A surgeon console and surgical robotic system

Abstract

This application discloses a doctor's operating table for a surgical robot system. The doctor's operating table includes a support assembly, a display device, and a motion-sensing control unit. The display device is movably mounted on the support assembly. The motion-sensing control unit is disposed on the display device and is used by the operator to adjust the position of the display device relative to the support assembly. According to the doctor's operating table of this application, the operator can conveniently adjust the position of the display device without taking their eyes off the viewing window of the display device.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a doctor's operating table and surgical robot system. Background Technology

[0002] Surgical robot systems have advantages such as accurate positioning, stable operation, high dexterity, large working range, and immunity to radiation and infection. Therefore, they are widely used in various surgeries, such as minimally invasive abdominal surgery and orthopedic surgery.

[0003] Generally, surgical robot systems have a doctor's control panel, through which the doctor controls the patient-side robot to perform surgical procedures. The doctor's control panel is equipped with a display device and a master control device. The display device has an observation window for the doctor to observe, and the master control device can accurately identify the position and posture of the doctor's hand, thereby mapping the doctor's hand movements onto the patient-side robotic arm in a certain mapping relationship to perform surgical operations such as cutting and suturing. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially address the aforementioned problems, a first aspect of this application provides a surgeon's workstation for a surgical robot system, the surgeon's workstation comprising:

[0006] Support components;

[0007] A display device, movably disposed on the support assembly; and

[0008] A motion-sensing control unit is disposed on the display device and is used by an operator to adjust the position of the display device relative to the support assembly.

[0009] According to the doctor's operating console of this application, the operator can conveniently adjust the position of the display device without taking their eyes off the observation window of the display device.

[0010] Optionally, the motion sensing unit senses instantaneous motion tendency information caused by input force or input displacement, and the instantaneous motion tendency information is mapped to the displacement change of the display device.

[0011] Optionally, the doctor's console further includes a control device configured to generate operation commands based on the instantaneous motion tendency information sensed from the somatosensory operation unit, and further configured to control the translation and / or rotation of the display device according to the operation commands.

[0012] Optionally, the somatosensory operation unit includes a sensor for sensing the operator's instantaneous movement tendency information, and the control device is configured to generate the operation command based on the instantaneous movement tendency information sensed by the sensor.

[0013] Optionally, the display device is provided with an attitude sensor, the attitude sensor being configured to sense the attitude of the display device, and the control device is configured to generate the operation command based on the attitude of the display device and the instantaneous motion tendency information.

[0014] Optionally, the sensor is configured to sense the instantaneous motion tendency information applied by the operator to the haptic operation unit in a polar coordinate system, wherein the polar coordinate system has the center point of the instantaneous rotation axis of the display device as the origin and the instantaneous rotation axis as the polar axis.

[0015] Optionally, the sensor is configured to sense the force tendency in the polar coordinate system and the torque around the polar axis applied by the operator to the haptic operating unit.

[0016] Optionally, the sensor is configured to sense the distance the somatosensory operating unit moves in the polar coordinate system and the rotation angle around the polar axis.

[0017] Optionally, the sensor is fixedly mounted on the display device and moves synchronously with the display device. The sensor is configured to sense the motion tendency of the motion sensing unit relative to the ground.

[0018] Optionally, the sensing element includes a first sensing part and a second sensing part, wherein the first sensing part is disposed on the display device and moves synchronously with the display device, the second sensing part does not rotate relative to the ground, and the second sensing part is configured to sense the movement tendency of the first sensing part or the first sensing part is configured to sense the movement tendency of the second sensing part.

[0019] Optionally, the sensing body is provided with a plurality of buttons, which are arranged at a fixed angle based on a ground coordinate system, and the coupled input of the plurality of buttons is mapped to the commands that control the display device to move in different directions.

[0020] Optionally, the motion-sensing operation unit is provided with an on-site detection device, which is used to sense whether the operator's hand is in the operation position. The control device is configured to allow the display device to move when the on-site detection device of the motion-sensing operation unit detects that the operator's hand is in the operation position.

