Positioning control method of surgical cart, electronic equipment and program product

Abstract

According to the positioning control method of the surgical cart, the electronic equipment and the program product, the picture below the rotating mechanism is directly observed on the display screen, and an operator can visually see an actual working area so as to perform accurate control and adjustment. According to the visual feedback mechanism, the operation precision and efficiency are greatly improved, and the problem of inaccurate positioning caused by human judgment errors is solved. The traditional surgical cart usually needs a plurality of workers to cooperate with each other, including operators and commanders, however, according to the scheme, through direct feedback of the display screen, the operators can independently complete the positioning work, additional human assistance is not needed, and therefore the labor cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a positioning control method, electronic equipment and program product for an operating table trolley. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] The laparoscopic surgical robot in the minimally invasive surgical robot includes a doctor's console and a patient surgical platform. The patient surgical platform is equipped with multiple surgical arms. The main operating arm of the doctor's console collects the doctor's operating signal and generates a control signal for the surgical arm after processing by the control system. The surgical arm controls the surgical instrument connected to it to perform the surgical operation or the endoscope to perform image acquisition. Before carrying out the robotic surgery, the patient surgical platform needs to be positioned on a trolley to facilitate the docking of the patient's poke card.

[0004] However, the positioning of existing laparoscopic robots is time-consuming and labor-intensive, affecting the efficiency of the entire operation. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a positioning control method, electronic equipment and program product for a surgical trolley, so as to solve the problem that the positioning of existing laparoscopic robots takes a long time, consumes a lot of manpower, and affects the efficiency of the entire operation.

[0006] The present application provides a positioning control method for an operating table vehicle, wherein the operating table vehicle comprises a surgical arm, a chassis driving mechanism, a position adjustment mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjustment mechanism, the rotating mechanism and the surgical arm are connected in sequence; an image acquisition device is also provided at the rotation center of the rotating mechanism; the method comprises:

[0007] Acquire the image below the rotating mechanism captured by the image acquisition device, and display the image to the operating user on the display screen;

[0008] Acquire at least one of a first control signal, a second control signal, and a third control signal received by the manual controller; wherein the first control signal is used to indicate that the movement of the position adjustment mechanism brings about the movement of the rotating mechanism in three-dimensional space, the second control signal is used to indicate that the movement of the rotating mechanism brings about the rotation of the surgical arm in a horizontal plane, and the third control signal is used to indicate that the movement of the chassis driving mechanism brings about the movement or rotation of the position adjustment mechanism in a horizontal plane;

[0009] Based on at least one of the first control signal, the second control signal and the third control signal, the movement of at least one corresponding one of the position adjustment mechanism, the rotation mechanism and the chassis drive mechanism is controlled, thereby realizing at least one of the movement of the operating table in the horizontal plane, the movement of the surgical arm in space and the rotation of the surgical arm in the horizontal plane.

[0010] In the above technical solution, by directly observing the picture below the rotating mechanism on the display screen, the operator can intuitively see the actual working area, so as to make precise control and adjustments. This visual feedback mechanism greatly improves the accuracy and efficiency of the operation and reduces the problem of inaccurate positioning caused by human judgment errors. The positioning of traditional surgical trolleys usually requires the cooperation of multiple personnel, including operators and commanders. However, this solution enables operators to complete the positioning work independently through direct feedback from the display screen without the need for additional human assistance, thereby reducing labor costs.

[0011] In some optional implementations, before acquiring at least one of the first control signal, the second control signal, and the third control signal received by the manual controller, the method further includes:

[0012] Establishing a first three-dimensional coordinate system with the highest fixed point of the position adjustment mechanism on the horizontal plane as the origin when the position adjustment mechanism is adjusted horizontally, the first three-dimensional coordinate system comprising a first horizontal axis, a first longitudinal axis and a first vertical axis;

[0013] Establishing a second horizontal coordinate system with the center point of the image acquisition device as the origin, the second horizontal coordinate system including a second horizontal axis and a second vertical axis;

[0014] A third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third vertical axis.

[0015] In some optional embodiments, the manual controller includes a trigger device that provides at least six degrees of freedom for independent movement, and there is a unique mapping relationship between the degree to which the trigger device is triggered, the size of the control signal, and the desired movement speed of the chassis drive mechanism, the position adjustment mechanism, and the rotation mechanism; wherein, among the six degrees of freedom, three degrees of freedom correspond to generating a first control signal, one degree of freedom corresponds to generating a second control signal, and the last two degrees of freedom correspond to generating a third control signal.

[0016] In some optional embodiments, it also includes:

[0017] Obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to a desired movement speed and control time of the rotating mechanism and an angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system;

[0018] Obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to an initial position of the rotating mechanism in the first three-dimensional coordinate system and a position increment;

[0019] Based on the target position coordinates, the movements of the various joints of the position adjustment mechanism are controlled to make the rotation mechanism reach the desired position.

