[0126] In some embodiments, before determining whether the posture adjustment actions of at least two of the support mechanisms meet the requirement of synchronously performing the posture adjustment operation according to the adjustment feedback information, the control device is further configured to:

[0127] Determining whether there is an abnormality in the posture adjustment actions of at least two support mechanisms according to the adjustment feedback information;

[0128] When there is an abnormality in the posture adjustment action of any one of the at least two supporting mechanisms, the operating table is controlled to adjust the second working mode to the first working mode, and / or the operating table is controlled to output abnormal feedback information of the posture adjustment abnormality.

[0129] Exemplarily, at least two support mechanisms include a first support mechanism 101 and a second support mechanism 102. When the first support mechanism 101 and the second support mechanism 102 are in a normal state, the angle of rotation of the first support mechanism 101 within the preset time is x, and the angle of rotation of the second support mechanism 102 within the preset time is y. According to the adjustment feedback information, the angles of rotation of the first support mechanism 101 and the second support mechanism 102 within the preset time can be obtained respectively, so it can be analyzed whether there is an abnormality in the posture adjustment action of the first support mechanism 101 and the second support mechanism 102. When the posture adjustment action of the first support mechanism 101 is abnormal, it indicates that the first support mechanism 101 may have a fault and cannot perform the posture adjustment operation synchronously with the second support mechanism 102. At this time, the operating bed 100 switches the working mode to the first working mode, and / or outputs feedback information of the abnormality of the operating bed 100, wherein the form of the operating bed 100 outputting feedback can be to output the feedback information to the information prompting device of the operating bed 100, so as to perform information prompting through the information prompting device, and the information prompting device includes but is not limited to a display screen, an indicator light, and an audio player. Alternatively, the operating bed 100 outputs the feedback information to a terminal device that is communicatively connected to the operating bed 100 for display on a display screen of the terminal device, or the operating bed 100 outputs the feedback information to a remote control that is communicatively connected to the operating bed 100 for display on a display screen of the remote control.

[0130] As described above, the posture adjustment operation includes at least one of the tilt angle adjustment and the height adjustment. The control device 50 can control the drive device 30 to drive any one of the support mechanisms of the support device 10 through the corresponding control instructions to complete a single action such as folding up, folding down, tilting left, tilting right, rising and falling, or at least any two support mechanisms perform a corresponding single action. Therefore, in addition to the embodiments described above, the following embodiments are also within the scope of the present application: while the same support mechanism performs at least one single action such as folding up, folding down, tilting left, tilting right, etc., the support device performs an overall action, such as rising, falling, and translating as a whole. For example, the second support mechanism 102 tilts to the left and rises at the same time, and the second support mechanism 102 tilts toward the head end or tilts toward the foot end and rises at the same time. The following embodiments are also within the scope of the present application: at least two different support mechanisms perform actions at the same time, for example, the second support mechanism 102 tilts to the left and the third support mechanism 103 folds down.

[0131] Therefore, the posture adjustment of the operating bed 100 can also include the rising and falling of the supporting device 10, that is, the relative height adjustment between the supporting table of the supporting device 10 and the base 20, that is, the posture adjustment of the operating bed 100 includes at least one of the adjustment of the inclination angle of the supporting device 10, the relative height adjustment of the supporting device 10, and the adjustment of the support angle formed between at least two supporting mechanisms of the supporting device 10.

[0132] Based on, the support device 10 has at least two support mechanisms, each support mechanism forms a support segment, and each support segment forms a support table surface of the support device 10, wherein the support angle formed by each support segment can be independently adjusted, and the support height formed by the entire support table surface can be adjusted by driving the support column 104 of the support device 10 to extend and retract.

[0133] That is, in the first working mode, the control device 50 controls the driving device 30 to drive at least two supporting mechanisms to asynchronously perform a posture adjustment operation, and the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a third posture adjustment operation or a fourth posture adjustment operation, wherein, during the third posture adjustment operation, the supporting table formed by the supporting device 10 performs an overall posture adjustment action, and at least one supporting segment asynchronously performs a segment posture adjustment action; during the fourth posture adjustment operation, at least two different supporting segments asynchronously perform a segment posture adjustment action.

