Positioning control method of operating table, electronic device, and program product

Abstract

The application provides a positioning control method of a surgical trolley, an electronic device and a program product. By directly observing the picture below the rotating mechanism on the display screen, the operator can intuitively see the actual working area, thereby performing accurate control and adjustment. 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. Traditional surgical trolley positioning usually requires the cooperation of multiple personnel, including operators and commanders. However, the direct feedback of the display screen enables the operator to independently complete the positioning work without additional manpower assistance, thereby reducing labor costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical apparatuses, in particular to a positioning control method of a surgical trolley, an electronic device and a program product. BACKGROUND

[0002] With the continuous development of medical apparatuses, computer technology and control technology, minimally invasive surgery has been more and more widely applied due to its small surgical trauma, short recovery time and less pain to patients. The minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image, and is widely applicable to abdominal, pelvic and thoracic surgical areas.

[0003] The laparoscopic surgical robot in the minimally invasive surgical robot includes a doctor console and a patient surgical platform. A plurality of surgical arms are arranged on the patient surgical platform. The main operating arm of the doctor console collects the operation signal of the doctor, generates the control signal of the surgical arm after processing by the control system, and controls the surgical instrument connected to the surgical arm to perform surgical operation or the endoscope to perform image acquisition. Before the robot surgery is carried out, the trolley positioning of the patient surgical platform needs to be performed to facilitate the butt joint of the patient's stab card.

[0004] However, the existing laparoscopic robot positioning is time-consuming and consumes more manpower, which affects the efficiency of the whole surgery. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a positioning control method of a surgical trolley, an electronic device and a program product, so as to solve the problem of time-consuming and high manpower consumption of the existing laparoscopic robot positioning, which affects the efficiency of the whole surgery.

[0006] The positioning control method of the surgical trolley provided by the embodiments of the present application includes a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller. The chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are connected in sequence. The rotating center of the rotating mechanism is further provided with an image acquisition device. The method comprises:

[0007] acquiring the picture below the rotating mechanism collected by the image acquisition device, and displaying the picture on the display screen for the operation user;

[0008] acquiring at least one of the first control signal, the second control signal and the third control signal received by the manual controller; wherein the first control signal is used to indicate that the movement of the position adjusting mechanism causes the movement of the rotating mechanism in the three-dimensional space, the second control signal is used to indicate that the movement of the rotating mechanism causes the rotation of the surgical arm in the horizontal plane, and the third control signal is used to indicate that the movement of the chassis driving mechanism causes the movement or rotation of the position adjusting mechanism in the 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 position adjustment mechanism, rotation mechanism and chassis driving mechanism is controlled, thereby realizing at least one of the movement of the operating trolley in the horizontal plane, the movement of the operating arm in space and the rotation of the operating arm in the horizontal plane.

[0010] In the above technical solution, the operator can directly observe the picture below the rotation mechanism on the display screen and intuitively see the actual working area, thereby accurately controlling and adjusting. This visual feedback mechanism greatly improves the accuracy and efficiency of operation and reduces the problem of inaccurate positioning caused by human judgment errors. Traditional operating trolley positioning usually requires the cooperation of multiple personnel, including operators and commanders, while the direct feedback of the display screen enables the operator to independently complete the positioning work without additional manpower, thereby reducing labor costs.

[0011] In some optional embodiments, before obtaining 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 comprises:

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

[0013] 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 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 independent movement, and the degree of triggering of the trigger device, the size of the control signal and the desired movement speed of the chassis driving mechanism, the position adjustment mechanism and the rotation mechanism have a unique mapping relationship; among the six degrees of freedom, three degrees of freedom correspond to the generation of the first control signal, one degree of freedom corresponds to the generation of the second control signal, and the last two degrees of freedom correspond to the generation of the third control signal.

[0016] In some optional embodiments, the method further comprises:

[0017] According to the desired movement speed of the rotation mechanism and the control time, and the angle difference of the second horizontal coordinate system relative to the first three-dimensional coordinate system, the position increment of the rotation mechanism in the first three-dimensional coordinate system is obtained;

[0018] According to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment, a target position of the rotating mechanism in the first three-dimensional coordinate system is obtained;

[0019] Based on the target position coordinates, each joint of the position adjustment mechanism is controlled to move so that the rotating mechanism reaches the desired position.

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

[0021]

[0022] wherein IncX is the position increment of the rotating mechanism in the first horizontal axis, IncY is the position increment of the rotating mechanism in the first vertical axis, V X2 is the desired movement speed of the rotating mechanism in the direction of the second horizontal axis, V Y2 is the desired movement speed of the rotating mechanism in the direction of the second vertical axis, t is the control time, and β is the angle 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] wherein TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the coordinate value of the target position in the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism in the first horizontal axis, Y Cur is the initial coordinate value of the rotating mechanism in the first vertical axis.

