Pedal control device, master console and surgical robot

Abstract

The invention relates to a pedal control device, a console and a surgical robot, the pedal control device comprises at least one sub-panel, a plurality of pedal switches for controlling the surgical robot and a plurality of first driving mechanisms arranged on the sub-panel; the plurality of foot switches are arranged at intervals, each foot switch is connected with one first driving mechanism in a one-to-one correspondence mode, and the first driving mechanisms are used for driving the foot switches to move in the preset direction. The pedal switches are driven to move through the first driving mechanism, so that the distance between the pedal switches is adjusted to adapt to users with different foot sizes, the distance between the pedal switches and the feet of the users is closer, the control stroke is smaller, the control accuracy is higher, and the possibility of misoperation is reduced; and the user does not need to lift up the feet for operation, the control is easier, so that the fatigue feeling and discomfort caused by long-time operation to the feet are reduced, the operation is more convenient and comfortable, and the use experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a foot control device, a main console and a surgical robot. Background Art

[0002] In recent years, surgical robots have been increasingly used in surgical procedures. During these procedures, the user must sit at a console for extended periods to control the robot. The console's foot control also functions as a robot controller. The user activates different robot functions by pressing the foot switches on the control.

[0003] In the related art, when a user steps on a foot switch, he or she may feel strenuous and uncomfortable, which affects the user's experience. Summary of the Invention

[0004] Based on this, it is necessary to provide a foot-operated control device to address the problem that existing foot-operated control devices affect user experience.

[0005] A foot control device, comprising:

[0006] at least one subpanel;

[0007] A plurality of foot switches for controlling the surgical robot, wherein the plurality of foot switches are arranged at intervals;

[0008] A plurality of first driving mechanisms are provided on the sub-panel; each of the foot switches is connected to a first driving mechanism in a one-to-one correspondence, and the first driving mechanism is used to drive the foot switch to move along a preset direction.

[0009] In one embodiment, the plurality of foot switches are grouped in pairs, and the two foot switches in the same group are spaced apart along the preset direction, and the gap between the two foot switches forms the accommodating space;

[0010] The arrangement directions of at least two groups of the foot switches intersect.

[0011] In one embodiment, the sub-panel is configured with a first sliding groove; the foot switch is slidably connected to the first sliding groove.

[0012] In one embodiment, the foot control device further includes a second driving mechanism, the sub-panel is connected to the second driving mechanism, and the second driving mechanism is used to drive the sub-panel to move in a horizontal direction.

[0013] In one embodiment, the foot control device further includes a support frame connected to the sub-panel, and the support frame is connected to the second driving mechanism; the second driving mechanism drives the sub-panel to move along the horizontal direction through the support frame.

[0014] In one embodiment, the foot control device further includes a guide mechanism arranged along the horizontal direction, and the support frame is slidably connected to the guide mechanism.

[0015] In one embodiment, the foot control device further includes a third driving mechanism, one end of the third driving mechanism is mounted on the support frame, and the other end is connected to the sub-panel; the third driving mechanism is used to drive the sub-panel to deflect relative to the support frame.

[0016] In one embodiment, the sub-panels include two, the two sub-panels are connected side by side, and both of the sub-panels are connected to the supporting frame.

[0017] A main console comprises a base and the above-mentioned foot control device installed on the base.

[0018] A surgical robot system comprises a surgical robot and the main console as described above, wherein the main console is used to control the surgical robot.

[0019] The above-mentioned foot control device arranges multiple foot switches at intervals to enclose a space for accommodating the user's feet. The first drive mechanism drives the foot switches to move, thereby adjusting the positions of the corresponding foot switches, so that the size of the space enclosed by the multiple foot switches changes to accommodate users with different foot sizes. The foot switches are closer to the user's feet, the control stroke is smaller, the control accuracy is higher, and the possibility of misoperation is reduced. Moreover, the user does not need to lift their feet to operate, and the control is easier, thereby reducing the fatigue and discomfort of the feet caused by long-term operation, making operation more convenient and comfortable, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the foot control device provided in the first embodiment of the present application.

[0021] Figure 2 for Figure 1 Schematic diagram of placing a foot model on a foot control device is shown.

[0022] Figure 3 for Figure 2 A schematic diagram of the foot control device shown from another perspective.

[0023] Figure 4 for Figure 1A top view of the foot control is shown.

[0024] Figure 5 This is a schematic diagram of a foot control device provided in the second embodiment of the present application.

[0025] Figure 6 This is a schematic diagram of a foot control device provided in the third embodiment of the present application.

[0026] Figure 7 for Figure 6 Bottom view of the foot control shown.

