Observation system for surgical robot console

Abstract

The embodiment of the invention provides an observation system for a surgical robot console, and relates to the technical field of surgical robots. The observation system comprises a light path adjusting assembly and a reflection assembly, wherein the light path adjusting assembly is configured to enable image light of a display device of the surgical robot console to enter the reflection assembly at different emission lengths and to be reflected by the reflection assembly. According to the embodiment of the invention, pictures with different distances can be formed, an operator can adapt to the 3D image more easily by reasonably selecting different pictures in the surgery process, visual fatigue of the operator can be avoided, and smooth proceeding of the minimally invasive surgery is facilitated.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more particularly to an observation system for a surgical robot console. Background Technology

[0002] Surgical robots are essential equipment for performing minimally invasive surgery. During minimally invasive surgery, the surgical robot's movements at the lesion site allow for procedures such as repair or removal. The surgical robot's control console can display the robot's movement status and position information in real time, enabling operators to precisely control the robot.

[0003] Currently, surgical robot consoles use 3D imaging technology to obtain three-dimensional information about lesions. However, the images provided by the surgical robot consoles are monotonous, and prolonged observation of these images can easily cause visual fatigue, which is not conducive to the smooth execution of minimally invasive surgery. Summary of the Invention

[0004] This application provides an observation system for a surgical robot control console that can avoid causing visual fatigue to the operator.

[0005] The first aspect of this application provides an observation system for a surgical robot console, comprising:

[0006] The optical path adjustment component is located in front of the surgical robot control console;

[0007] And a reflective component, wherein the reflective component is disposed on the light output path of the optical path adjustment component.

[0008] The optical path adjustment component is configured to allow image light from the display device of the surgical robot console to enter the reflection component at different emission lengths and be reflected by the reflection component.

[0009] According to the observation system described in the first aspect of this application, the optical path adjustment component is positioned in front of the surgical robot control console, and the reflection component is positioned on the light output path of the optical path adjustment component. The combination of the optical path adjustment component and the reflection component can change the emission length of the image light rays. It is understood that, based on the reflection component, both the emission length of the image light rays and the reflection length after reflection by the reflection component will change. At this time, by acquiring the reflected light rays after reflection by the reflection component, the corresponding image can be obtained. Furthermore, by switching the emission length, different images can be obtained, with varying distances. During surgery, appropriately selecting different images allows the operator to more easily adapt to the 3D image, avoiding visual fatigue and facilitating the smooth progress of minimally invasive surgery.

[0010] In one possible implementation, the optical path adjustment component includes a polarization adjustment module for converting the image light into at least a first polarization light or a second polarization light.

[0011] In one possible implementation, the reflective assembly includes a polarizing beam splitter and a first reflective mirror. The polarizing beam splitter is used to reflect the first polarized light or to transmit the second polarized light. The first reflective mirror is disposed behind the polarizing beam splitter, and the second polarized light can be reflected from the first reflective mirror.

[0012] In one possible implementation, the first reflective lens includes a reflective curved surface.

[0013] In one possible implementation, the reflective assembly further includes a second reflective lens disposed on the side of the polarizing beam splitter opposite to the first reflective lens.

[0014] In one possible implementation, the optical path adjustment assembly includes a rotatable rotating mirror for changing the direction of the image light rays and enabling the image light rays to be emitted at least in a first direction or in a second direction after passing through the rotating mirror.

[0015] In one possible implementation, the reflective component includes at least a first reflective surface and a second reflective surface, the first and second reflective surfaces being arranged in a direction away from the rotating mirror, wherein image light emitted in the first direction can be reflected by the first reflective surface, and image light emitted in the second direction can be reflected by the second reflective surface.

[0016] In one possible implementation, the reflective assembly includes a third reflective lens on which the first reflective surface and the second reflective surface are formed.

[0017] In one possible implementation, the reflective assembly includes a fourth reflective lens and a fifth reflective lens, the fourth reflective lens forming the first reflective surface and the fifth reflective lens forming the second reflective surface.

[0018] In one possible implementation, the optical path adjustment assembly includes a fixed reflector for reflecting image light, and the reflection assembly includes a sixth and a seventh reflector disposed away from the fixed reflector. The sixth and seventh reflectors are movably disposed and have at least a receiving position for receiving image light emitted from the fixed reflector and a deviating position away from the image light. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] Figure 1 A schematic diagram of the structure of an observation system provided according to an embodiment of this application is shown;

[0021] Figure 2 A schematic diagram illustrating the imaging principle of an observation system provided according to an embodiment of this application is shown.