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

[0028] β = α + θ

[0029] 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.

[0030] In some optional embodiments, further comprising:

[0031] receiving a first control signal to control the rotating mechanism to move in the first three-dimensional coordinate system while 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 motion speed and control time of the rotating mechanism in the first horizontal axis and the first vertical axis, a 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] Wherein, TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the value of the target position in the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism in the first horizontal axis, Y Cur is the initial coordinate value of the initial point in the first vertical axis, V X1 is the expected motion speed of the rotating mechanism in the first horizontal axis direction, V Y1 is the expected motion speed of the rotating mechanism in the first vertical axis direction, and t is the control time.

[0037] In some optional embodiments, the method further comprises:

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

[0039] According to the initial angle of the rotating mechanism, and the expected rotating speed and control time, a target angle of the rotating mechanism is obtained and output.

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

[0041] The embodiment of the application provides a positioning control method of a surgical trolley, the surgical trolley comprising a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are connected in sequence; the rotating center of the rotating mechanism is further provided with an image acquisition device;

[0042] The method comprises:

[0043] receiving a mode selection signal, the mode selection signal indicating that a first control mode or a second control mode is used;

[0044] According to the mode selection signal, a 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 image under the rotating laser on the display screen, the operator can directly observe and adjust the position of the operating trolley without the need for other auxiliary personnel to command, making the adjustment process more intuitive and convenient and reducing communication costs and errors. The second control mode takes into account the operation habits of existing medical staff, some of whom are more accustomed to traditional operation methods, i.e., adjusting under the command of auxiliary personnel. This mode allows them to operate according to their original habits, thereby realizing compatibility and adaptation to new and old operation methods.

[0046] In some optional embodiments, the first control method is executed, including:

[0047] According to the desired motion 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, the position increment of the rotating mechanism in the first three-dimensional coordinate system is obtained;

[0048] According to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment, the target position of the rotating mechanism in the first three-dimensional coordinate system is obtained;

[0049] Based on the target position coordinates, the motion of each joint of the position adjustment mechanism is controlled to make the rotating mechanism reach the desired position.

[0050] In some optional embodiments, the second control method is executed, including:

[0051] The first control signal is received, and the rotating mechanism is controlled to move in the first three-dimensional coordinate system while keeping the orientation of the rotating mechanism unchanged during the movement;

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

[0053] In some optional embodiments, the second control method is executed, further including:

[0054] The second control signal is received, and the desired rotation speed of the rotating mechanism is obtained;

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

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

[0057] The electronic device provided by the embodiment of the present application comprises a processor and a memory, the memory stores machine readable instructions executable by the processor, and the machine readable instructions are executed by the processor to perform the method according to any one of the above.

[0058] The computer program product provided by the embodiment of the present application comprises a computer program / instruction, and the computer program / instruction is executed by the processor to implement the steps of the method according to any one of the above. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0060] Figure 1 The positioning control method of the operating trolley provided by the embodiment of the present application;

[0061] Figure 2 The structural diagram of the operating trolley provided by the embodiment of the present application;

[0062] Figure 3 The structural diagram of the manual controller provided by the embodiment of the present application;

[0063] Figure 4 The positioning control process schematic diagram under the first control mode provided by the embodiment of the present application;

[0064] Figure 5 The positioning control process schematic diagram under the second control mode provided by the embodiment of the present application;

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

[0066] Figure: 1-image acquisition device, 2-manual controller, 21-positioning adjustment knob, 22-lifting button, 23-display screen, 3-chassis driving mechanism, 4-rotating 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 with reference to the drawings in the embodiments of the present application.

[0068] In this specification, a number of specific details are illustrated in order to provide a thorough understanding of the complete technical solutions. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be regarded as limitations of the present application, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details can also not be shown in detail, so as not to mislead the public about the inventive points of the present application.

[0069] In this specification, the drawings show the schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electricity and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of several embodiments of the present application, or by replacing or combining well-known contents.

[0070] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatial relative terms, such as "below", "lower", "above", "upper", "middle", "interior", "exterior", "center", "edge" and the like, are used to facilitate the description of the relationship between one component or feature shown in the drawings and another component or feature. It should be understood that the spatial relative terms are used in the orientation direction of the device in use or operation (except for the orientation direction specially limited in the drawings), and are not necessarily unique and unchangeable. For example, if the device in the drawing is flipped 180° along the paper, the element described as "below" the other component or feature will become "above" the other component or feature. 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 (e.g., rotated 90° or positioned in other directions), and the spatial relative terms used herein are interpreted accordingly.