[0027] Figure 8 A schematic diagram of a console provided in accordance with an embodiment of the present application.

[0028] Figure numbers: 10, main console; 100, foot control device; 110, sub-panel; 111, first slide; 120, foot switch; 130, first drive mechanism; 140, second drive mechanism; 150, support frame; 151, first connecting rod; 152, second connecting rod; 160, guide mechanism; 161, guide rail; 162, slider; 170, third drive mechanism; 181, in-position sensor; 182, first connecting part; 183, second connecting part; 200, base; 300, touch screen; 400, armrest; 500, ergonomic adjustment switch. DETAILED DESCRIPTION

[0029] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0032] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0035] See Figures 1 to 2As shown, a foot control device 100 provided in one embodiment of the present application includes at least one sub-panel 110, a plurality of foot switches 120 for controlling a surgical robot, and a plurality of first drive mechanisms 130 disposed on the sub-panel 110; the plurality of foot switches 120 are arranged at intervals to enclose a space for accommodating the user's feet; each foot switch 120 is connected to an output end of a first drive mechanism 130 in a one-to-one correspondence, and the first drive mechanism 130 is used to drive the foot switch 120 to move along a preset direction. The preset direction can be the arrangement direction of the foot switch 120, for example, Figure 4 From the perspective of FIG, taking the cross-section of the foot switch 120 as an example, the preset direction is the width direction of the foot switch 120.

[0036] The foot control device 100 is constructed by spacing multiple foot switches 120 to form a space for accommodating a user's foot. The first drive mechanism 130 drives the foot switches 120 to move, thereby adjusting the position of the corresponding foot switches 120. This allows the size of the space enclosed by the multiple foot switches 120 to change to accommodate users with different foot sizes. This allows the foot switches 120 to be closer to the user's foot, resulting in a smaller control stroke, higher control accuracy, and reduced possibility of misoperation. Furthermore, the user does not need to lift their feet to operate, making control easier, thereby reducing fatigue and discomfort caused by prolonged operation, making operation more convenient and comfortable, and thus improving the user experience.

[0037] See Figures 1 to 2 As shown, in one embodiment, the first drive mechanism 130 is installed on the side of the sub-panel 110 facing away from the ground, that is, the first drive mechanism 130 is located on the side of the foot control device 100 facing the user. In this way, the foot switch 120 can be suspended relative to the sub-panel 110, so that it can move under the action of the first drive mechanism 130, which can reduce the friction of movement. Of course, in other embodiments, the foot switch 120 can also be in contact with the sub-panel 110. For example, a guide groove can be constructed on the sub-panel 110. When the first drive mechanism 130 drives the foot switch 120 to move, the foot switch 120 can slide in the guide groove, thereby guiding and limiting the movement of the foot switch 120. Among them, the first drive mechanism 130 can be a push rod motor, and its output push rod is connected to the foot switch 120. In other embodiments, the first drive mechanism 130 can also be a cylinder, etc., which is not limited here.

[0038] See Figures 6 and 7As shown, in another embodiment, the first drive mechanism 130 is mounted on the side of the sub-panel 110 facing the ground. The foot switch 120 can be located entirely on the side of the sub-panel 110 facing away from the ground, with the output end of the first drive mechanism 130 extending through the sub-panel 110 and connected to the foot switch 120. Alternatively, the first drive mechanism 130 can be located entirely on the side of the sub-panel 110 facing the ground, with one end of the foot switch 120 extending through the sub-panel 110 and connected to the output end of the first drive mechanism 130. Placing the first drive mechanism 130 on the back of the foot control device 100 improves its appearance and increases the foot position adjustment capability.

[0039] See Figures 6 and 7 As shown, in one embodiment, the sub-panel 110 is configured with a first slide slot 111; the foot switch 120 is slidably connected to the first slide slot 111. When the first drive mechanism 130 is installed on the side of the sub-panel 110 facing the ground, one end of the foot switch 120 can pass through the first slide slot 111 and connect to the first drive mechanism 130. When the first drive mechanism 130 drives the foot switch 120 to move, the first slide slot 111 can serve as a guide and limit.

[0040] See Figures 1 to 3 As shown, in one embodiment, the foot control device 100 further includes a second drive mechanism 140, and the sub-panel 110 is connected to the output end of the second drive mechanism 140. The sub-panel 110 is driven to move in the horizontal direction by the second drive mechanism 140, thereby adjusting the position of the sub-panel 110 to accommodate users of different heights. For example, for a user with a taller height and longer legs, the output end of the second drive mechanism 140 can be operated to move the sub-panel 110 in a direction away from the user, thereby increasing the user's activity space and making the user's use process more comfortable. For a user with a shorter height and shorter legs, the second drive mechanism 140 can be operated to move the sub-panel 110 in a direction close to the user, so that the user's foot can more easily touch the foot switch 120, thereby ensuring that the user is more labor-saving in the process of stepping on the foot switch 120.