[0134] Exemplarily, in the first working mode, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a third posture adjustment operation, that is, the driving device 30 drives the supporting device 10 to perform height adjustment as a whole so that the supporting table formed by the supporting device 10 is raised or lowered in height as a whole. At the same time, the driving device 30 drives at least one supporting mechanism in the supporting device 10 to asynchronously perform a segment posture adjustment action.

[0135] For example, the support device 10 includes three support mechanisms for forming a support table and a support column 104 for performing height adjustment. The three support mechanisms for forming the support table are respectively a first support mechanism 101, a second support mechanism 102 and a third support mechanism 103. In the first working mode, the driving device 30 drives the support column 104 to extend and retract, thereby driving the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to rise and fall synchronously, thereby realizing the overall lifting or lowering of the support table formed by the support device 10. In the process of lifting or lowering the height of the support table as a whole, the driving device 30 also drives at least one of the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to asynchronously perform segment posture adjustment action, thereby adjusting the support angle formed by the support segment.

[0136] Alternatively, in the first working mode, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a fourth posture adjustment operation, that is, the driving device 30 drives at least two supporting mechanisms in the supporting device 10 to asynchronously perform segment posture adjustment actions, so that at least two different supporting segments asynchronously perform segment posture adjustment actions.

[0137] For example, the support device 10 includes three support mechanisms forming a support table and a support column 104 for performing height adjustment. The three support mechanisms forming the support table are respectively a first support mechanism 101, a second support mechanism 102 and a third support mechanism 103. In the first working mode, the driving device 30 also drives at least two of the first support mechanism 101, the second support mechanism 102 and the third support mechanism 103 to perform asynchronous segment posture adjustment actions, thereby adjusting the support angles of the support segments formed by the corresponding support mechanisms to different parts of the target object.

[0138] In the second working mode, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a first posture adjustment operation or a second posture adjustment operation, wherein, during the first posture adjustment operation, the supporting table performs an overall posture adjustment action, and at least one supporting segment of the supporting device 10 synchronously performs a segment posture adjustment action; during the second posture adjustment operation, at least two different supporting segments synchronously perform a segment posture adjustment action.

[0139] Exemplarily, in the second working mode, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a first posture adjustment operation, that is, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform height adjustment as a whole so that the supporting table formed by the supporting device 10 is raised or lowered in height as a whole. At the same time, the driving device 30 drives at least one supporting mechanism in the supporting device 10 to synchronously perform a segment posture adjustment action.

[0140] For example, the support device 10 includes three support mechanisms that form a support table and a support column 104 for performing height adjustment. The three support mechanisms that form the support table are the first support mechanism 101, the second support mechanism 102, and the third support mechanism 103. In the second working mode, the driving device 30 drives the support column 104 to extend and retract, thereby driving the first support mechanism 101, the second support mechanism 102, and the third support mechanism 103 to rise and fall synchronously, thereby realizing the overall lifting or lowering of the support table formed by the support device 10. In the process of lifting or lowering the height of the support table as a whole, the driving device 30 also drives at least one of the first support mechanism 101, the second support mechanism 102, and the third support mechanism 103 to synchronously perform segment posture adjustment actions, thereby adjusting the support angle formed by the support segment.

[0141] Alternatively, in the second working mode, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform a second posture adjustment operation, that is, the driving device 30 drives at least two supporting mechanisms in the supporting device 10 to synchronously perform the segment posture adjustment action, so that at least two different supporting segments synchronously perform the segment posture adjustment action.