[0020] In some optional implementations, the position increment is:

[0021]

[0022] Among them, IncX is the position increment of the rotating mechanism on the first horizontal axis, IncY is the position increment of the rotating mechanism on the first vertical axis, V X2 is the desired movement speed of the rotating mechanism in the second horizontal axis direction, V Y2 is the expected movement speed of the rotating mechanism in the second longitudinal axis direction, t is the control time, and β is the angular difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

[0023] In some optional embodiments, the target position of the rotating mechanism in the first three-dimensional coordinate system is:

[0024] TarPosX=X Cur +IncX

[0025] TarPosY=Y Cur +IncY

[0026] Among them, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the coordinate value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the rotating mechanism on the first longitudinal axis.

[0027] In some optional embodiments, the position adjustment mechanism includes a telescopic mechanism connected to the rotating mechanism, and a lifting mechanism connected to the telescopic mechanism, the other end of the lifting mechanism is connected to the chassis driving mechanism, and the telescopic mechanism can also rotate around the central axis of the lifting mechanism, wherein:

[0028] β=α+θ

[0029] Among them, α is the rotation angle of the rotating mechanism relative to the zero position, and θ is the rotation angle of the telescopic mechanism around the central axis of the lifting mechanism relative to the zero position.

[0030] In some optional embodiments, it also includes:

[0031] receiving a first control signal, controlling the rotating mechanism to move in a first three-dimensional coordinate system, and keeping the orientation of the rotating mechanism unchanged during the movement;

[0032] According to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism on the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

[0033] In some optional embodiments, the target position of the rotating mechanism is:

[0034] TarPosX=X Cur +V X1 ×t

[0035] TarPosY=Y Cur +V Y1 ×t

[0036] Among them, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the initial point on the first vertical axis, V X1 is the desired motion speed of the rotating mechanism in the first horizontal axis direction, V Y1 is the expected movement speed of the rotating mechanism in the first longitudinal axis direction, and t is the control time.

[0037] In some optional embodiments, it also includes:

[0038] receiving a second control signal to obtain a desired rotation speed of the rotating mechanism;

[0039] According to the initial angle of the rotating mechanism, the desired rotation speed and the control time, the target angle of the rotating mechanism is obtained and output;

[0040] Based on the target angle, the rotating mechanism is controlled to rotate to the desired posture.

[0041] The embodiment of the present application provides a positioning control method for an operating table vehicle, wherein the operating table vehicle comprises a surgical arm, a chassis driving mechanism, a position adjustment mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjustment mechanism, the rotating mechanism and the surgical arm are connected in sequence; an image acquisition device is also provided at the rotation center of the rotating mechanism;

[0042] Methods include:

[0043] receiving a mode selection signal, the mode selection signal indicating use of a first control mode or a second control mode;

[0044] According to the mode selection signal, the corresponding control method is executed: if the mode selection signal indicates to use the first control mode, the image acquisition device is turned on and the first control method is executed; if the mode selection signal indicates to use the second control mode, the image acquisition device is turned off and the second control method is executed.

[0045] In the above technical solution, the method provides two control modes (the first control mode and the second control mode), allowing medical staff to choose the most suitable operation mode according to actual needs and personal preferences. This flexibility not only improves work efficiency, but also enhances user experience. In the first control mode, by turning on the image acquisition device and displaying the real-time picture under the rotating laser on the display screen, the operator can directly observe and adjust the position of the operating trolley without the command of other auxiliary personnel. This method makes the adjustment process more intuitive and convenient, reducing communication costs and errors. The setting of the second control mode takes into account the operating habits of existing medical staff. Some medical staff are more accustomed to the traditional operation method, that is, making adjustments under the command of auxiliary personnel. This mode allows them to operate according to their original habits, thereby achieving compatibility and adaptation to new and old operation methods.

[0046] In some optional implementations, executing the first control method includes:

[0047] Obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to a desired movement speed and control time of the rotating mechanism and an angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system;

[0048] Obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to an initial position of the rotating mechanism in the first three-dimensional coordinate system and a position increment;

[0049] Based on the target position coordinates, the movements of the various joints of the position adjustment mechanism are controlled to make the rotation mechanism reach the desired position.

[0050] In some optional implementations, executing the second control method includes:

[0051] receiving a first control signal, controlling the rotating mechanism to move in a first three-dimensional coordinate system, and keeping the orientation of the rotating mechanism unchanged during the movement;

[0052] According to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism on the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

[0053] In some optional implementations, executing the second control method further includes:

[0054] receiving a second control signal to obtain a desired rotation speed of the rotating mechanism;

[0055] According to the initial angle of the rotating mechanism, the desired rotation speed and the control time, the target angle of the rotating mechanism is obtained and output;

[0056] Based on the target angle, the rotating mechanism is controlled to rotate to the desired posture.

[0057] An electronic device provided in an embodiment of the present application includes: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, any of the above methods is performed.