[0041] See Figures 1 to 4 As shown, in one embodiment, the foot control device 100 further includes a support frame 150 connected to the sub-panel 110, and the support frame 150 is connected to the output end of the second driving mechanism 140; the second driving mechanism 140 drives the sub-panel 110 to move in the horizontal direction through the support frame 150. When there are two sub-panels 110, the two sub-panels 110 can be connected to the same support frame 150, for example Figure 4As shown, the left sub-panel 110 is connected to the left end of the support frame 150, and the right sub-panel 110 is connected to the right end of the support frame 150, with the ends of the two sub-panels 110 connected. In this way, the second drive mechanism 140 can drive the support frame 150 to move, thereby causing the entire foot control device 100 to move synchronously. The second drive mechanism 140 can be a push rod motor, whose output push rod is connected to the support frame 150. In other embodiments, the second drive mechanism 140 can also be a cylinder, etc., which is not limited here.

[0042] like Figure 5 As shown, in other embodiments, when the number of sub-panels 110 is two, each sub-panel 110 can be individually connected to a support frame 150, and correspondingly, the number of second driving mechanisms 140 is also two, so that the sub-panels 110 can be independently controlled.

[0043] See Figure 3 and Figure 5 As shown, in one embodiment, the foot control device 100 also includes a guide mechanism 160 arranged in the horizontal direction, and the support frame 150 is slidably connected to the guide mechanism 160. When the second driving mechanism 140 drives the support frame 150 and the sub-panel 110 to move synchronously, the support frame 150 will move along the guide mechanism 160, thereby improving the stability and reliability of the foot control device 100 moving in the horizontal direction. Specifically, the guide mechanism 160 includes a fixed first guide rail 161 and a first slider 162 slidably connected to the first guide rail 161, and the support frame 150 is fixedly connected to the first slider 162. Through the sliding cooperation of the first guide rail 161 and the first slider 162, the stability and reliability of the foot control device 100 moving in the horizontal direction are guaranteed, thereby adjusting the position of the foot switch 120 to adapt to users of different heights and reduce the fatigue caused to users by an inappropriate position.

[0044] See Figure 6 and Figure 7 As shown, in one embodiment, the foot control device 100 further includes a third driving mechanism 170 , one end of the third driving mechanism 170 is mounted on the support frame 150 , and an output end of the third driving mechanism 170 is connected to the sub-panel 110 .

[0045] Specifically, the side of the sub-panel 110 facing the ground is provided with two first connecting portions 182 disposed opposite each other. The support frame 150 can be a rectangular structure and include four connecting rods. The ends of the first connecting rod 151 are rotatably connected to the two first connecting portions 182. The third drive mechanism 170 is mounted on a second connecting rod 152 disposed opposite the first connecting rod 151. The sub-panel 110 is also provided with a second connecting portion 183, and the output end of the third drive mechanism 170 is rotatably connected to the second connecting portion 183. In this way, when the output end of the third drive mechanism 170 is extended, the first connecting rod 151 serves as the rotation axis of the sub-panel 110, causing the end of the sub-panel 110 where the second connecting portion 183 is located to move upward. In other words, one end of the sub-panel 110 is offset upward relative to the support frame 150 (or the ground), increasing the angle between the two.

[0046] When the output end of the third drive mechanism 170 is retracted, the end of the sub-panel 110 where the second connecting portion 183 is located is offset downward, causing the angle between the sub-panel 110 and the support frame 150 to decrease. The third drive mechanism 170 drives the sub-panel 110 to deflect relative to the support frame 150, thereby changing the angle between the stepping surface of the foot control device 100 and the ground. This can change the angle at which the user steps on the foot switch 120, making it easier for the user to adjust the stepping angle according to their needs. The third drive mechanism 170 can specifically be a push rod motor. In other embodiments, the drive mechanism can also be a cylinder, etc., which is not limited here.

[0047] See Figure 2 and Figure 4 As shown, in one embodiment, the sub-panels 110 include two, the two sub-panels 110 are connected side by side, and the two sub-panels 110 are both connected to the support frame 150. That is, the two sub-panels 110 are controlled by the same second driving mechanism 140 and the third driving mechanism 170. When the second driving mechanism 140 is actuated, the two sub-panels 110 as a whole move together, thereby changing their positions; when the third driving mechanism 170 is actuated, the two sub-panels 110 as a whole deflect together, thereby changing their angles. In other embodiments, such as Figure 6 As shown, the two sub-panels 110 can also be controlled separately, that is, each sub-panel 110 is provided with an independent second driving mechanism 140 and a third driving mechanism 170 for adjusting the position and angle of the sub-panel 110 .