[0071] As used herein, "several", "one" and "the" are intended to also include plural forms, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "contain" specify the presence of the described features, steps, operations, elements and / or components, without excluding the presence of one or more other features, steps, operations, elements, components 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," "part," "piece," "module," "assembly," and "element" are used interchangeably.

[0073] The terms "instrument," "surgical instrument," and "surgical instruments" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, generally including an end effector. The end effector can be a surgical tool related to one or more surgical operations, 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 by embodiments of the present application further provide articulated supports for the surgical tools (sometimes referred to as "wrist joints," "jointed bases"), such that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide for one-way or two-way communication of information 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 mated objects to operate in conjunction with one another. 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 by using object C. Further, the term "removably coupled" or "removably mated" can be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0075] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any 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 occur only when two or more elements are in some way mutually exclusive from one another.

[0076] Overview of master-slave teleoperated laparoscopic surgical robot

[0077] Laparoscopic surgical robots typically include a physician control platform, a patient surgery platform, and an image platform. A surgeon sits at the physician control platform, watches two- or three-dimensional imagery of the surgical area transmitted by a laparoscope (sometimes referred to as an "endoscope") placed within the patient's body, and manipulates movement of a robotic arm on the patient surgery platform, as well as a surgical instrument or laparoscope attached to the robotic arm. The robotic arm is equivalent to a simulated human arm, and the surgical instrument is equivalent to a simulated human hand, both of which provide the surgeon with a range of motions that simulate a human wrist, while also filtering the tremors of the human hand itself, and thus are increasingly used in surgery, particularly in abdominal, thoracic, and general surgery.

[0078] The patient surgery platform typically includes a base, a column, a plurality of robotic arms coupled to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. A surgical instrument and / or laparoscope is removably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at a surgical site within a patient's body. Various forms of control can be permitted for each surgical instrument manipulator to move the associated surgical instrument(s) with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the point where the surgical instrument enters the body wall, and which is commonly referred to as a "telecenter" or "immobile point."

[0079] The image platform typically includes one or more video displays with video image capture functionality (commonly an endoscope) and for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the video images are delivered to a host computer of the image platform through optical devices that deliver images from one or more imaging sensors (e.g., CCD or CMOS sensors) within the patient's body to the distal end of the endoscope, and through steps such as photoelectric conversion. The processed images are then displayed on the video displays for viewing by other physicians or assistants through image processing.

[0080] The surgeon control platform typically includes a base, a foot pedal assembly, a stereo monitor, a master control arm, and a hand controller connected to the end of the master control arm. The surgeon controls the hand controller and foot pedal assembly to effectuate specific motions and / or energy activation of the surgical instruments. The surgeon control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperated master / slave operation can be accomplished according to a pre-set control degree, e.g., one location as a master control for a primary surgeon operation and another location as a slave control for an assistant surgeon operation. In some embodiments, the hand controller can be an input device capable of effectuating one or more manual operations, such as a joystick, an exoskeleton glove, a powered and gravity compensated manipulator, etc. These input devices collect the surgeon's operation signals, which are processed by the control system to generate control signals for the manipulator of the surgical robot, thereby controlling the remote motors on the manipulator of the surgical robot, which in turn control the final motion of the surgical instruments.

[0081] Generally, the force generated by the remote motors is transmitted through a transmission system to transmit the force from the remote motors to the end effector of the surgical instruments. In some teleoperated surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, in the room where the patient is located or outside, or even in a different city. The input signals of the input device are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components, which are not described here.

[0082] Please refer to Figure 2 , Figure 2 A surgical cart structure diagram is provided in the embodiments of the present application, the surgical cart includes a surgical arm 7, a base driving mechanism 3, a position adjusting mechanism, a rotating mechanism 4, and a hand controller 2; the base driving mechanism, the position adjusting mechanism, the rotating mechanism, and the surgical arm 7 are connected in sequence; the rotating center of the rotating mechanism is further provided with an image acquisition device 1.

[0083] In the embodiments, the position adjusting mechanism includes an extension mechanism connected to the rotating mechanism, a lifting mechanism connected to the extension mechanism, and the other end of the lifting mechanism is connected to the base driving mechanism; the extension mechanism can also rotate around the central axis of the lifting mechanism. Of course, in other embodiments, the extension mechanism can also be replaced by a swing mechanism connected by two connecting rods.