[0058] A computer program product provided in an embodiment of the present application includes a computer program / instruction, which implements the steps of any of the above methods when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0060] Figure 1 A positioning control method for an operating table trolley provided in an embodiment of the present application;

[0061] Figure 2 A structural diagram of an operating table provided in an embodiment of the present application;

[0062] Figure 3 A structural diagram of a manual controller provided in an embodiment of the present application;

[0063] Figure 4 A schematic diagram of a positioning control process under the first control mode provided in an embodiment of the present application;

[0064] Figure 5 A schematic diagram of a positioning control process under a second control mode provided in an embodiment of the present application;

[0065] Figure 6 A possible structure of an electronic device provided by an embodiment of the present application is shown.

[0066] Icons: 1-image acquisition device, 2-manual controller, 21-positioning adjustment knob, 22-lifting button, 23-display screen, 3-chassis driving mechanism, 4-rotation mechanism, 5-telescopic mechanism, 6-lifting mechanism, 7-surgical arm. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0068] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0069] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0070] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0071] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0072] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0073] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0074] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mated" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0075] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0076] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0077] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes called an "endoscope") placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. Therefore, they are increasingly used in surgery, especially in abdominal, thoracic, and general surgery.

[0078] The patient surgical platform generally includes a chassis, a column, a plurality of mechanical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0079] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, an optical device is included to transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0080] The doctor control platform usually includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon control platform can be at a single location in the surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to the preset control degree, for example, one location is used as the main control for the main operation, and the other location is used as the auxiliary control for the auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes the auxiliary operation such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals of the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and the motor further controls the final movement of the surgical instrument.

[0081] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0082] Please refer to Figure 2 , Figure 2 This is a structural diagram of an operating trolley provided in an embodiment of the present application, wherein the operating trolley comprises a surgical arm 7, a chassis drive mechanism 3, a position adjustment mechanism, a rotation mechanism 4 and a manual controller 2; the chassis drive mechanism, the position adjustment mechanism, the rotation mechanism and the surgical arm 7 are connected in sequence; an image acquisition device 1 is also provided at the rotation center of the rotation mechanism.

[0083] In this embodiment, the position adjustment mechanism includes a telescopic mechanism connected to the rotating mechanism, a lifting mechanism connected to the telescopic mechanism, the other end of the lifting mechanism is connected to the chassis driving mechanism, and the telescopic mechanism can also rotate around the central axis of the lifting mechanism. Of course, in other embodiments, the telescopic mechanism can also be replaced by a swing mechanism connected by two connecting rods.

[0084] The manual controller includes a trigger device that provides at least six degrees of freedom for independent movement. There is a unique mapping relationship between the degree to which the trigger device is triggered, the size of the control signal, and the expected movement speed of the chassis drive mechanism, the position adjustment mechanism, and the rotating mechanism. Among the six degrees of freedom, three degrees of freedom correspond to the generation of a first control signal, and the first control signal is used to indicate that the movement of the telescopic mechanism and the lifting mechanism brings about the movement of the rotating mechanism in three-dimensional space; one degree of freedom corresponds to the generation of a second control signal, and the second control signal is used to indicate that the movement of the rotating mechanism brings about the rotation of the surgical arm device in the horizontal plane; the last two degrees of freedom correspond to the generation of a third control signal, and the third control signal is used to indicate that the movement of the chassis drive mechanism brings about the movement or rotation of the entire surgical trolley in the horizontal plane.

[0085] Please refer to Figure 3 , Figure 3 The manual controller structure diagram provided in the embodiment of the present application, the manual controller 2 includes a controller and a positioning adjustment knob 21. The controller is used to: when the positioning adjustment knob is turned upward, the telescopic mechanism 5 is controlled to extend; when the positioning adjustment knob is turned downward, the telescopic mechanism 5 is controlled to retract; when the positioning adjustment knob is turned rightward, the telescopic mechanism 5 is controlled to rotate clockwise around the axis of the first rotation joint; when the positioning adjustment knob is turned leftward, the telescopic mechanism 5 is controlled to rotate counterclockwise around the axis of the first rotation joint; when the positioning adjustment knob is rotated clockwise, the rotating mechanism 4 is controlled to rotate clockwise around the axis of the second rotation joint; when the positioning adjustment knob is rotated counterclockwise, the rotating mechanism 4 is controlled to rotate counterclockwise around the axis of the second rotation joint.

[0086] In the embodiment of the present application, the movement of the telescopic mechanism 5 and the rotating mechanism 4 is controlled by positioning the different operating modes of the adjustment knob 21 (moving up and down, moving left and right, and rotating clockwise / counterclockwise). This intuitive operating method reduces the learning cost, allowing even medical staff who are using it for the first time to quickly get started, thereby improving the ease of use of the system.

[0087] In some optional embodiments, the manual controller 2 further includes a lifting button 22; the controller is used to: control the lifting mechanism 6 to rise when the lifting button 22 is pushed upward; and control the lifting mechanism 6 to fall when the lifting button 22 is pushed downward.