[0142] For example, in the second working mode, the driving device 30 drives at least two of the first supporting mechanism 101, the second supporting mechanism 102, and the third supporting mechanism 103 to perform synchronous segment posture adjustment actions, thereby adjusting the support angles of the supporting segments formed by the corresponding supporting mechanisms to different parts of the target object. In some embodiments, the control device 50 controls the driving device 30 to drive the supporting device 10 to perform the first posture adjustment operation or the second posture adjustment operation, and executes:

[0143] Acquire adjustment feedback information during the process in which the driving device 30 drives the supporting device 10 to perform the first posture adjustment operation or the second posture adjustment operation;

[0144] The driving device 30 is fine-tuned based on the adjustment feedback information so that the time difference between the overall posture adjustment action and the segment posture adjustment action completed by the supporting device 10 during the first posture adjustment operation is less than a preset value. For example, the time point when the supporting device 10 completes the overall posture adjustment action is A, and the time point when the corresponding supporting mechanism completes the segment posture adjustment action is B, then |AB| is less than a preset value, which can be set as needed, such as 0.5s, 1s, 1.5s, 2s, 3s, etc.

[0145] Alternatively, during the second posture adjustment operation, the time difference between each segment posture adjustment action completed by the support device 10 is less than a preset value. That is, the time difference between the corresponding support mechanism and the posture adjustment action completed is less than a preset value. For example, when the time points at which the corresponding support mechanism completes the segment posture adjustment action are C and D, respectively, |CD| is less than a preset value, which can be set as needed, such as 0.5s, 1s, 1.5s, 2s, 3s, etc.

[0146] Optionally, during the process of performing feedback fine-tuning on the driving device 30 according to the adjustment feedback information, the control device 50 executes:

[0147] When the support device 10 performs the first posture adjustment operation, it is determined whether the posture adjustment actions of the support mechanism corresponding to the overall posture adjustment action and the support mechanism corresponding to the segment posture adjustment action meet the requirements of synchronously performing the posture adjustment action according to the adjustment feedback information;

[0148] When the requirement of synchronously executing the posture adjustment action is met, the driving parameters of each supporting mechanism are adjusted according to the adjustment feedback information, and the driving device 30 is controlled according to the adjusted driving parameters to drive the corresponding supporting mechanism to execute the corresponding posture adjustment action;

[0149] When the support device 10 performs the second posture adjustment operation, it is determined whether the posture adjustment actions of at least two support mechanisms corresponding to the segment posture adjustment action meet the requirement of synchronously performing the posture adjustment action according to the adjustment feedback information;

[0150] When the requirement of synchronously executing the posture adjustment action is met, the driving parameters of each supporting mechanism are adjusted according to the adjustment feedback information, and the driving device 30 is controlled according to the adjusted driving parameters to drive the corresponding supporting mechanism to execute the corresponding posture adjustment action.

[0151] In some embodiments, the control device 50 is also used to: determine whether there is an abnormality when the support device 10 performs the first posture adjustment operation or the second posture adjustment operation based on the adjustment feedback information; when there is an abnormality, control the operating bed 100 to switch the working mode to the first working mode, and / or control the operating bed 100 to output abnormal feedback information of the posture adjustment abnormality.

[0152] The following will describe a control method for an operating table provided in an embodiment of the present application in combination with the working principle of the operating table 100 .

[0153] In some embodiments, the present application further provides a control method, which is applied to the aforementioned operating table, and the method includes:

[0154] The hydraulic drive device of the operating bed is controlled to drive at least two supporting mechanisms of the operating bed to synchronously perform posture adjustment operations.

[0155] In some embodiments, the operating table is provided with a first working mode and a second working mode, and the method comprises:

[0156] In the first working mode, controlling the hydraulic drive device to drive at least two of the support mechanisms to asynchronously perform posture adjustment operations;

[0157] In the second working mode, the hydraulic drive device is controlled to drive at least two of the support mechanisms to synchronously perform a posture adjustment operation. In some embodiments, the control of the hydraulic drive device to drive at least two of the support mechanisms to synchronously perform a posture adjustment operation includes:

[0158] Acquiring adjustment feedback information during the process in which the hydraulic drive device drives at least two of the support mechanisms to perform the posture adjustment operation;

[0159] The hydraulic drive device is feedback-fine-tuned according to the adjustment feedback information, so that the time difference of at least two of the support mechanisms in completing the posture adjustment operation is less than a preset value.