[0084] The manual controller comprises trigger devices providing at least six degrees of freedom independent movement, the degree of triggering of the trigger devices, the size of the control signal and the desired movement speed of the chassis driving mechanism, the position adjusting mechanism and the rotating mechanism have a unique mapping relationship; among the six degrees of freedom, three degrees of freedom correspond to the generation of a first control signal, the first control signal is used to indicate the movement of the telescopic mechanism and the lifting mechanism to cause the movement of the rotating mechanism in the three-dimensional space; one degree of freedom corresponds to the generation of a second control signal, the second control signal is used to indicate the movement of the rotating mechanism to cause the rotation of the surgical arm device in the horizontal plane; and the last two degrees of freedom correspond to the generation of a third control signal, the third control signal is used to indicate the movement of the chassis driving mechanism to cause the movement or rotation of the whole surgical trolley in the horizontal plane.

[0085] Please refer to Figure 3 , Figure 3 The manual controller structure diagram provided by the embodiment of the application, the manual controller 2 comprises a controller and a positioning adjustment knob 21. The controller is used for: controlling the telescopic mechanism 5 to extend when the positioning adjustment knob is pulled upward; controlling the telescopic mechanism 5 to retract when the positioning adjustment knob is pulled downward; controlling the telescopic mechanism 5 to rotate clockwise around the axis of the first rotating joint when the positioning adjustment knob is pulled to the right; controlling the telescopic mechanism 5 to rotate counterclockwise around the axis of the first rotating joint when the positioning adjustment knob is pulled to the left; controlling the rotating mechanism 4 to rotate clockwise around the axis of the second rotating joint when the positioning adjustment knob is rotated clockwise; and controlling the rotating mechanism 4 to rotate counterclockwise around the axis of the second rotating joint when the positioning adjustment knob is rotated counterclockwise.

[0086] In the embodiment of the application, the movement of the telescopic mechanism 5 and the rotating mechanism 4 is controlled through different operation modes (up and down, left and right, clockwise / counterclockwise rotation) of the positioning adjustment knob 21. Such an intuitive operation mode reduces the learning cost, so that even a medical staff who uses it for the first time can quickly get started, and the usability of the system is improved.

[0087] In some optional embodiments, the manual controller 2 further comprises a lifting button 22; the controller is used for: controlling the lifting mechanism 6 to rise when the lifting button 22 is pulled upward; and controlling the lifting mechanism 6 to lower when the lifting button 22 is pulled downward.

[0088] Please refer to Figure 1 , Figure 1 The positioning control method of the surgical trolley provided by the embodiment of the application, specifically comprises:

[0089] Step S11, acquiring the picture collected by the image collection device below the rotating mechanism, and displaying the picture on the display screen to the operation user;

[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, controlling the movement of at least one of the corresponding position adjustment mechanism, the rotation mechanism and the chassis driving mechanism based on at least one of the first control signal, the second control signal and the third control signal, thereby realizing at least one of the movement of the surgical trolley in the horizontal plane, the movement of the surgical arm in space and the rotation of the surgical arm in the horizontal plane, respectively.

[0092] When the surgical trolley is positioned, it is usually first positioned to a suitable position as a whole by controlling the chassis driving mechanism to realize the "coarse adjustment" process, and then the "fine adjustment" process is performed by controlling the position adjustment mechanism and the rotation mechanism. The following embodiments focus on the control method of the "fine adjustment" process. One or more specific control processes are described in the following embodiments.

[0093] In the first embodiment of the present application, the surgical trolley 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 stationary 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 vertical 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 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.

[0095] Then, the control process of the operator controlling the surgical trolley to position includes:

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

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

[0098] Step S23, controlling the movement of each joint of the position adjustment mechanism to make the rotation mechanism reach the expected position based on the target position coordinates.

[0099] Wherein, the position increment is:

[0100]

[0101] IncX is the position increment of the rotating mechanism in the first horizontal axis, IncY is the position increment of the rotating mechanism in the first vertical axis, V X2 is the desired motion speed of the rotating mechanism in the second horizontal axis direction, V Y2 is the desired motion speed of the rotating mechanism in the second vertical axis direction, t is the control time, and β is the angle difference of the second horizontal coordinate system relative to 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] wherein TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the coordinate value of the target position in the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism in the first horizontal axis, Y Cur is the initial coordinate value of the rotating mechanism in the first vertical 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 relative to the zero position about the central axis of the lifting mechanism.

[0106] In the embodiments 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 accurately controlling and adjusting. This visual feedback mechanism greatly improves the accuracy and efficiency of operation, and reduces the problem of inaccurate positioning caused by human judgment errors. Traditional operating table positioning usually requires the cooperation of multiple personnel, including operators and commanders, while the present scheme directly feeds back through the display screen, so that the operator can independently complete the positioning work without additional manpower assistance, thereby reducing labor costs.