[0088] Please refer to Figure 1 , Figure 1 The positioning control method of the operating table provided in the embodiment of the present application specifically includes:

[0089] Step S11, obtaining a picture below the rotating mechanism captured by an image acquisition device, and displaying the picture to an operating user on a display screen;

[0090] Step S12, obtaining at least one of the first control signal, the second control signal and the third control signal received by the manual controller;

[0091] Step S13, based on at least one of the first control signal, the second control signal and the third control signal, control the movement of at least one of the corresponding position adjustment mechanism, the rotation mechanism and the chassis drive mechanism, thereby respectively realizing at least one of the movement of the operating table in the horizontal plane, the movement of the surgical arm in space and the rotation of the surgical arm in the horizontal plane.

[0092] When the operating table is positioned, the operating table is usually positioned to a suitable position by controlling the chassis drive mechanism to achieve a "coarse adjustment" process, and then the position adjustment mechanism and the rotation mechanism are controlled to perform a "fine adjustment" process. The following embodiments focus on the control method of the "fine adjustment" process. One or more specific control processes are described in the following multiple embodiments.

[0093] In the first embodiment of the present application, the operating table vehicle works in the first control mode, and the specific control process includes:

[0094] First, before the operator performs manual control, a first three-dimensional coordinate system is established with the highest fixed point of the position adjustment mechanism on the horizontal plane during horizontal adjustment as the origin, and the first three-dimensional coordinate system includes a first horizontal axis, a first longitudinal axis and a first vertical axis; a second horizontal coordinate system is established with the center point of the image acquisition device as the origin, and the second horizontal coordinate system includes a second horizontal axis and a second longitudinal axis; a third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third longitudinal axis.

[0095] Then, the operator controls the surgical table trolley to position by operating the manual controller. The control process includes:

[0096] Step S21, obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to the expected movement speed and control time of the rotating mechanism and the angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system;

[0097] Step S22, obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment;

[0098] Step S23: Based on the target position coordinates, control the movement of each joint of the position adjustment mechanism so that the rotation mechanism reaches the desired position.

[0099] The position increment is:

[0100]

[0101] IncX is the position increment of the rotating mechanism on the first horizontal axis, IncY is the position increment of the rotating mechanism on the first vertical axis, V X2 is the desired movement speed of the rotating mechanism in the second horizontal axis direction, V Y2 is the expected movement speed of the rotating mechanism in the second longitudinal axis direction, t is the control time, and β is the angular difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

[0102] Therefore, the target position of the rotating mechanism in the first three-dimensional coordinate system is:

[0103] TarPosX=X Cur +IncX

[0104] TarPosY=Y Cur +IncY

[0105] Among them, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the coordinate value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the rotating mechanism on the first longitudinal axis. β=α+θ; α is the rotation angle of the rotating mechanism relative to the zero position, and θ is the rotation angle of the telescopic mechanism around the central axis of the lifting mechanism relative to the zero position.

[0106] In the embodiment of the present application, by directly observing the picture below the rotating mechanism on the display screen, the operator can intuitively see the actual working area, thereby making precise control and adjustments. This visual feedback mechanism greatly improves the accuracy and efficiency of the operation and reduces the problem of inaccurate positioning caused by human judgment errors. The positioning of traditional surgical trolleys usually requires the cooperation of multiple personnel, including operators and commanders, while this solution enables operators to complete the positioning work independently through direct feedback from the display screen without the need for additional human assistance, thereby reducing labor costs.

[0107] Specifically, the manual controller 2 further includes: a display screen 23; the image acquisition device 1 obtains the image below the rotating mechanism 4, and the image is displayed on the display screen 23. Figure 4 , Figure 4Schematic diagram of the positioning control process under the first control mode provided for the embodiment of the present application. The rectangle with the center point A represents the initial position and initial angle of the rotating mechanism 4, and the rectangle with the center point B represents the final target position and target angle of the rotating mechanism 4. The position and angle of the rotating mechanism correspond to the field of view of the display screen. The first three-dimensional coordinate system takes the center point of the first rotating joint as the origin O, OA is the initial length L of the telescopic mechanism 5, OB is the length L1 of the telescopic mechanism 5 after positioning, the X-axis is the first horizontal axis, the Y-axis is the first vertical axis, and θ is the rotation angle of the telescopic mechanism 5 relative to the Y-axis. The initial coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are (0, L), and the end point coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are (L1×sinθ, L1×cosθ). The origin of the second horizontal coordinate system is the center point of the rectangle, the second horizontal axis (x-axis) is along the length direction of the rectangle, and the second vertical axis (y-axis) is along the width direction of the rectangle.