[0022] Figure label:

[0023] 100 - Optical path adjustment assembly; 110 - Polarization adjustment module;

[0024] 200 - Reflective component; 210 - Polarizing beam splitter; 220 - First reflecting mirror; 230 - Second reflecting mirror; 201 - First reflected ray; 202 - Second reflected ray; 221 - Curved reflector;

[0025] 300 - Observation Port;

[0026] 10 - Display device.

[0027] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Minimally invasive surgery has advantages such as small incisions and low invasiveness, and it has gradually become a common surgical method. With the development of minimally invasive surgery, the tools used have also evolved from handheld endoscopes and scalpels to surgical robots. During minimally invasive surgery, the surgical robot can be controlled to move at the lesion site to repair or remove the lesion.

[0030] A surgical robot control console is a device that controls the surgical robot to perform related actions. One of its functions is to display the robot's movement status and position information in real time, enabling operators to precisely control the robot. Surgical robot control consoles are typically equipped with a display device, which often employs 3D imaging technology. This means the display device uses a binocular imaging system to provide both eyes with a lateral parallax image, allowing the viewer to see the image while simultaneously transmitting depth information to the brain, achieving a stereoscopic display effect.

[0031] Currently, most display devices have a single virtual image distance, and the image position and field of view are fixed, resulting in a monotonous image. Observing such an image for a long time can easily cause visual fatigue. When displaying objects with greater depth, strong convergence conflict will occur, and operators are also prone to visual fatigue or even dizziness, which can affect the smooth performance of minimally invasive surgery.

[0032] Based on the above-mentioned status quo and problems, this application provides an observation system for a surgical robot console (hereinafter referred to as "observation system"). The observation system can be used as an extension of the surgical robot console. The image formed by the endoscope can be modulated by the optical path of the observation system. The observation system can convert the image into at least two images with different distances according to different operational needs. The closer and smaller image can be used by the operator to observe the whole image so as to quickly locate the lesion. The farther and larger image can be used by the operator to focus on the operation for a long time.

[0033] Understandably, the aforementioned operational requirements mainly include controlling the surgical robot to reach the lesion and controlling the surgical robot to repair or remove the lesion. The former is mainly completed in the initial period of minimally invasive surgery, which can be achieved by forming the aforementioned close-up view to facilitate quick location of the lesion. The latter part of the minimally invasive surgery is mainly completed, which can be achieved by switching to a long-distance view to focus on the operation for a long time, avoiding visual fatigue caused by prolonged close-up observation. Therefore, by switching between the two views, the operator can more easily adapt to 3D images, avoid visual fatigue, and facilitate the smooth progress of minimally invasive surgery.

[0034] In addition, it should be noted that in actual use, in addition to switching between the two screens according to the above-mentioned task requirements, the two screens can also be switched in real time according to the user's needs. It is understood that by switching the screens, the user can avoid always looking at the same screen, thereby relieving visual fatigue.

[0035] To achieve the above objectives, the embodiments of this application require the construction of at least two optical paths for the surgical robot console, one of which has a shorter imaging distance and the other has a longer imaging distance, so that the image displayed on the surgical robot console can switch between two screens at different distances according to the operational requirements.

[0036] Figure 1 A schematic diagram of the structure of an observation system provided according to an embodiment of this application is shown; Figure 2 A schematic diagram illustrating the imaging principle of an observation system provided according to an embodiment of this application is shown.

[0037] In the embodiments of this application, please refer to Figure 1 and Figure 2 The observation system includes an optical path adjustment component 100 and a reflection component 200.

[0038] The optical path adjustment component 100 is located above the surgical robot control console, specifically below the display device 10. As mentioned above, the display device 10 can display images during the minimally invasive surgery process, and the image light from the display device 10 can enter the optical path adjustment component 100.

[0039] The reflective component 200 is disposed on the light output path of the optical path adjustment component 100. In other words, the image light enters the optical path adjustment component 100 and is processed by the optical path adjustment component 100, and can be emitted again from the optical path adjustment component 100. The image light emitted again by the optical path adjustment component 100 can enter the reflective component 200 and be reflected by the reflective component 200.

[0040] In this embodiment, the optical path adjustment component 100 is configured to allow the image light from the display device 10 to enter the reflection component 200 at different emission lengths and be reflected by the reflection component 200.