[0021] Optionally, the doctor's operating table further includes a master hand operating device, which controls the movement of surgical instruments via input signals. The control device is configured as follows:

[0022] When the presence detection device of the somatosensory operation unit detects that the operator's hand is in the operation position, and the surgical robot system detects that the main hand operation device has an input signal, the control device will prompt an operation abnormality.

[0023] When the presence detection device of the somatosensory operation unit detects that the operator's hand is in the operation position, and the surgical robot system does not detect an input signal from the main hand operation device, the control device controls the input device to lock.

[0024] When the presence detection device of the somatosensory operation unit detects that the operator's hand is not in the operation position, and the surgical robot system detects that the main hand operation device has an input signal, the control device controls the display device to lock.

[0025] Optionally, the in-situ detection device includes an infrared sensor or a photoelectric pair.

[0026] A second aspect of this application provides a surgical robot system, the surgical robot system including the doctor's operating table described in the first aspect above.

[0027] The surgical robot system according to this application has similar technical effects to the aforementioned doctor's operating table. Attached Figure Description

[0028] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0029] In the attached image:

[0030] Figure 1 This is a schematic diagram of a surgical robot system according to one embodiment of this application;

[0031] Figure 2 This is a schematic diagram of a doctor's operating table according to one embodiment of this application;

[0032] Figure 3 for Figure 2 A schematic diagram of another perspective of the traditional Chinese medicine doctor's operating table;

[0033] Figure 4 This is a schematic diagram of the motion-sensing operation unit according to one embodiment of this application;

[0034] Figure 5 This is a schematic diagram of the motion-sensing operation unit according to another embodiment of this application;

[0035] Figure 6 This is a schematic diagram of an in-situ detection device according to another embodiment of this application;

[0036] Figure 7 This is a schematic diagram of a motion-sensing operation unit according to another embodiment of this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1: Surgical robot system 2: Robotic arm system

[0039] 21: Robotic arm 22: Connecting arm

[0040] 23: Arm Holding Device 3: Imaging System

[0041] 100: Doctor's operating table; 101: Support components

[0042] 102: Handrail; 103: Main hand operating device

[0043] 104: Display device; 110: Motion-sensing operation unit

[0044] 111 / 211 / 311: Sensor 212: First Sensing Unit

[0045] 213: Second sensing unit; 314: Button

[0046] 315: Fixed inner edge; 316: Movable outer edge

[0047] 117: In-situ detection device; 118: Protective casing

[0048] AX1: First axis line; AX2: Second axis line

[0049] AX3: Third axis Detailed Implementation

[0050] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0052] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0053] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application.

[0054] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0055] Surgical robot system 1 is a robot that can be remotely controlled to perform surgery. It has the advantages of accurate positioning, stable operation, high dexterity, large working range, and immunity to radiation and infection. Therefore, it is widely used in various surgeries.

[0056] refer to Figure 1 The surgical robot system 1 consists of three components: the doctor's operating table 100, the patient-side robotic arm system 2, and the imaging system 3.

[0057] The patient-side robotic arm system 2 includes several robotic arms 21, each robotic arm 21 having several connecting arms 22. Adjacent connecting arms 22 move relative to each other with specific degrees of freedom, allowing the end of the robotic arm 21 to achieve multiple degrees of freedom (such as seven degrees of freedom, depending on the instrument). The end joint of the robotic arm 21 is a holding arm 23, on which an instrument actuator is mounted. Surgical instruments or endoscopes are detachably mounted on the instrument actuator.

[0058] The imaging system 3 includes a display screen, an endoscope controller, system electronics, and an image processor.

[0059] Doctor's operating table 100 Figure 2 and Figure 3 As shown, the device includes a display device 104 (also called a monitor or head-mounted display) for displaying the surgical instrument environment, a master hand operating device 103, and a handrail 102. The display device 104 has an observation window for the doctor to observe, the movements of the master hand operating device 103 correspond to the movements of the surgical instruments, and the handrail 102 is used to support the doctor's arm. The master hand operating device 103 typically includes at least one master operating hand (also called a control arm or main robotic arm 21). The master operating hand can accurately identify the doctor's hand position and posture, thereby mapping the doctor's hand movements to the patient-side robotic arm 21 in a certain mapping relationship to perform surgical cutting, suturing, and other operations. The doctor can control the movements of the patient-side robotic arm system 2 by operating the master operating hand to perform surgical operations. In other words, the master operating hand serves as one type of master hand operating device 103 of the doctor's operating table 100.