[0107] Specifically, the manual controller 2 further comprises a display screen 23; the image acquisition device 1 obtains the picture below the rotating mechanism 4, and the picture is displayed on the display screen 23. Please refer to Figure 4 , Figure 4The first control mode under the swing control process provided by the embodiment of the application is 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 position and angle of the rotating mechanism correspond to the field of view of the display screen display picture. 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, and OB is the length L1 of the telescopic mechanism 5 after swing. 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 terminal 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 orientation angle adjustment of the rotating mechanism 4 in the horizontal direction can be realized by adjusting the positioning adjustment knob 21. The positioning adjustment knob 21 is adjusted leftward and rightward to realize the movement of the rotating mechanism 4 in the X-axis direction, wherein the positioning adjustment knob 21 is adjusted rightward to move the rotating mechanism 4 in the positive direction of the X-axis, and the positioning adjustment knob 21 is adjusted leftward to move the rotating mechanism 4 in the negative direction of the X-axis. The positioning adjustment knob 21 is adjusted upward and downward to realize the movement of the rotating mechanism 4 in the Y-axis direction, wherein the positioning adjustment knob 21 is adjusted upward to move the rotating mechanism 4 in the positive direction of the Y-axis, and the positioning adjustment knob 21 is adjusted downward to move the rotating mechanism 4 in the negative direction of the Y-axis. The positioning adjustment knob 21 is rotated to realize the clockwise or counterclockwise rotation of the rotating mechanism 4 around the origin O, wherein the positioning adjustment knob 21 is rotated clockwise to rotate the rotating mechanism 4 clockwise around the origin O, and the positioning adjustment knob 21 is rotated counterclockwise to rotate the rotating mechanism 4 counterclockwise around the origin O. When the positioning adjustment knob 21 starts to adjust, the expected motion speed in a plurality of unit time can be obtained.

[0109] Since the positioning adjustment knob 21 is adjusted with reference to the second horizontal coordinate system in which the field of view of the display screen 23 is located in the swing control process, a transpose matrix needs to be used for 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 first rotating joint axis.

[0113] The coordinate increment of the rotating mechanism 4 in the first horizontal axis and the first vertical axis is:

[0114]

[0115] wherein, IncX is the coordinate increment of the rotating mechanism 4 in the first horizontal axis, IncY is the coordinate increment of the rotating mechanism 4 in 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 vertical axis direction, and t is the control time (the control time is the program running period, generally within 10 ms).

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

[0117] TarPosX = X Cur + IncX

[0118] TarPosY = Y Cur + IncY

[0119] wherein, TarPosX is the value of the end point in the first horizontal axis, TarPosY is the value of the end point in the first vertical axis, X Cur is the value of the initial point in the first horizontal axis, Y Cur is the value of the initial point in the first vertical axis. It should be noted that in this embodiment, the coordinate change of the rotating mechanism in the horizontal plane is obtained under the condition that the Z-axis coordinate of the rotating mechanism in the first three-dimensional coordinate system is 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 will not be described again, and only the coordinate obtaining method of the X-axis and the Y-axis will be discussed.

[0120] In this embodiment, the operator operates according to the display screen of the reference display screen. If the command input by the operator is not converted in the coordinate system, once the rotating mechanism rotates by an arbitrary angle other than 0, the adjustment process will not be intuitive, for example, the operator wants to operate the rotating mechanism to translate to the right side of the display screen display. Since the coordinate system is not converted, the rotating mechanism will translate along the positive direction of the X-axis, and the desired effect of the operator cannot be achieved. Therefore, the command input by the operator is converted in the 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 car works in the second control mode, and the specific control process includes:

[0122] Firstly, before the manual control of the operator, a first three-dimensional coordinate system is established with the highest stationary point of the horizontal plane in the horizontal adjustment of the position adjustment mechanism as the origin, the first three-dimensional coordinate system comprising a first horizontal axis, a first vertical 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, the third horizontal coordinate system comprising a third horizontal axis and a third vertical axis.

[0123] Then, the control process of the operator controlling the positioning of the operating trolley by operating the manual controller comprises:

[0124] Step S31, receiving a 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;

[0125] Step S32, obtaining and outputting 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 in the first horizontal axis and the first vertical axis.

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

[0127] TarPosX=X Cur +V X1 ×t

[0128] TarPosY=Y Cur +V Y1 ×t

[0129] Wherein, TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the value of the target position in the first vertical axis, X Cur is the initial coordinate value of the rotating mechanism in the first horizontal axis, Y Cur is the initial coordinate value of the initial point in the first vertical axis, V X1 is the expected movement 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 vertical axis direction, and t is the control time.