[0160] In some implementations, performing feedback fine-tuning on the hydraulic drive device according to the adjustment feedback information includes:

[0161] Determining, according to the adjustment feedback information, whether the posture adjustment actions of at least two of the support mechanisms meet the requirement of synchronously executing the posture adjustment operation;

[0162] When the posture speeds of at least two of the support mechanisms do not meet the requirements for synchronously executing the posture adjustment action, the driving parameters of each of the support mechanisms are adjusted according to the adjustment feedback information, and the hydraulic drive device is controlled according to the adjusted driving parameters to drive at least two of the support mechanisms to perform the posture adjustment operation.

[0163] In some embodiments, before determining, according to the adjustment feedback information, whether the posture adjustment actions of at least two of the support mechanisms meet the requirement of synchronously performing the posture adjustment operation, the method further includes:

[0164] Determining whether there is an abnormality in the posture adjustment actions of at least two support mechanisms according to the adjustment feedback information;

[0165] When there is an abnormality in the posture adjustment action of any one of the at least two supporting mechanisms, the operating table is controlled to adjust the second working mode to the first working mode, and / or the operating table is controlled to output abnormal feedback information of the posture adjustment abnormality.

[0166] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the control method of the operating table described above can refer to the corresponding working process of the aforementioned operating table, and will not be repeated here.

[0167] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0168] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0169] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An operating table, characterized in that: include: Pedestal; A supporting device, the supporting device comprising at least two supporting mechanisms for providing support for the target object; A driving device, the driving device at least comprising a hydraulic driving device, for driving the supporting device to perform a posture adjustment operation relative to the base; A control device is connected to the drive device for communication and is used for: The driving device is controlled to drive at least two supporting mechanisms of the supporting device to synchronously perform the posture adjustment operation.

2. An operating table, characterized in that: include: Pedestal; A supporting device, the supporting device comprising at least two supporting mechanisms for providing support for the target object; A driving device, the driving device at least comprising a hydraulic driving device, for driving the supporting device to perform a posture adjustment operation relative to the base; A control device is connected to the drive device for communication and is used for: Controlling the driving device to drive the supporting device to perform an overall action, and at the same time driving at least one of the supporting mechanisms to perform at least one single action, so as to complete the posture adjustment action; or The driving device is controlled to drive at least two supporting mechanisms of the supporting device to synchronously perform a single action to complete the posture adjustment operation.

3. The operating table according to claim 1 or 2, characterized in that: In the first working mode, the driving device is controlled to drive at least two supporting mechanisms of the supporting device to asynchronously perform posture adjustment operations; In the second working mode, the driving device is controlled to drive at least two supporting mechanisms of the supporting device to synchronously perform posture adjustment operations.

4. The operating table according to claim 3, characterized in that: The at least two supporting mechanisms are used to support different parts of the patient, and the hydraulic drive device includes at least one power output unit and at least two action output units corresponding to the at least two supporting mechanisms respectively; The motion output unit is connected to a corresponding one of the supporting mechanisms and is used to drive the corresponding supporting mechanism to perform a posture adjustment operation through the power output by the power output unit.

5. The operating table according to claim 4, characterized in that: The at least two motion output units are powered by the same power output unit.

6. The operating table according to claim 5, characterized in that: Each of the motion output units has a maximum flow rate required for driving the corresponding support mechanism to perform a posture adjustment operation; In the second working mode, the total flow rate output by the hydraulic drive device is greater than the sum of the maximum flow rates required by the at least two action output units.

7. The operating table according to claim 5, characterized in that: Each of the motion output units has a maximum flow rate required for driving the corresponding support mechanism to perform a posture adjustment operation; In the second working mode, when the number of the action output units is N, the total flow rate output by the hydraulic drive device is greater than the sum of the maximum flow rates required by at least N-1 of the action output units, wherein N is a positive integer and N≥2.