[0060] The master operator typically includes multiple connecting arms 22 connected in sequence, with adjacent connecting arms 22 rotatably connected via a rotary joint. Further, the master operator may also include an input handle (such as a fingertip clamp), which is rotatably connected to the final wrist connecting arm 22 via a rotary joint. In addition, the doctor's console 100 has other control switches conveniently accessible by hand or foot for various functional operations and human-machine interaction. The doctor's console 100 can also be referred to as a control system. The display device 104, master hand operating device 103, armrest 102, etc., are all mounted on the support assembly 101. The doctor's console 100 also features a series of operating buttons 314 for adjusting and controlling the master operator and establishing or disengaging the connection with the slave hand.

[0061] During a surgical procedure, the surgeon is almost constantly operating the operating table 100, with their hands, head, feet, and body in close contact and strong coupling with it. Therefore, the ease of use, convenience, and comfort of the operating table 100 are paramount. Furthermore, in situations with a high volume of surgeries, surgeons performing different procedures or different surgeons operating the same operating table 100 require quick and accurate adjustments to position them comfortably.

[0062] Current head-mounted displays (HMDs) on doctor's workstations typically consist of two screens and their associated optical paths, encased in a mechanical structure and frame. These houses the corresponding audio-visual accessories and detection devices, creating a stereoscopic vision. The overall frame is relatively large and bulky. When operating the HMD on a doctor's workstation, the operator is generally required to rotate or adjust the head-mounted display's position around their eyes. This allows the operator to observe the images while adjusting the HMD's comfort without significantly altering their field of vision. The interaction primarily relies on buttons on the armrest panel. However, with current doctor's workstations, the operator often has to look away from the screen to observe the buttons when operating them. The correspondence between the buttons and the head-mounted display's movement needs to be established through button operation. The entire operation process is not intuitive or convenient.

[0063] Because the head-mounted monitor has a high degree of overlap with the surgical field of view, and the adjustment frequency is high when used by doctors at the operating table, it is of great significance to enable doctors to perform rapid haptic operations.

[0064] Therefore, a doctor's operating table 100 and a surgical robot system 1 are needed to at least partially solve the above problems.

[0065] The first aspect of this application provides a surgical robot system 1, and the second aspect provides a doctor's operating table 100.

[0066] refer to Figure 2 and Figure 3 The doctor's operating table 100 includes a support assembly 101, a display device 104, and a motion-sensing operation unit 110. The display device 104 is movably mounted on the support assembly 101. The motion-sensing operation unit 110 is mounted on the display device 104 and is used by the operator to adjust the position of the display device 104 relative to the support assembly 101.

[0067] According to the doctor's operating table 100 of this application, the operator can conveniently adjust the position of the display device 104 without taking his / her eyes off the observation window of the display device 104.

[0068] The doctor's operating console 100 is equipped with at least one motion-sensing operating unit 110. Preferably, the doctor's operating console 100 is equipped with two motion-sensing operating units 110, which are symmetrically arranged on both sides of the display device 104. More specifically, the two motion-sensing operating units 110 are symmetrically arranged on the left and right sides of the display device 104. This arrangement conforms to the ergonomic comfort range of manual operation. The motion-sensing operating unit 110 can be any of the following: buttons, knobs, sensors, joysticks, etc., operated by the operator to provide force input. The operator can quickly locate the motion-sensing operating unit 110 by touch and exploration without taking their eyes off the display device 104. Each motion-sensing operating unit 110 can adjust the movement of the display device 104, and the operation mode of the motion-sensing operating unit 110 is unified with the movement of the head display. In an optional embodiment, the doctor's operating console 100 also includes a control device configured to generate operation commands based on signals sensed from the motion-sensing operating units 110. The control device changes the position of the display device 104 in space according to the operation command.