[0041] It should be noted that the emission length here refers to the length of the image light rays from the optical path adjustment component 100 to the reflection component 200 when the image light rays are reflected by the reflection component 200. As can be seen from the embodiments below, the change of this emission length can be achieved through the cooperation between the optical path adjustment component 100 and the reflection component 200. As can be seen from the embodiments below, the mechanism of emission length change in this application is mainly described from two perspectives: one is the polarization angle, and the other is the multiple reflection angle. The polarization angle also uses the reflection mechanism, and these details are provided in the following embodiments.

[0042] In this embodiment, the optical path adjustment component 100 is disposed in front of the surgical robot control console, and the reflection component 200 is disposed on the light output path of the optical path adjustment component 100. The combination of the optical path adjustment component 100 and the reflection component 200 can change the emission length of the image light. It can be understood that, based on the reflection component 200, both the emission length of the image light and the reflection length after reflection by the reflection component 200 will change. At this time, by acquiring the reflected light after the image light is reflected by the reflection component 200, the corresponding image can be obtained. Furthermore, by switching the emission length, different images can be obtained, and the distance of the images varies. During the operation, by reasonably selecting different images, the operator can more easily adapt to the 3D image, avoid causing visual fatigue to the operator, and facilitate the smooth performance of minimally invasive surgery.

[0043] In some embodiments, please refer to Figure 1 and Figure 2 The optical path adjustment component 100 includes a polarization adjustment module 110, which is used to make the image light at least become first polarized light or second polarized light.

[0044] Specifically, the display device 10 can typically be a liquid crystal display (LCD), and the polarization adjustment module 110 can be configured for the LCD. It should be noted that the polarization adjustment module 110 is a common structure or device, which can be selected according to the size of the LCD. Generally speaking, the LCD emits S-polarized light, and the polarization adjustment module 110 can twist the image light from the LCD into P-polarized light, where S-polarized light is the aforementioned first polarized light, and P-polarized light is the aforementioned second polarized light.

[0045] This application does not limit the specific structure and type of the polarization adjustment module 110. For example, the polarization adjustment module 110 can typically include a polarizer and necessary circuitry. The detailed operating principle of the polarization adjustment module 110 is not described in detail herein. It should be understood that the polarization adjustment module 110 can be energized, and when energized, it can twist S-polarized light into P-polarized light. Therefore, by controlling the on / off state of the polarization adjustment module 110, the image light passing through 110 can be converted into either first-polarized or second-polarized light.

[0046] In some embodiments, please refer to Figure 1 and Figure 2 The reflective assembly 200 includes a polarizing beam splitter 210 and a first reflective lens 220. The polarizing beam splitter 210 is used to reflect first polarized light or to transmit second polarized light. The first reflective lens 220 is disposed behind the polarizing beam splitter 210, and the second polarized light can be reflected from the first reflective lens 220.

[0047] The polarization beam splitter 210 can be a commonly used polarizer. The main function of the polarization beam splitter 210 is to reflect first-polarized light or transmit second-polarized light. Taking the aforementioned S-polarized light and P-polarized light as examples, the polarization beam splitter 210 can reflect S-polarized light or transmit P-polarized light.

[0048] Understandably, since the first reflecting mirror 220 is positioned behind the polarizing beam splitter 210 (here, "behind" refers to the side of the polarizing beam splitter 210 facing away from the optical path adjustment assembly 100), when S-polarized light emerges from the optical path adjustment assembly 100, this S-polarized light will be reflected from the polarizing beam splitter 210, which is closer to the optical path adjustment assembly 100, and parallelized into the first reflected light ray 201, thereby forming a close-up image (see reference). Figure 2 (S) This close-up image can be displayed at the observation port 300. When P-polarized light comes out of the optical path adjustment component 100, the P-polarized light passes through the polarization beam splitter 210 and is reflected from the first reflecting mirror 220, which is farther away from the optical path adjustment component 100, forming a second reflected light 202, thereby forming a long-distance image (see reference). Figure 2 The long-distance image (W) can be displayed at the observation port 300.

[0049] In some specific embodiments, the first reflecting mirror 220 can be a plane mirror, which can be arranged parallel to the polarizing beam splitter 210, or the first reflecting mirror 220 and the polarizing beam splitter 210 can form an angle. It is understood that when the latter is used, the angle can be set so that the light reflected from the polarizing beam splitter 210 and the first reflecting mirror 220 overlap, making it easier to obtain two reflected light rays at the same position.

[0050] In some specific embodiments, the first reflecting lens 220 may include a reflective arc surface, which can concentrate light. At the same time, the light reflected by the reflective arc surface can coincide with the light reflected by the polarizing beam splitter 210, thereby enabling the light reflected from the polarizing beam splitter 210 and the first reflecting lens 220 to coincide, making it convenient to obtain two reflected light rays at the same position.