[0048] like Figure 4As shown, in one embodiment, the number of foot switches 120 is an even number, and the multiple foot switches 120 are arranged in groups of two. The two foot switches 120 in the same group are arranged facing each other, and the gap between the two foot switches 120 forms an accommodating space for the user's feet. The arrangement directions of at least two groups of foot switches 120 intersect. For example, in this embodiment, the sub-panels 110 include two sub-panels 110, one corresponding to the left foot pedal and the other to the right foot pedal. Each sub-panel 110 is provided with three groups of foot switches 120, or six foot switches 120. Two groups of foot switches 120 are arranged along the width of the sub-panel 110, and the other group of foot switches 120 is arranged along the length of the sub-panel 110. Furthermore, one group of foot switches 120 arranged along the width direction can be located at the forefoot of the foot, and another group of foot switches 120 arranged along the width direction can be located at the back of the foot; the two foot switches 120 arranged along the length direction are respectively located at the toes and heels of the foot, so as to facilitate the user to control the corresponding switches to achieve the corresponding control functions.

[0049] The control functions corresponding to the foot switches 120 may include the following: main clutch, endoscope control, switching, zoom, primary coagulation, secondary coagulation, primary cutting, secondary cutting, etc. One set of foot switches 120 is located directly in front of and directly behind the sub-panel 110, respectively. The two foot switches 120 on the leftmost side are located at the left front and left rear of the sub-panel 110, and the two foot switches 120 on the rightmost side are located at the right front and right rear of the sub-panel 110. Taking the left front and right front foot switches 120 as an example, the user does not move their heels and only needs to turn their toes downward to touch the switches. Taking the left rear and right rear foot switches 120 as an example, the user does not move their toes and only needs to turn their heels downward to touch the switches. Therefore, the use of the left front, right front, left rear, and right rear foot switches 120 is more convenient and simple, so the user can control common functions through the four foot switches 120 on the left front, right front, left rear, and right rear.

[0050] Taking the right foot as an example, the left front, right front, left rear, and right rear foot switches 120 on the right foot sub-panel 110 can be high-energy switches for controlling primary coagulation, secondary coagulation, primary electrocution, and secondary electrocution, and the left front, right front, left rear, and right rear foot switches 120 on the left foot sub-panel 110 can be conventional switches for controlling primary clutch, endoscope control, switching, and zooming. The remaining front foot switches 120 and rear foot switches 120 on the right foot sub-panel 110 and the left foot sub-panel 110 can be unused or set to any other switchable function. By providing six foot switches 120 on each sub-panel 110, it is possible to adapt to the dominant foot habits of different users and expand more control functions, making operation simpler and more efficient.

[0051] The distance between the foot switch 120 and the foot can be adjusted based on actual needs to accommodate different user habits. For example, if the user is accustomed to swinging the foot more vigorously to kick the switch, i.e., the distance between the foot and the foot switch 120 is greater, the distance between the foot switch 120 and the foot can be greater. If the user is accustomed to swinging the foot less vigorously to kick the switch, i.e., the distance between the foot and the foot switch 120 is closer, the distance between the foot switch 120 and the foot can be smaller.

[0052] like Figure 4 As shown, in some embodiments, a presence sensor 181 is further provided on the sub-panel 110. The presence sensor 181 can detect whether the user's foot is in place. When the user's foot is not in place, the switch closing signal will not take effect, preventing false triggering and causing erroneous operation, thereby improving the reliability and safety of the foot control device 100. At the same time, it can also avoid the risk of being unable to stop the switch when a malfunction occurs in the foot switch 120. Among them, the presence sensor 181 can be a photoelectric sensor, a distance detection sensor, a laser sensor, or a contact sensor.

[0053] Furthermore, if Figure 8 As shown, an embodiment of the present application further provides a main console 10, comprising a base 200 and a foot control device 100 mounted on the base 200. The user can drive the foot switch 120 to move via the first drive mechanism 130 on the foot control device 100, thereby adjusting the distance between each foot switch 120, so that the size of the space enclosed by the multiple foot switches 120 changes to accommodate users with different foot sizes. This allows the foot switch 120 to be closer to the user's foot, resulting in a smaller control stroke, higher control accuracy, and reduced possibility of misoperation. Furthermore, the user does not need to lift their feet to operate, making control easier, thereby reducing fatigue and discomfort caused to the feet by long-term operation, making operation more convenient and comfortable, and thus improving the user experience.