[0069] The doctor's operating table includes a support assembly, and a display device is disposed on the support assembly. The support assembly has a first degree of freedom of translation along a first axis AX1 and a second degree of freedom of translation along a second axis AX2. In some embodiments, the first axis AX1 and the second axis AX2 are orthogonal. The display device has a third degree of freedom of rotation about a third axis AX3, which is orthogonal to the first axis AX1 and the second axis AX2. A control device is configured to control the translation and / or rotation of the display device 104 according to the operating instructions.

[0070] The signal sensed by the motion-sensing operation unit 110 can be instantaneous movement tendency information of the operator. As an example, the motion-sensing operation unit 110 includes a sensor 111 for sensing the instantaneous movement tendency information of the operator. The control device is configured to generate the aforementioned operation command based on the instantaneous movement tendency information sensed by the sensor 111. The instantaneous movement tendency information can include a tendency to translate and / or rotate the display device 104. It should be noted that when the input amount applied by the operator to the motion-sensing operation unit 110 causes the display device 104 to rotate relative to the support assembly, the display device 104 rotates about an instantaneous rotation axis. The instantaneous rotation axis is a virtual axis around which all points on the display device 104 rotate at the same angular velocity at a specific instant. The instantaneous rotation axis can be any axis on or outside the display, and it is parallel to the third axis AX3 of the display device 104. In some embodiments, the instantaneous rotation axis of the display device 104 coincides with the third axis AX3.

[0071] The display device 104 is equipped with an attitude sensor, which is configured to sense the attitude of the display device 104. The control device is configured to generate the aforementioned operation command based on the attitude and instantaneous movement tendency information of the display device 104. For example, the attitude sensor may be a contact sensor such as a mechanical encoder or potentiometer, or a non-contact sensor such as a photoelectric encoder, electronic gyroscope, or inclinometer.

[0072] The display device 104 may also be equipped with a posture compensation module, which is used to adjust the posture of the display device 104 according to its current posture and instantaneous motion tendency information. For example, the posture compensation module can sense the current posture and instantaneous motion tendency information of the display device 104, and it can be a combination of a posture sensor and a motion sensing unit. That is, the operator can control the movement of the display device through the posture compensation module.

[0073] Therefore, by combining the instantaneous movement tendency information sensed by the motion-sensing operation unit 110 with the posture of the display device 104, coordinate transformation is performed to map it to the ground coordinate system, thereby understanding the operator's true movement intention in the ground coordinate system. For example, if the posture angle of the motion-sensing operation unit 110 relative to the head-mounted display is α, and the posture angle of the display device 104 relative to the ground is β, then the posture angle of the motion-sensing operation unit 110 relative to the ground is α + β. The control device then drives the display device 104 to follow the operating posture angle of the motion-sensing operation unit 110.

[0074] As one form of implementation, such as Figure 4 As shown, the sensor 111 is configured to sense the force tendency in a polar coordinate system and the torque around the polar axis applied by the operator to the motion-sensing operation unit 110. It should be noted that the polar coordinate system here is a coordinate system constructed with the center point of the sensor 111 as the origin and the central axis of the sensor 111 as the polar axis. In some embodiments, the sensor 111 can be a triaxial force sensor, which is a device capable of measuring forces in three orthogonal directions (X, Y, Z axes). In this case, the sensor 111 is disposed on the display device 104 and moves synchronously with the display device 104.

[0075] As another implementation, the sensor 111 is configured to sense the distance the motion sensing unit 110 moves in the polar coordinate system and the angle of rotation about the polar axis. For example, the sensor 111 can be a three-axis Hall effect sensor.

[0076] In some embodiments, the sensor 111 is disposed on the display device 104 and moves synchronously with the display device 104. The sensor 111 is configured to sense the movement distance and tilt angle of the motion sensing operation unit 110 relative to the ground.