[0108] Similarly, the position adjustment and the orientation angle adjustment of the rotating mechanism 4 in the horizontal direction can be achieved through the positioning adjustment knob 21. The positioning adjustment knob 21 is turned left and right to realize the movement of the rotating mechanism 4 in the X-axis direction, wherein the positioning adjustment knob 21 is turned right, and the rotating mechanism 4 moves in the positive direction of the X-axis; the positioning adjustment knob 21 is turned left, and the rotating mechanism 4 moves in the negative direction of the X-axis. The positioning adjustment knob 21 is turned up and down to realize the movement of the rotating mechanism 4 in the Y-axis direction, wherein the positioning adjustment knob 21 is turned up, and the rotating mechanism 4 moves in the positive direction of the Y-axis; the positioning adjustment knob 21 is turned down, and the rotating mechanism 4 moves in the negative direction of the Y-axis. Rotating the positioning adjustment knob 21 realizes the clockwise or counterclockwise rotation of the rotating mechanism 4 around the origin O, wherein the positioning adjustment knob 21 is rotated clockwise, and the rotating mechanism 4 rotates clockwise around the origin O; the positioning adjustment knob 21 is rotated counterclockwise, and the rotating mechanism 4 rotates counterclockwise around the origin O. When the positioning adjustment knob 21 starts to be adjusted, the desired movement speed that lasts for several unit times can be obtained.

[0109] Since the positioning adjustment knob 21 is operated with reference to the second horizontal coordinate system where the display screen 23 is located during the positioning control process, it is necessary to use a transposed matrix to perform coordinate system conversion to obtain the coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system.

[0110] Specifically, the angle of the rotating mechanism relative to the first horizontal axis is:

[0111] β=α+θ

[0112] Wherein, α is the rotation angle of the rotating mechanism 4, and θ is the rotation angle of the telescopic mechanism 5 around the axis of the first rotating joint.

[0113] The coordinate increments of the rotating mechanism 4 on the first horizontal axis and the first vertical axis are:

[0114]

[0115] Among them, IncX is the coordinate increment of the rotating mechanism 4 on the first horizontal axis, IncY is the coordinate increment of the rotating mechanism 4 on the first vertical axis, V x2 is the movement speed of the rotating mechanism 4 in the second horizontal axis direction, V y2 is the movement speed of the rotating mechanism 4 in the second longitudinal axis direction, and t is the control time (the control time is the program operation cycle, generally within 10ms).

[0116] The end point coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are:

[0117] TarPosX=X Cur +IncX

[0118] TarPosY=Y Cur +IncY

[0119] Among them, TarPosX is the value of the end point on the first horizontal axis, TarPosY is the value of the end point on the first vertical axis, and X Cur is the value of the initial point on the first horizontal axis, Y Cur is the value of the initial point on the first vertical axis. It should be clear that in this embodiment, the coordinate change of the rotating mechanism in the horizontal plane is obtained when the Z-axis coordinate of the rotating mechanism in the first three-dimensional coordinate system remains unchanged; if the Z-axis coordinate of the rotating mechanism changes, the final Z-axis coordinate of the rotating mechanism is obtained according to the initial Z-axis coordinate of the rotating mechanism, the lifting speed and the control time. In the following embodiments, the method for obtaining the Z-axis coordinate of the rotating mechanism is not repeated, and only the method for obtaining the coordinates of the X-axis and Y-axis is discussed.

[0120] In this embodiment, the operator refers to the display screen for operation. If the command input by the operator is not converted into a coordinate system, once the rotating mechanism rotates to any angle other than 0, the adjustment process will be unintuitive. For example, if the operator wants to operate the rotating mechanism to translate to the right side of the display screen, the rotating mechanism will translate along the positive direction of the X axis without the conversion of the coordinate system, and the desired effect of the operator cannot be achieved. Therefore, in this embodiment, the command input by the operator is converted into a coordinate system, so that the operation effect of each button can remain unchanged regardless of whether the rotating mechanism rotates.

[0121] In the second embodiment of the present application, the operating table vehicle works in the second control mode, and the specific control process includes:

[0122] First, before the operator performs manual control, a first three-dimensional coordinate system is established with the highest fixed point of the position adjustment mechanism on the horizontal plane during horizontal adjustment as the origin, and the first three-dimensional coordinate system includes a first horizontal axis, a first longitudinal axis and a first vertical axis; a third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third longitudinal axis.

[0123] Then, the operator controls the surgical table trolley to position by operating the manual controller. The control process includes:

[0124] Step S31, receiving a first control signal, controlling the rotating mechanism to move in a first three-dimensional coordinate system, and keeping the orientation of the rotating mechanism unchanged during the movement;

[0125] Step S32: Obtain and output the target position of the rotating mechanism according to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism on the first horizontal axis and the first vertical axis.

[0126] Among them, the target position of the rotating mechanism is:

[0127] TarPosX=X Cur +V X1 ×t

[0128] TarPosY=Y Cur +V Y1 ×t

[0129] Among them, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the initial point on the first vertical axis, V X1 is the desired motion speed of the rotating mechanism in the first horizontal axis direction, V Y1 is the expected movement speed of the rotating mechanism in the first longitudinal axis direction, and t is the control time.

[0130] In the second embodiment, the control process in which the operator controls the surgical trolley to position by operating the manual controller also includes:

[0131] Step S41, receiving a second control signal to obtain a desired rotation speed of the rotating mechanism;

[0132] Step S42: Obtain and output a target angle of the rotating mechanism according to the initial angle of the rotating mechanism, the desired rotation speed and the control time;

[0133] Step S43: Based on the target angle, control the rotating mechanism to rotate to a desired posture.