[0054] Understandably, if Figure 8 As shown, the main console 10 may also be equipped with an armrest 400, a touch screen 300, and an ergonomic adjustment switch 500. During operation, the user can first use the ergonomic adjustment switch 500 on the main console armrest 400 to control the telescopic position and rotation angle of the foot control device 100 to adjust the desired position and angle. This position and angle information is associated with the user's account and stored in the account information. Each subsequent login will automatically adjust the position and angle to the desired position and angle. The user can also adjust the position and angle directly using the ergonomic adjustment switch 500 on the armrest.

[0055] When a user enters a shoe size, the six sets of first drive mechanisms 130 on the foot control device 100 adjust the positions of the six switches based on the entered human factors parameters to accommodate different shoe sizes. Three modes are also available: far, medium, and near to accommodate different user habits. Far: The switch is farther from the foot; medium: The switch is at a moderate distance from the foot; and near: The switch is at a moderate distance from the foot. This input information is also associated with the user's account and stored in the account information. It will automatically adjust each time the user logs in. The user can also use the touch screen 300 to adjust the stroke value by inputting parameters, adjusting the telescopic stroke of the first drive mechanism 130 in real time to adjust the position of any foot switch 120 relative to the foot.

[0056] In some embodiments, the foot switch 120 can be integrated with a distance sensor. When the user's foot is placed on the foot control device 100, the distance sensor of the foot switch 120 detects the distance between the feet and automatically adjusts to the appropriate position based on the input human factors parameters, eliminating the need to separately input shoe size. Furthermore, the foot switch 120 can be adapted to different foot positions. For example, if the user's foot is to the right, the switch position can be adjusted further to the right, making it more suitable for a wide range of applications.

[0057] Furthermore, an embodiment of the present application also provides a surgical robot system, including a surgical robot and the above-mentioned main console, and the robotic arm of the surgical robot can be controlled by a foot control device on the main console to complete the surgical operation.

[0058] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A foot control device, characterized in that: The foot control device comprises: at least one sub-panel (110); a plurality of foot switches (120) for controlling the surgical robot, wherein the plurality of foot switches (120) are arranged at intervals to enclose an accommodating space for accommodating a user's feet; A plurality of first drive mechanisms (130) are provided on the sub-panel (110); each of the foot switches (120) is connected to a first drive mechanism (130) in a one-to-one correspondence, and the first drive mechanism (130) is used to drive the foot switch (120) to move along a preset direction.

2. The foot control device according to claim 1, characterized in that: The plurality of foot switches (120) are arranged in groups of two, and the two foot switches (120) in the same group are spaced apart along the preset direction, with the gap between the two foot switches (120) forming the accommodating space; The arrangement directions of at least two groups of the foot switches (120) intersect.

3. The foot control device according to claim 1, characterized in that: The sub-panel (110) is configured with a first sliding groove (111); the foot switch (120) is slidably connected to the first sliding groove (111).

4. The foot control device according to claim 1, characterized in that: The foot control device further comprises a second driving mechanism (140), the sub-panel (110) is connected to the second driving mechanism (140), and the second driving mechanism (140) is used to drive the sub-panel (110) to move in a horizontal direction.

5. The foot control device according to claim 4, characterized in that: The foot control device further comprises a support frame (150) connected to the sub-panel (110), and the support frame (150) is connected to the second driving mechanism (140); the second driving mechanism (140) drives the sub-panel (110) to move along the horizontal direction via the support frame (150).

6. The foot control device according to claim 5, characterized in that: The pedal control device further comprises a guide mechanism (160) arranged along the horizontal direction, and the support frame (150) is slidably connected to the guide mechanism (160).

7. The foot control device according to claim 5, characterized in that: The foot control device further comprises a third driving mechanism (170), one end of the third driving mechanism (170) being mounted on the support frame (150) and the other end being connected to the sub-panel (110); the third driving mechanism (170) being used to drive the sub-panel (110) to deflect relative to the support frame (150).

8. The foot control device according to claim 7, characterized in that: The sub-panels (110) include two sub-panels (110), the two sub-panels (110) are connected side by side, and both sub-panels (110) are connected to the support frame (150).

9. A main console, characterized in that: The invention comprises a base (200) and a foot control device (100) according to any one of claims 1 to 8, which is mounted on the base (200).

10. A surgical robot system, characterized in that: It comprises a surgical robot and a main console as claimed in claim 9, wherein the main console is used to control the surgical robot.

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