[0077] In some embodiments, reference Figure 5 The sensing element includes a first sensing part 212 and a second sensing part 213. The first sensing part 212 is fixedly disposed on the display device 104 and moves synchronously with the display device 104. The second sensing part is disposed on the support component 101, such that the second sensing part 213 can translate with the display device 104 but does not rotate with the display device 104, that is, the second sensing part 213 has no rotational movement relative to the ground coordinate system. The first sensing part 212 is configured to sense the movement tendency of the second sensing part 213, or the second sensing part 213 is configured to sense the movement tendency of the first sensing part 212. In the embodiment shown in the figure, the first sensing part 212 is at least partially surrounding the second sensing part 213, that is, the second sensing part 213 is configured as the inner layer and the first sensing part 212 is configured as the outer layer. In an embodiment not shown, the first sensing part 212 may also be disposed in the inner layer and the second sensing part 213 in the outer layer, that is, the second sensing part 213 may at least partially surround the first sensing part 212.

[0078] In both of the above embodiments, the sensing bodies 111 / 211 are arranged in a polar coordinate system, and the polar coordinate system and the ground coordinate system are transformed through their displacement and / or angle. Specifically, the polar coordinate system and the ground coordinate system are transformed by combining their displacement and / or angle with the posture of the display device 104, thereby mapping it to the ground coordinate system and obtaining the operator's true movement intention in the ground coordinate system.

[0079] As another implementation form, refer to Figure 7 The sensing element 311 is equipped with a plurality of buttons 314, which are arranged at a fixed angle based on a ground coordinate system. The coupled input quantities of the buttons 314 are mapped to commands controlling the display device 104 to move in different directions. In other words, different buttons 314 can correspond to instantaneous action tendency information in different directions. In some embodiments, the buttons 314 are arranged based on a ground coordinate system. Furthermore, the pressing depth of the buttons 314 can be associated with the speed of movement of the display device 104, that is, the operator can control the movement speed of the display device 104 by pressing the depth of the buttons 314. As an example, the pressing depth of the buttons 314 is linearly mapped to the movement speed of the display device 104. Specifically, the pressing depth information is obtained by analog input, thereby realizing stepless speed adjustment of the display device 104 and thus achieving rapid response to the operator's intention. Alternatively, the depth of button 314 can be mapped to the speed of movement of display device 104 in a stepped manner, and elastic elements or other structures can be used to provide feedback on the pressing force of multiple steps. This allows for movement control of display device 104 at multiple speed levels, which is beneficial for stable control by the operator. Alternatively, the movement of display device 104 can be kept constant after button 314 is pressed, avoiding accidents caused by excessive speed.

[0080] In some embodiments, the sensor 311 includes an inner edge 315 and an outer edge 316. The inner edge 315 is disposed on a spindle of the display device 104 that rotates about the support assembly 101, and the inner edge 315 does not rotate relative to the ground. A plurality of buttons 314 are arranged circumferentially around the inner edge 315 and are set at a fixed angle to the ground coordinate system. The outer edge 316 is disposed around the inner edge 315, and the outer edge 316 moves relative to the inner edge 315.

[0081] In addition, refer to Figure 6 The motion-sensing operation unit 110 is equipped with a presence detection device 117. Preferably, both motion-sensing operation units 110 are equipped with a presence detection device 117. The presence detection device 117 is used to sense whether the operator's hand is in the operating position. Exemplarily, the presence detection device 117 may include an infrared sensor or a photoelectric pair. The outer side of the motion-sensing operation unit 110 is preferably provided with a protective shell 118 to protect the sensors 111 / 211 / 311 while also protecting the presence detection device 117. Thus, the protective shell 118 prevents accidental impact or false triggering of operation.

[0082] The control device is configured to allow the display device 104 to move when the presence detection device 117 of the motion sensing unit 110 detects that the operator's hand is in the operating position.

[0083] Specifically, when the presence detection device 117 of the somatosensory operation unit 110 detects that the operator's hand is in the operation position, and the surgical robot system detects that the main hand operation device 103 has an input signal, the control device will prompt an operation abnormality.

[0084] When the presence detection device 117 of the motion-sensing operation unit 110 detects that the operator's hand is in the operation position and the surgical robot system does not detect an input signal from the main hand operation device 103, the control device controls the main hand operation device 103 to lock.