[0134] For details, please refer to Figure 5 , Figure 5 Schematic diagram of the positioning control process under the second control mode provided in an embodiment of the present application. In the second control mode, the origin O of the first three-dimensional coordinate system is used as the reference point. As shown in the figure, the rectangle with the center point A represents the initial position and initial angle of the rotating mechanism 4, and the rectangle with the center point B represents the final target position and target angle of the rotating mechanism 4. The first three-dimensional coordinate system takes the center point of the first rotating joint as the origin O, OA is the initial length L of the telescopic mechanism 5, OB is the length L1 of the telescopic mechanism 5 after positioning, the X-axis is the first horizontal axis, the Y-axis is the first vertical axis, and θ is the rotation angle of the telescopic mechanism 5 relative to the Y-axis. The initial coordinates of the rotating mechanism 4 are (0, L), and the end point coordinates of the rotating mechanism 4 are (L1×sinθ, L1×cosθ).

[0135] The horizontal position adjustment and the angular adjustment of the rotating mechanism 4 can be realized by the positioning adjustment knob 21. The positioning adjustment knob 21 is turned left and right to realize the movement of the rotating mechanism 4 in the X-axis direction, wherein the positioning adjustment knob 21 is turned right, and the rotating mechanism 4 moves in the positive direction of the X-axis; the positioning adjustment knob 21 is turned left, and the rotating mechanism 4 moves in the negative direction of the X-axis. The positioning adjustment knob 21 is turned up and down to realize the movement of the rotating mechanism 4 in the Y-axis direction, wherein the positioning adjustment knob 21 is turned up, and the rotating mechanism 4 moves in the positive direction of the Y-axis; the positioning adjustment knob 21 is turned down, and the rotating mechanism 4 moves in the negative direction of the Y-axis. Rotating the positioning adjustment knob 21 realizes the clockwise or counterclockwise rotation of the rotating mechanism 4 around the origin O, wherein the positioning adjustment knob 21 is rotated clockwise, and the rotating mechanism 4 rotates clockwise around the origin O; the positioning adjustment knob 21 is rotated counterclockwise, and the rotating mechanism 4 rotates counterclockwise around the origin O.

[0136] When the positioning adjustment knob 21 starts to be adjusted, the desired movement speed that lasts for a certain unit time can be obtained. For example, the positioning adjustment knob 21 is turned in one direction for a certain angle and lasts for a certain time t, and the rotating mechanism 4 moves accordingly, and the movement speed (desired movement speed) of the rotating mechanism 4 remains unchanged, and the control time of the rotating mechanism 4 is t;

[0137] Alternatively, the positioning adjustment knob 21 is turned in one direction for a certain angle and maintained for a certain time t, and the movement speed (expected movement speed) of the rotating mechanism 4 uses a variable expected movement speed. For example, the larger the turning angle, the faster the expected movement speed, or the faster the turning speed, the faster the expected movement speed, depending on the definition of the knob control amount); and the control time of the rotating mechanism 4 is t.

[0138] Then, the end point coordinates of the rotating mechanism 4 are:

[0139] TarPos X=X Cur+V x1 ×t

[0140] TarPos Y=Y Cur +V y1 ×t

[0141] Among them, TarPosX is the value of the end point on the first horizontal axis, TarPosY is the value of the end point on the first vertical axis, and X Cur is the value of the initial point on the first horizontal axis, Y Cur is the value of the initial point on the first vertical axis, V x1 is the movement speed of the rotating mechanism 4 in the first horizontal axis direction, V y1 is the movement speed of the rotating mechanism 4 in the first longitudinal axis direction.

[0142] When the positioning adjustment knob 21 is not rotated and is only turned left, right, upward and downward, the angle of the rotating mechanism 4 remains unchanged. However, the rotation of the telescopic mechanism 5 will cause the angle of the rotating mechanism 4 to change. Therefore, during the adjustment process, the rotation angle α of the rotating mechanism 4 changes with the rotation angle θ of the telescopic mechanism 5, that is, α=-θ.

[0143] In some embodiments, the controller receives the second control signal at the same time as the first control signal, that is, when the positioning adjustment knob 21 is turned left, right, upward, and downward, the positioning adjustment knob 21 is also rotated clockwise or counterclockwise. Then, the rotation angle α of the rotating mechanism 4 is controlled according to the rotation angle. and the rotation angle θ of the telescopic mechanism 5, that is,

[0144] In the third embodiment of the present application, the operating table vehicle can be selected to work in the first control mode or the second control mode. The specific control process includes:

[0145] First, before the operator performs manual control, a first three-dimensional coordinate system is established with the highest fixed point of the position adjustment mechanism on the horizontal plane during horizontal adjustment as the origin, and the first three-dimensional coordinate system includes a first horizontal axis, a first longitudinal axis and a first vertical axis; a second horizontal coordinate system is established with the center point of the image acquisition device as the origin, and the second horizontal coordinate system includes a second horizontal axis and a second longitudinal axis; a third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third longitudinal axis.