8. The operating table according to claim 4, characterized in that: The hydraulic drive device is provided with at least two power output units, and at least two motion output units are powered by different power output units.

9. The operating table according to claim 6, characterized in that: Each of the motion output units has a minimum flow rate required for driving the corresponding support mechanism to perform a posture adjustment operation; The power output unit includes an oil supply unit and an oil return unit; the at least two action output units respectively include: a hydraulic cylinder, a first oil circuit component, a second oil circuit component and a flow limiting unit arranged on the first oil circuit component and / or the second oil circuit component, and the flow limiting unit makes the flow on the corresponding oil circuit component less than the maximum flow required by the corresponding action output unit, and greater than the minimum flow required by the corresponding action output unit.

10. The operating table according to claim 9, characterized in that: The hydraulic cylinder comprises a piston rod and a cylinder body with an inner cavity, wherein the piston rod is located in the cylinder body and divides the inner cavity of the cylinder body into a first chamber and a second chamber, and the power output unit is connected to the first chamber of the hydraulic cylinder through the first oil circuit assembly and is connected to the second chamber of the hydraulic cylinder through the second oil circuit assembly; The hydraulic drive device has a first working state and a second working state that can be switched, wherein in the first working state, the oil supply unit of the power output unit supplies oil to the first chamber of the hydraulic cylinder through the first oil circuit assembly, and the second chamber of the hydraulic cylinder returns oil to the oil return unit through the second oil circuit assembly, so that the piston rod of the hydraulic cylinder extends out of the second chamber of the hydraulic cylinder; In the second working state, the oil supply unit of the power output unit supplies oil to the second chamber of the hydraulic cylinder through the second oil circuit assembly, and the first chamber of the hydraulic cylinder returns oil to the oil return unit through the first oil circuit assembly, so that the piston rod of the hydraulic cylinder retracts to the second chamber of the hydraulic cylinder.

11. The operating table according to any one of claims 3 to 8, characterized in that: The control device performs, during the process of controlling the driving device to drive at least two supporting mechanisms of the supporting device to synchronously perform the posture adjustment operation: Acquiring adjustment feedback information during the process in which the driving device drives at least two of the supporting mechanisms to perform the posture adjustment operation; The driving device is feedback-fine-tuned according to the adjustment feedback information, so that the time difference of at least two types of the supporting mechanisms in completing the posture adjustment operation is less than a preset value.

12. The operating table according to claim 11, characterized in that: The control device, in the process of performing feedback fine adjustment on the driving device according to the adjustment feedback information, executes: Determining whether at least two posture adjustment actions of the support mechanism meet the requirement of synchronously executing posture adjustment operations according to the adjustment feedback information; When the posture speeds of at least two of the support mechanisms do not meet the requirements for synchronously executing the posture adjustment action, the driving parameters of each of the support mechanisms are adjusted according to the adjustment feedback information, and the hydraulic drive device is controlled according to the adjusted driving parameters to drive at least two of the support mechanisms to perform the posture adjustment operation.

13. The operating table according to claim 12, characterized in that: Before determining whether the posture adjustment actions of at least two support mechanisms meet the requirement of synchronously performing posture adjustment operations according to the adjustment feedback information, the control device is further used to: Determining whether there are abnormalities in the posture adjustment actions of at least two support mechanisms according to the adjustment feedback information; When there is an abnormality in the posture adjustment action of any one of the at least two support mechanisms, the operating table is controlled to adjust the second working mode to the first working mode, and / or the operating table is controlled to output abnormal feedback information of the posture adjustment abnormality.

14. The operating table according to claim 1 or 2, characterized in that: The support device forms a support table with at least two different support segments, wherein each of the support mechanisms forms a corresponding support segment.