[0130] In the second embodiment, the control process of the operator controlling the positioning of the operating trolley by operating the manual controller further comprises:

[0131] Step S41, receiving a second control signal, obtaining the expected rotating speed of the rotating mechanism;

[0132] Step S42, obtaining and outputting the target angle of the rotating mechanism according to the initial angle of the rotating mechanism, and the expected rotating speed and control time;

[0133] Step S43, controlling the rotating mechanism to rotate to the expected posture based on the target angle.

[0134] Specifically, refer to Figure 5 , Figure 5 The second control mode is provided for the embodiment of the application. In the second control mode, the origin O of the first three-dimensional coordinate system is taken 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 the swing 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 terminal coordinates of the rotating mechanism 4 are (L1×sinθ, L1×cosθ).

[0135] The position adjustment knob 21 can be used to adjust the position and orientation angle of the rotating mechanism 4 in the horizontal direction. The position adjustment knob 21 can be adjusted left and right to move the rotating mechanism 4 in the X axis direction, wherein the position adjustment knob 21 is adjusted to the right, the rotating mechanism 4 moves in the positive direction of the X axis, and the position adjustment knob 21 is adjusted to the left, the rotating mechanism 4 moves in the negative direction of the X axis. The position adjustment knob 21 can be adjusted up and down to move the rotating mechanism 4 in the Y axis direction, wherein the position adjustment knob 21 is adjusted upwards, the rotating mechanism 4 moves in the positive direction of the Y axis, and the position adjustment knob 21 is adjusted downwards, the rotating mechanism 4 moves in the negative direction of the Y axis. The position adjustment knob 21 can be rotated clockwise or counterclockwise to rotate the rotating mechanism 4 clockwise or counterclockwise around the origin O, wherein the position adjustment knob 21 is rotated clockwise, the rotating mechanism 4 rotates clockwise around the origin O, and the position adjustment knob 21 is rotated counterclockwise, the rotating mechanism 4 rotates counterclockwise around the origin O.

[0136] When the position adjustment knob 21 starts to adjust, the expected motion speed in a certain unit of time can be obtained, for example, the position adjustment knob 21 is adjusted in a direction by a certain angle and for a certain time t, the rotating mechanism 4 moves correspondingly, and the motion speed of the rotating mechanism 4 (the expected motion speed) remains unchanged, and the control time of the rotating mechanism 4 is t.

[0137] Alternatively, the position adjustment knob 21 is adjusted in a direction by a certain angle and for a certain time t, the motion speed of the rotating mechanism 4 (the expected motion speed) uses a changing expected motion speed, for example, the greater the adjustment angle, the faster the expected motion speed, or the faster the adjustment speed, the faster the expected motion speed, and the specific definition depends on the definition of the knob control amount); and the control time of the rotating mechanism 4 is t.

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

[0139] TarPos X=X Cur+V x1 ×t

[0140] TarPos Y = Y Cur +V y1 ×t

[0141] wherein 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, 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 direction of the first horizontal axis, V y1 is the movement speed of the rotating mechanism 4 in the direction of the first vertical axis.

[0142] When the positioning adjustment knob 21 is not rotated, and only the positioning adjustment knob 21 is dials left, right, up and down, the angle of the rotating mechanism 4 remains unchanged, however, the rotation of the telescopic mechanism 5 will cause the change of the angle of the rotating mechanism 4, therefore, during the adjustment process, the rotation angle a of the rotating mechanism 4 changes with the rotation angle q of the telescopic mechanism 5, that is, a = - q.

[0143] In some embodiments, the controller receives the second control signal at the same time as receiving the first control signal, that is, when the positioning adjustment knob 21 is dials left, right, up and down, the positioning adjustment knob 21 is also rotated clockwise or counterclockwise, then the rotation angle a of the rotating mechanism 4 is determined according to the control rotation angle and the rotation angle q of the telescopic mechanism 5, that is,

[0144] In the third embodiment of the present application, the operating table trolley can work in the first control mode or the second control mode, and the specific control process includes:

[0145] First, before the manual control of the operator, the highest stationary point of the position adjustment mechanism on the horizontal plane during the horizontal adjustment is used as the origin to establish a first three-dimensional coordinate system, and the first three-dimensional coordinate system includes a first horizontal axis, a first vertical axis and a first vertical axis; the center point of the image acquisition device is used as the origin to establish a second horizontal coordinate system, and the second horizontal coordinate system includes a second horizontal axis and a second vertical axis; the center point of the driving wheel of the chassis driving mechanism is used as the origin to establish a third horizontal coordinate system, and the third horizontal coordinate system includes a third horizontal axis and a third vertical 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 indicates to use the first control mode or the second control mode;

[0148] In step S52, a corresponding control method is executed according to the mode selection signal: if the mode selection signal indicates that the first control mode is used, the image acquisition device is turned on, and the first control method is executed; if the mode selection signal indicates that the second control mode is used, the image acquisition device is turned off, and the second control method is executed.