[0146] Then, the control process of the operator selecting the first control mode or the second control mode includes:

[0147] Step S51, receiving a mode selection signal, the mode selection signal indicating to use the first control mode or the second control mode;

[0148] Step S52, executing the corresponding control method according to the mode selection signal: if the mode selection signal indicates to use the first control mode, turning on the image acquisition device and executing the first control method; if the mode selection signal indicates to use the second control mode, turning off the image acquisition device and executing the second control method.

[0149] If the first control method is implemented, the control process of the operator operating the manual controller to control the surgical trolley to position is the same as the corresponding process of the first embodiment. If the second control method is implemented, the control process of the operator operating the manual controller to control the surgical trolley to position is the same as the corresponding process of the second embodiment.

[0150] In the embodiment of the present application, the method provides two control modes (first control mode and second control mode), allowing medical staff to choose the most suitable operation mode according to actual needs and personal preferences. This flexibility not only improves work efficiency, but also enhances user experience. In the first control mode, by turning on the image acquisition device and displaying the real-time picture below the rotating laser on the display screen, the operator can directly observe and adjust the position of the operating trolley without the command of other auxiliary personnel. This method makes the adjustment process more intuitive and convenient, reducing communication costs and errors. The setting of the second control mode takes into account the operating habits of existing medical staff. Some medical staff are more accustomed to the traditional operation mode, that is, adjustments are made under the command of auxiliary personnel. This mode allows them to operate according to their original habits, thereby achieving compatibility and adaptation to new and old operation modes.

[0151] Figure 6 A possible structure of an electronic device provided by an embodiment of the present application is shown. Figure 6 The electronic device includes: a processor, a memory and a communication interface. These components are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms (not shown).

[0152] The memory includes one or more (only one is shown in the figure), which may be, but not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The processor and other possible components can access the memory and read and / or write data therein.

[0153] The processor includes one or more (only one is shown in the figure), which can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a microcontroller unit (MCU), a network processor (NP) or other conventional processors; it can also be a special-purpose processor, including a neural network processor (NPU), a graphics processor (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. In addition, when there are multiple processors, some of them can be general-purpose processors and the other part can be special-purpose processors.

[0154] The communication interface includes one or more (only one is shown in the figure), which can be used to communicate directly or indirectly with other devices to exchange data. The communication interface can include an interface for wired and / or wireless communication.

[0155] One or more computer program instructions may be stored in the memory, and the processor may read and execute these computer program instructions to implement the method provided in the embodiment of the present application.

[0156] Understandably, Figure 6 The structure shown is for illustration only. The electronic device may also include Figure 6 More or fewer components as shown, or with Figure 6 Different structures are shown. Figure 6 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device may be a physical device, such as a PC, a laptop, a tablet computer, a mobile phone, a server, an embedded device, etc., or a virtual device, such as a virtual machine, a virtualized container, etc. Moreover, the electronic device is not limited to a single device, but may also be a combination of multiple devices or a cluster consisting of a large number of devices.

[0157] A computer program product provided in an embodiment of the present application includes a computer program / instruction, which implements the steps of any of the above methods when executed by a processor.

[0158] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0159] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0160] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0161] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0162] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning control method for an operating table vehicle, the operating table vehicle comprising a surgical arm, a chassis driving mechanism, a position adjustment mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjustment mechanism, the rotating mechanism and the surgical arm are connected in sequence; an image acquisition device is also provided at the rotation center of the rotating mechanism; It is characterized in that The method comprises: Acquire the image below the rotating mechanism captured by the image acquisition device, and display the image to the operating user on a display screen; Acquire at least one of a first control signal, a second control signal and a third control signal received by the manual controller; wherein the first control signal is used to indicate that the movement of the position adjustment mechanism brings about the movement of the rotation mechanism in a three-dimensional space, the second control signal is used to indicate that the movement of the rotation mechanism brings about the rotation of the surgical arm in a horizontal plane, and the third control signal is used to indicate that the movement of the chassis driving mechanism brings about the movement or rotation of the position adjustment mechanism in a horizontal plane; Based on at least one of the first control signal, the second control signal and the third control signal, the movement of at least one of the corresponding position adjustment mechanism, the rotation mechanism and the chassis drive mechanism is controlled, thereby realizing at least one of the movement of the operating table in the horizontal plane, the movement of the surgical arm in space and the rotation of the surgical arm in the horizontal plane.

2. The method according to claim 1, characterized in that Before acquiring at least one of the first control signal, the second control signal and the third control signal received by the manual controller, the method further includes: Establishing a first three-dimensional coordinate system with the highest fixed point of the position adjustment mechanism on the horizontal plane as the origin during horizontal adjustment, wherein the first three-dimensional coordinate system includes a first horizontal axis, a first longitudinal axis and a first vertical axis; Establishing a second horizontal coordinate system with the center point of the image acquisition device as the origin, wherein the second horizontal coordinate system includes a second horizontal axis and a second vertical axis; A third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third vertical axis.