[0051] It can be understood at this point that the reflective assembly 200 includes a polarizing beam splitter 210 and a first reflecting mirror 220 including a reflective arc surface. Please refer to [reference needed]. Figure 1The first polarized light from the optical path adjustment component 100 can form a first reflected light 201 after entering the polarization beam splitter 210. The field of view formed by the first polarized light and the first reflected light 201 is α. The second polarized light from the optical path adjustment component 100 can form a second reflected light 202 after entering the first reflecting lens 220. The field of view formed by the second polarized light and the second reflected light 202 is β. Since α is greater than β, more image information can be displayed in the near-field image to quickly locate the lesion, while the far-field image can focus on displaying specific lesion details, which is convenient for long-term focused operation.

[0052] In some specific embodiments, please refer to Figure 1 and Figure 2 The first reflecting mirror 220 can be a curved reflecting mirror 221.

[0053] In some embodiments, please refer to Figure 1 and Figure 2 The reflective assembly 200 also includes a second reflective lens 230, which is disposed on the side of the polarizing beam splitter 210 opposite to the first reflective lens 220.

[0054] The first reflected light 201 and the second reflected light 202 can both be directed toward the second reflecting lens 230. The first reflected light 201 and the second reflected light 202 are reflected by the second reflecting lens 230 and then captured, thereby forming two images at different distances.

[0055] The placement of the second reflecting mirror 230 alters the path of the acquired light, facilitating the arrangement of the observation system. For example, in some embodiments, the light path adjustment component 100 and the reflecting component 200 can be housed within the same device frame (not shown). The device frame, light path adjustment component 100, and reflecting component 200 can be combined to form an observation system. This observation system, protected by the device frame, prevents contamination and damage to the light path adjustment component 100 and the reflecting component 200. When setting up the device frame, an observation port 300 needs to be configured to acquire the aforementioned image. The placement of the second reflecting mirror 230 allows the device frame to become more compact, enabling the first and second reflected rays to be reflected from the second reflecting mirror 230 to the observation port 300 within a smaller space.

[0056] Based on the above-mentioned device frame, structural or material modifications can be made to the device frame to make the transmission of image light within the frame more stable or achieve better results. For example, in some embodiments, the device frame can be constructed as a cylindrical structure, and the polarizing beam splitter 210, the first reflecting mirror 220, and the second reflecting mirror 230 can be arranged along the axial direction of the cylindrical structure, thereby enabling the observation port 300 to be formed at the end of the cylindrical structure.

[0057] In some embodiments, the optical path adjustment assembly 100 includes a rotatable rotating mirror, which is used to change the direction of image light rays and enable the image light rays to be emitted at least in a first direction or in a second direction after passing through the rotating mirror.

[0058] By rotating the reflector to change the direction of image light emission, the image light can be directed towards different targets. This means that by setting different targets and rationally planning their specific positions, different emission lengths can be achieved. The target here is the reflector 200; by changing the position of the reflector 200, light from different directions can be received.

[0059] In some embodiments, the rotating reflector can be configured to rotate freely within a certain angle range, which can be set according to actual needs, for example, the angle range can be selected between 5° and 10°. In other embodiments, the rotating reflector can also adopt a stepped rotation method, that is, the rotating reflector has two positions, one position corresponding to one angle.

[0060] To achieve the rotation of the rotating reflector, it can be mounted on a universal joint, allowing for manual adjustment of the reflector's rotation. Alternatively, the reflector can be driven to rotate automatically. For example, it can be mounted on a swing arm capable of outputting a rocking motion, which can be connected to a servo motor. Controlling the servo motor's rotation then allows for automatic adjustment of the reflector's angle.

[0061] The reflective component 200 can be mounted on a driving mechanism, which can be a cylinder, an electric push rod, or the like. The driving mechanism can move the reflective component 200 to different positions. It is understood that at least part of the movement path needs to be oriented away from the light path adjustment component 100, so that the reflective component 200 can work with light from different directions to form images of different distances.

[0062] In addition to changing the position of the entire reflective component 200, the following methods can also be used.

[0063] For example, in some embodiments, the reflective component 200 includes at least a first reflective surface and a second reflective surface, the first reflective surface and the second reflective surface are arranged in a direction away from the rotating reflector, image light emitted in a first direction can be reflected by the first reflective surface, and image light emitted in a second direction can be reflected by the second reflective surface.