15. The operating table according to claim 14, characterized in that: The operating table is provided with a first working mode and a second working mode, and the control device is further used for: In the first working mode, the driving device is controlled to drive the supporting device to perform a third posture adjustment operation or a fourth posture adjustment operation, wherein, during the third posture adjustment operation, the supporting table formed by the supporting device performs an overall posture adjustment action, and at least one of the supporting segments asynchronously performs a segment posture adjustment action; during the fourth posture adjustment operation, at least two different supporting segments asynchronously perform segment posture adjustment actions; In the second working mode, the driving device is controlled to drive the supporting device to perform a first posture adjustment operation or a second posture adjustment operation, wherein, during the first posture adjustment operation, the supporting table performs an overall posture adjustment action, and at least one of the supporting segments of the supporting device synchronously performs a segment posture adjustment action; during the second posture adjustment operation, at least two different supporting segments synchronously perform a segment posture adjustment action.

16. The operating table according to claim 15, characterized in that: The control device, in the process of controlling the driving device to drive the supporting device to perform the first posture adjustment operation or the second posture adjustment operation, performs: Acquiring adjustment feedback information when the driving device drives the supporting device to perform a first posture adjustment operation or a second posture adjustment operation; The driving device is feedback-fine-tuned according to the adjustment feedback information, so that when the supporting device performs the first posture adjustment operation, the time difference between completing the overall posture adjustment action and the segment posture adjustment action is less than a preset value, or, when the supporting device performs the second posture adjustment operation, the time difference between completing each segment posture adjustment action is less than a preset value.

17. The operating table according to claim 16, characterized in that: The control device, in the process of performing feedback fine adjustment on the driving device according to the adjustment feedback information, executes: When the support device performs the first posture adjustment operation, judging, according to the adjustment feedback information, whether the posture adjustment actions of the support mechanism corresponding to the overall posture adjustment action and the support mechanism corresponding to the segment posture adjustment action meet the requirement of synchronously performing the posture adjustment actions; When the requirement of synchronously executing the posture adjustment action is met, adjusting the driving parameters of each of the supporting mechanisms according to the adjustment feedback information, and controlling the driving device to drive the corresponding supporting mechanism to execute the corresponding posture adjustment action according to the adjusted driving parameters; When the support device performs the second posture adjustment operation, judging, according to the adjustment feedback information, whether the posture adjustment actions of at least two of the support mechanisms corresponding to the segment posture adjustment action meet the requirement of synchronously performing the posture adjustment action; When the requirement of synchronously executing the posture adjustment action is met, the driving parameters of each of the supporting mechanisms are adjusted according to the adjustment feedback information, and the driving device is controlled according to the adjusted driving parameters to drive the corresponding supporting mechanism to execute the corresponding posture adjustment action.

18. The operating table according to claim 16, characterized in that: The control device is also used for: Determining whether there is an abnormality when the supporting device performs the first posture adjustment operation or the second posture adjustment operation according to the adjustment feedback information; When an abnormality occurs, the operating table is controlled to switch the working mode to the first working mode, and / or the operating table is controlled to output abnormal feedback information of posture adjustment abnormality.

19. A control method, applied to the operating table according to any one of claims 1 to 18, characterized in that: The method comprises: The driving device of the operating bed is controlled to drive at least two supporting mechanisms of the supporting device to synchronously perform posture adjustment operations.

20. A hydraulic drive device, applied to an operating table, characterized in that: The hydraulic drive device comprises: A power output unit, and at least two groups of motion output units connected to the power output unit; Wherein, a limited flow valve is provided on each group of the action output units, and the power output unit is used to drive at least two groups of the action output units to synchronously perform power output; the total flow output by the hydraulic drive device is greater than the sum of the maximum flow required by the at least two action output units.

21. The hydraulic drive device according to claim 20, characterized in that: The flow limiting unit makes the flow supplied to the corresponding power output unit smaller than the maximum flow required by the corresponding action output unit and larger than the minimum flow required by the corresponding action output unit.

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