[0149] If the first control method is executed, the control process of the operating personnel operating the manual controller to control the positioning of the operating trolley is the same as the corresponding process of the first embodiment. If the second control method is executed, the control process of the operating personnel operating the manual controller to control the positioning of the operating trolley is the same as the corresponding process of the second embodiment.

[0150] In the embodiments of the present application, the method provides two control modes (the first control mode and the second control mode), allowing medical personnel 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 image under the rotating laser on the display screen, the operating personnel can directly observe and adjust the position of the operating trolley without the need for other auxiliary personnel to command, which makes the adjustment process more intuitive and convenient, reducing communication costs and errors. The setting of the second control mode takes into account the operation habits of existing medical personnel, some of whom are more accustomed to traditional operation methods, i.e., adjusting under the command of auxiliary personnel. This mode allows them to operate according to their original habits, thereby realizing compatibility and adaptation to new and old operation methods.

[0151] Figure 6 A possible structure of an electronic device provided by the embodiments of the present application is shown. Referring to Figure 6 , the electronic device includes a processor, a memory and a communication interface, which are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanism (not shown).

[0152] The memory includes one or more (only one is shown in the figure), which can be, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM) and the like. The processor and other possible components can access the memory to 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 capability. The processor described above can be a general-purpose processor, including a central processing unit (CPU), a micro controller unit (MCU), a network processor (NP) or other conventional processors; it can also be a special-purpose processor, including a neural network processing unit (NPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Moreover, when the processor is multiple, part 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 for direct or indirect communication with other devices to interact with data. The communication interface can include an interface for wired and / or wireless communication.

[0155] One or more computer program instructions can be stored in the memory, and the processor can read and run these computer program instructions to implement the method provided by the embodiments of the present application.

[0156] It can be understood that, Figure 6 The structure shown is only schematic, and the electronic device can include more or fewer components than shown, or have a different configuration or arrangement of the components shown than shown. Figure 6 The components shown in the figures can be implemented in hardware, software, or a combination thereof. The electronic device can be a physical device such as a PC, a notebook computer, a tablet computer, a mobile phone, a server, an embedded device, etc., or a virtual device such as a virtual machine, a virtualization container, etc. Moreover, the electronic device is not limited to a single device, but can also be a combination of multiple devices or a cluster of a large number of devices. Figure 6 Figure 6 The electronic device can be a physical device such as a PC, a notebook computer, a tablet computer, a mobile phone, a server, an embedded device, etc., or a virtual device such as a virtual machine, a virtualization container, etc. Moreover, the electronic device is not limited to a single device, but can also be a combination of multiple devices or a cluster of a large number of devices.

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

[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 only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, and can be electrical, mechanical or other forms.

[0159] In addition, the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

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

[0161] In this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

[0162] ​The above merely provides an example of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A positioning control method of a surgical trolley, the surgical trolley comprising a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are connected in sequence; a center of rotation of the rotating mechanism is further provided with an image acquisition device; characterized in that the method comprising: acquiring a picture below the rotating mechanism collected by the image acquisition device, and displaying the picture on a display screen for an operating user; acquiring a control signal received by the manual controller, the control signal comprising a first control signal, a second control signal and a third control signal; wherein the first control signal is used to indicate a movement of the position adjusting mechanism to bring a movement of the rotating mechanism in a three-dimensional space, the second control signal is used to indicate a movement of the rotating mechanism to bring a rotation of the surgical arm in a horizontal plane, and the third control signal is used to indicate a movement of the chassis driving mechanism to bring a movement or rotation of the position adjusting mechanism in the horizontal plane; controlling movements of the position adjusting mechanism, the rotating mechanism and the chassis driving mechanism based on the first control signal, the second control signal and the third control signal, so as to respectively realize a movement of the surgical trolley in the horizontal plane, a movement of the surgical arm in space and a rotation of the surgical arm in the horizontal plane; the manual controller comprising a trigger device providing at least six degrees of freedom independent movement, a degree of triggering of the trigger device, a size of the control signal and a desired movement speed of the chassis driving mechanism, the position adjusting mechanism and the rotating mechanism having a unique mapping relationship; wherein, among the six degrees of freedom, three degrees of freedom correspond to the first control signal, one degree of freedom corresponds to the second control signal, and the last two degrees of freedom correspond to the third control signal.