[0085] When the presence detection device 117 of the motion-sensing operation unit 110 detects that the operator's hand is not in the operation position, and the surgical robot system detects that the main hand operation device 103 has an input signal, the control device controls the display device 104 to lock.

[0086] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0087] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A doctor's operating table for a surgical robot system, characterized in that, The doctor's operating console includes: Support components; A display device, movably disposed on the support assembly; and A motion-sensing control unit is disposed on the display device and is used by an operator to adjust the position of the display device relative to the support assembly.

2. The doctor's operating table according to claim 1, characterized in that, The motion sensing unit senses instantaneous motion tendency information caused by input force or input displacement, and the instantaneous motion tendency information is mapped to the displacement change of the display device.

3. The doctor's operating table according to claim 2, characterized in that, The doctor's operating console also includes a control device configured to generate operating instructions based on the instantaneous motion tendency information sensed from the somatosensory operating unit, and further configured to control the translation and / or rotation of the display device according to the operating instructions.

4. The doctor's operating table according to claim 3, characterized in that, The somatosensory operation unit includes a sensor for sensing the operator's instantaneous movement tendency information, and the control device is configured to generate the operation command based on the instantaneous movement tendency information sensed by the sensor.

5. The doctor's operating table according to claim 3, characterized in that, The display device is equipped with an attitude sensor, which is configured to sense the attitude of the display device. The control device is configured to generate the operation command based on the attitude of the display device and the instantaneous motion tendency information.

6. The doctor's operating table according to claim 4, characterized in that, The sensor is configured to sense the instantaneous movement tendency information applied by the operator to the somatosensory operation unit in a polar coordinate system, wherein the polar coordinate system has the center point of the sensor as the origin and the central axis of the sensor as the polar axis.

7. The doctor's operating table according to claim 6, characterized in that, The sensor is configured to sense the force tendency in the polar coordinate system and the torque around the polar axis applied by the operator to the haptic control unit.

8. The doctor's operating table according to claim 6, characterized in that, The sensor is configured to sense the distance the somatosensory operating unit moves in the polar coordinate system and the angle of rotation around the polar axis.

9. The doctor's operating table according to claim 8, characterized in that, The sensor is fixedly mounted on the display device and moves synchronously with the display device. The sensor is configured to sense the motion tendency of the motion sensing unit relative to the ground.

10. The doctor's operating table according to claim 8, characterized in that, The sensing element includes a first sensing part and a second sensing part, wherein the first sensing part is disposed on the display device and moves synchronously with the display device, the second sensing part is disposed on the support component and does not rotate relative to the ground, and the second sensing part is configured to sense the movement tendency of the first sensing part or the first sensing part is configured to sense the movement tendency of the second sensing part.

11. The doctor's operating table according to claim 4, characterized in that, The sensor is equipped with several buttons, which are arranged at a fixed angle based on the ground coordinate system. The coupled input values ​​of the buttons are mapped to commands that control the display device to move in different directions.

12. The doctor's operating table according to claim 3, characterized in that, The motion-sensing operation unit is equipped with an on-site detection device, which is used to sense whether the operator's hand is in the operation position. The control device is configured to allow the display device to move when the on-site detection device of the motion-sensing operation unit detects that the operator's hand is in the operation position.

13. The doctor's operating table according to claim 12, characterized in that, The doctor's operating table also includes a main hand operating device, which controls the movement of surgical instruments via input signals. The control device is configured as follows: When the presence detection device of the somatosensory operation unit detects that the operator's hand is in the operation position, and the surgical robot system detects that the main hand operation device has an input signal, the control device will prompt an operation abnormality. When the presence detection device of the somatosensory operation unit detects that the operator's hand is in the operation position, and the surgical robot system does not detect an input signal from the main hand operation device, the control device controls the input device to lock. When the presence detection device of the somatosensory operation unit detects that the operator's hand is not in the operation position, and the surgical robot system detects that the main hand operation device has an input signal, the control device controls the display device to lock.

14. The doctor's operating table according to claim 12, characterized in that, The in-situ detection device includes an infrared sensor or a photoelectric pair.

15. A surgical robot system, characterized in that, The surgical robot system includes a doctor's operating table according to any one of claims 1-14.

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