3. The method according to claim 2, characterized in that The manual controller includes a trigger device that provides at least six degrees of freedom for independent movement, and there is a unique mapping relationship between the degree to which the trigger device is triggered, the size of the control signal, and the expected movement speed of the chassis drive mechanism, the position adjustment mechanism, and the rotation mechanism; wherein, among the six degrees of freedom, three degrees of freedom correspond to generating the first control signal, one degree of freedom corresponds to generating the second control signal, and the last two degrees of freedom correspond to generating the third control signal.

4. The method according to claim 3, characterized in that Also includes: Obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to an expected movement speed and control time of the rotating mechanism and an angle difference of the second horizontal coordinate system relative to the first three-dimensional coordinate system; Obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment; Based on the coordinates of the target position, the movements of the joints of the position adjustment mechanism are controlled so that the rotation mechanism reaches the desired position.

5. The method according to claim 4, characterized in that The position increment is: Wherein, IncX is the position increment of the rotating mechanism on the first horizontal axis, IncY is the position increment of the rotating mechanism on the first vertical axis, V X2 is the expected movement speed of the rotating mechanism in the second transverse axis direction, V Y2 is the expected movement speed of the rotating mechanism in the second longitudinal axis direction, t is the control time, and β is the angular difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

6. The method according to claim 5, characterized in that The target position of the rotating mechanism in the first three-dimensional coordinate system is: TarPosX=X Cur +IncX TarPosY=Y Cur +IncY Wherein, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the coordinate value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the rotating mechanism on the first longitudinal axis.

7. The method according to claim 5 or 6, characterized in that The position adjustment mechanism includes a telescopic mechanism connected to the rotating mechanism and a lifting mechanism connected to the telescopic mechanism, the other end of the lifting mechanism is connected to the chassis driving mechanism, and the telescopic mechanism can also rotate around the central axis of the lifting mechanism, wherein: β=α+θ Wherein, α is the rotation angle of the rotating mechanism relative to the zero position, and θ is the rotation angle of the telescopic mechanism around the central axis of the lifting mechanism relative to the zero position.

8. The method according to claim 3, characterized in that Also includes: receiving the first control signal, controlling the rotating mechanism to move in the first three-dimensional coordinate system, and keeping the orientation of the rotating mechanism unchanged during the movement; According to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism on the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

9. The method according to claim 8, characterized in that The target position of the rotating mechanism is: TarPosX=X Cur +V X1 ×t TarPosY=Y Cur +V Y1 ×t Wherein, TarPosX is the coordinate value of the target position on the first horizontal axis, TarPosY is the value of the target position on the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is the initial coordinate value of the initial point on the first longitudinal axis, V X1 is the expected movement speed of the rotating mechanism in the first transverse axis direction, V Y1 is the expected movement speed of the rotating mechanism in the first longitudinal axis direction, and t is the control time.

10. The method according to claim 3, characterized in that Also includes: receiving the second control signal to obtain a desired rotation speed of the rotating mechanism; According to the initial angle of the rotating mechanism, the desired rotation speed and the control time, obtaining and outputting the target angle of the rotating mechanism; Based on the target angle, the rotating mechanism is controlled to rotate to a desired posture.

11. A positioning control method for an operating table trolley, characterized in that: The surgical trolley comprises a surgical arm, a chassis driving mechanism, a position adjustment mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjustment mechanism, the rotating mechanism and the surgical arm are connected in sequence; an image acquisition device is also provided at the rotation center of the rotating mechanism; The method comprises: receiving a mode selection signal, the mode selection signal indicating use of a first control mode or a second control mode; According to the mode selection signal, the corresponding control method is executed: if the mode selection signal indicates the use of the first control mode, the image acquisition device is turned on and the first control method is executed; if the mode selection signal indicates the use of the second control mode, the image acquisition device is turned off and the second control method is executed.

12. The method according to claim 11, characterized in that The executing the first control method comprises: Obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to the expected movement speed and control time of the rotating mechanism and the angle difference of the second horizontal coordinate system relative to the first three-dimensional coordinate system; Obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment; Based on the target position coordinates, the movements of the joints of the position adjustment mechanism are controlled so that the rotation mechanism reaches the desired position.

13. The method according to claim 11, characterized in that The executing the second control method comprises: receiving a first control signal, controlling the rotating mechanism to move in a first three-dimensional coordinate system, and maintaining the orientation of the rotating mechanism unchanged during the movement; According to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism on the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

14. The method according to claim 11, characterized in that The executing the second control method further includes: receiving a second control signal to obtain a desired rotation speed of the rotating mechanism; According to the initial angle of the rotating mechanism, the desired rotation speed and the control time, obtaining and outputting the target angle of the rotating mechanism; Based on the target angle, the rotating mechanism is controlled to rotate to a desired posture.

15. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method according to any one of claims 1 to 14 is performed.

16. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of any method described in claims 1-14 are implemented.

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