2. The method of claim 1, wherein, Before the acquiring of at least one of the first control signal, the second control signal and the third control signal received by the manual controller, further comprising: establishing a first three-dimensional coordinate system with a highest stationary point of the position adjusting mechanism in horizontal adjustment as an origin, the first three-dimensional coordinate system comprising a first horizontal axis, a first vertical axis and a first vertical axis; establishing a second horizontal coordinate system with a center point of the image acquisition device as an origin, the second horizontal coordinate system comprising a second horizontal axis and a second vertical axis; establishing a third horizontal coordinate system with a center point of a driving wheel of the chassis driving mechanism as an origin, the third horizontal coordinate system comprising a third horizontal axis and a third vertical axis.

3. The method of claim 2, wherein, Further comprising: obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to a desired movement speed of the rotating mechanism and a control time, 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 an initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment; controlling movements of each joint of the position adjusting mechanism based on coordinates of the target position to make the rotating mechanism reach a desired position.

4. The method of claim 3, wherein, the position increment is: = wherein IncX is a position increment of the rotation mechanism in the first horizontal axis direction, IncY is a position increment of the rotation mechanism in the first vertical axis direction, V X2 is a desired movement speed of the rotation mechanism in the second horizontal axis direction, V Y2 is a desired movement speed of the rotation mechanism in the second vertical axis direction, t is a control time, and β is an angle difference of the second horizontal coordinate system relative to the first three-dimensional coordinate system.

5. The method of claim 4, wherein, The target position of the rotating mechanism in the first three-dimensional coordinate system is: wherein TarPosX is a coordinate value of the target position on the first horizontal axis, TarPosY is a coordinate value of the target position on the first vertical axis, X Cur is an initial coordinate value of the rotating mechanism on the first horizontal axis, Y Cur is an initial coordinate value of the rotating mechanism on the first vertical axis.

6. The method according to claim 4 or 5, characterized in that The position adjusting mechanism comprises a telescopic mechanism connected to the rotating mechanism, a lifting mechanism connected to the telescopic mechanism, and the other end of the lifting mechanism connected to the chassis driving mechanism. 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 relative to the zero position around the central axis of the lifting mechanism.

7. The method of claim 2, wherein, 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 in the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

8. The method of claim 7, wherein, The target position of the rotating mechanism is: TarPosX = X Cur + V X1 x t TarPosY = Y Cur + V Y1 x t wherein TarPosX is a coordinate value of the target position in the first horizontal axis, TarPosY is a value of the target position in the first vertical axis, X Cur is an initial coordinate value of the rotating mechanism in the first horizontal axis, Y Cur is an initial coordinate value of the initial point in the first vertical axis, V X1 is a desired movement speed of the rotating mechanism in the first horizontal axis direction, V Y1 is a desired movement speed of the rotating mechanism in the first vertical axis direction, and t is a control time.

9. The method of claim 2, wherein, Also includes: Receiving the second control signal, obtaining the expected rotation speed of the rotating mechanism; According to the initial angle of the rotating mechanism, and the expected rotation speed and control time, the target angle of the rotating mechanism is obtained and output; Based on the target angle, control the rotating mechanism to rotate to the expected posture.

10. A positioning control method of a surgical trolley, characterized by, The operating trolley comprises an operating arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller. The chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the operating arm are connected in sequence. The rotating center of the rotating mechanism is also provided with an image acquisition device. The method comprises: Receiving a mode selection signal, the mode selection signal indicating the 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; The execution of the first control method comprises: 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, the position increment of the rotating mechanism in the first three-dimensional coordinate system is obtained; According to the initial position of the rotating mechanism in the first three-dimensional coordinate system, and the position increment, the target position of the rotating mechanism in the first three-dimensional coordinate system is obtained; Based on the target position coordinates, the joints of the position adjusting mechanism are controlled to move so that the rotating mechanism reaches the expected position; The execution of the second control method comprises: 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 in the first horizontal axis and the first vertical axis, the target position of the rotating mechanism is obtained and output.

11. The method of claim 10, wherein, The execution of the second control method also comprises: Receiving the second control signal, obtaining the expected rotation speed of the rotating mechanism; According to the initial angle of the rotating mechanism, and the desired rotating speed and control time, a target angle of the rotating mechanism is obtained and outputted; Based on the target angle, the rotating mechanism is controlled to rotate to a desired pose.

12. An electronic device, comprising: Comprise: A processor and a memory, the memory stores machine readable instructions executable by the processor, the machine readable instructions are executed by the processor to perform the method of any one of claims 1-11.

13. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of the method of any one of claims 1-11.

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