[0064] The first and second reflecting surfaces are two different reflecting surfaces on the reflecting component 200. Thus, the processing of light rays from two different emission directions can be achieved through a single reflecting component 200, which simplifies the structure of the reflecting component 200.

[0065] In some embodiments, to form the first and second reflective surfaces described above, the reflective assembly 200 may include a third reflective lens on which the first and second reflective surfaces are formed.

[0066] In other embodiments, to form the first and second reflective surfaces described above, the reflective assembly 200 includes a fourth reflective lens and a fifth reflective lens, wherein the fourth reflective lens forms the first reflective surface and the fifth reflective lens forms the second reflective surface.

[0067] In some embodiments, the optical path adjustment assembly 100 includes a fixed reflector that is fixedly disposed and is used to reflect image light.

[0068] Unlike the aforementioned rotating reflector, this fixed reflector is a fixed structure, and the image light reflected by this fixed reflector can only face the same direction.

[0069] To form different emission lengths based on image light rays from the same direction, reflective components 200 at different distances can be arranged. In this case, the reflective components 200 can also be arranged in the aforementioned movable manner, so that different emission lengths can be formed by changing the position of the reflective components 200.

[0070] In addition, in some embodiments, the reflective assembly 200 includes a sixth reflective lens and a seventh reflective lens disposed away from the fixed reflector. The sixth and seventh reflective lenses are movably disposed and have at least a receiving position for receiving image light emitted from the fixed reflector and a deviating position away from the image light.

[0071] At this point, it can be understood that when the sixth reflecting mirror is in the receiving position and the seventh reflecting mirror is in the off-position, the image light will enter the second sixth reflecting mirror and be reflected, thus ultimately forming a close-up image. When the sixth reflecting mirror is in the off-position and the seventh reflecting mirror is in the receiving position, the image light will enter the seventh reflecting mirror and be reflected, thus ultimately forming a distant image.

[0072] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0073] In the description of this application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0074] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An observation system for a surgical robot control console, characterized in that, include: Optical path adjustment components; And a reflective component, wherein the reflective component is disposed on the light output path of the optical path adjustment component. The optical path adjustment component is configured to allow image light from the display device of the surgical robot console to enter the reflection component at different emission lengths and be reflected by the reflection component.

2. The observation system for a surgical robot control console according to claim 1, characterized in that, The optical path adjustment component includes a polarization adjustment module for making the image light at least a first polarization light or a second polarization light.

3. The observation system for a surgical robot control console according to claim 2, characterized in that, The reflective assembly includes a polarizing beam splitter and a first reflective lens. The polarizing beam splitter is used to reflect the first polarized light or to transmit the second polarized light. The first reflective lens is disposed behind the polarizing beam splitter, and the second polarized light can be reflected from the first reflective lens.

4. The observation system for a surgical robot control console according to claim 3, characterized in that, The first reflective lens includes a reflective curved surface.

5. The observation system for a surgical robot control console according to claim 3, characterized in that, The reflective assembly further includes a second reflective lens, which is disposed on the side of the polarizing beam splitter opposite to the first reflective lens.

6. The observation system for a surgical robot control console according to claim 1, characterized in that, The optical path adjustment assembly includes a rotatable rotating mirror, which is used to change the direction of the image light rays and enable the image light rays to be emitted in at least a first direction or a second direction after passing through the rotating mirror.

7. The observation system for a surgical robot control console according to claim 6, characterized in that, The reflective component includes at least a first reflective surface and a second reflective surface, which are arranged along a direction away from the rotating reflector. Image light emitted along the first direction can be reflected by the first reflective surface, and image light emitted along the second direction can be reflected by the second reflective surface.

8. The observation system for a surgical robot control console according to claim 7, characterized in that, The reflective assembly includes a third reflective lens, on which the first reflective surface and the second reflective surface are formed.

9. The observation system for a surgical robot control console according to claim 7, characterized in that, The reflective assembly includes a fourth reflective lens and a fifth reflective lens, wherein the fourth reflective lens forms the first reflective surface and the fifth reflective lens forms the second reflective surface.

10. The observation system for a surgical robot control console according to claim 1, characterized in that, The optical path adjustment assembly includes a fixed reflector for reflecting image light. The reflector assembly includes a sixth reflector and a seventh reflector disposed away from the fixed reflector. The sixth reflector and the seventh reflector are movably disposed and have at least a receiving position for receiving image light emitted from the fixed reflector and a deviating position away from the image light.

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