Adjusting device, surgical robot system and image display light path structure of surgical robot system

Abstract

The utility model discloses an adjusting device, a surgical robot system and an image display light path structure of the surgical robot system, the adjusting device comprises a fixed seat, an adjusting seat and at least two adjusting assemblies, each adjusting assembly comprises a first end and a second end, the first end of each adjusting assembly is hinged to the fixed seat, the second end of each adjusting assembly is connected with the adjusting seat in a distance-adjustable manner, and the adjusting seat is connected with the adjusting seat in a distance-adjustable manner. Under the condition that the adjusting distances between the second ends of the at least two adjusting assemblies and the adjusting base are the same, the fixing base and the adjusting base translate relatively, and under the condition that the adjusting distances between the second ends of the at least two adjusting assemblies and the adjusting base are not completely the same, the fixing base and the adjusting base rotate relatively. According to the embodiment of the scheme, the structure is simple, production is easy, and in the using process, by adjusting the distances between the second ends of the at least two adjusting assemblies and the adjusting base, the adjusting function of the rotation angle and the translation distance between the fixing base and the adjusting base is achieved according to the fact that the adjusting distances between the second ends of the at least two adjusting assemblies and the adjusting base are the same or not completely the same.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, and in particular to an adjusting device, a surgical robot system and an image display optical path structure thereof. Background Art

[0002] In the existing scheme, in many fields, an adjustment device for adjusting the orientation is needed, but the adjustment device can only realize the adjustment function of the rotation angle or the translation distance. If the adjustment functions of the rotation angle and the translation distance are to be achieved at the same time, a device with a complex structure and numerous parts is required.

[0003] Taking the field of medical equipment as an example, the display system of the surgical robot system is one of its important components, including the binocular image acquisition device at the front end and the image display optical path at the back end. The system can provide doctors with high-fidelity three-dimensional images, helping doctors to perform surgical operations more accurately, thereby improving the treatment effect. However, the reflective optical path formed by the display device and the reflector in the current image display optical path is prone to manufacturing process problems, resulting in unsatisfactory imaging optical path effects of three-dimensional images. For example, a Chinese patent application (application publication number CN110101455A, publication date August 9, 2019) proposes a display device and a surgical robot, in which an offset adjustment device is disclosed for adjusting the lateral distance between the virtual images provided by the binoculars to adapt to the pupil distance of different observers and ensure image clarity. However, the patent does not provide a specific offset adjustment device structure or adjustment scheme, and offset adjustment devices of different structures have a great influence on the adjustment time and effect. At present, technicians need to spend a lot of time to adjust the optical path, which is a technical problem that needs to be solved urgently. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide an adjustment device with a simple structure and easy production, a surgical robot system and an image display optical path structure thereof, so as to realize the adjustment functions of both the rotation angle and the translation distance. The specific technical solution is as follows:

[0005] A regulating device, comprising:

[0006] Fixed seat;

[0007] Adjustment seat,

[0008] At least two groups of adjustment components, each group of adjustment components includes a first end and a second end, the first end of each group of adjustment components is hinged to the fixed seat, and the second end of each group of adjustment components is connected to the adjustment seat with an adjustable distance, so that when the adjustment distances between the second ends of at least two groups of adjustment components and the adjustment seat are the same, the fixed seat and the adjustment seat translate relative to each other, and when the adjustment distances between the second ends of at least two groups of adjustment components and the adjustment seat are not exactly the same, the fixed seat and the adjustment seat rotate relative to each other.

[0009] In some embodiments, the adjustment seat is provided with at least two adjustment internal threaded holes corresponding to the number of the adjustment rents;

[0010] Each group of adjustment components includes: a first hinged part and a second hinged part, the connecting end of the first hinged part is rotatably connected to the fixed seat to hinge the first end of the adjustment component and the fixed seat, the hinged end of the second hinged part is hinged to the hinged end of the first hinged part, the connecting end of the second hinged part has a threaded column, and is threadedly connected to the adjustment internal threaded hole corresponding to the adjustment seat to connect the second end of the adjustment component and the adjustment seat in an adjustable distance.

[0011] In some embodiments, the hinged end of the first hinged portion and the hinged end of the second hinged portion are hinged via a pin, or,

[0012] A ball joint is adopted between the hinge end of the first hinge part and the hinge end of the second hinge part.

[0013] In some embodiments, the fixing base includes: a fixing plate;

[0014] The fixing plate is provided with a first protrusion, the end edge of the first protrusion is arranged on the fixing plate, the middle part of the first protrusion is raised and provided with a through hole;

[0015] The connecting end of the first hinged part is an adjusting shaft. In the direction close to the fixed seat, the adjusting shaft is sequentially provided with a limiting boss and a slot. The adjusting shaft passes through the through hole. The limiting boss conflicts with one side of the first protrusion. The slot extends into the protrusion of the first protrusion and is clamped by an elastic fixing part. The elastic fixing part conflicts with the other side of the first protrusion to limit the adjusting shaft to be rotatable and limited in the through hole.

[0016] In some embodiments, preferably, the elastic fixing member is a retaining spring.

[0017] In some embodiments, there is a gap between the adjustment shaft and the through hole, so that the rotation angle between the adjustment seat and the fixed seat can be adjusted by screwing the second hinge part of at least one set of adjustment components.

[0018] In some embodiments, it also includes:

[0019] A locking nut, wherein the locking nut is threadedly connected to the connecting end of the second hinged part and contacts the adjusting seat to lock the adjusting seat to the connecting end of the second hinged part.

[0020] In some embodiments, it also includes:

[0021] Positioning screws;

[0022] The adjustment seat is provided with a positioning internal threaded hole;

[0023] The positioning screw is threadedly connected to the positioning internal threaded hole of the adjustment seat and abuts against the fixing seat.

[0024] In some embodiments, preferably, at least two adjusting internal threaded holes are arranged around the positioning internal threaded hole.

[0025] In some embodiments, preferably, the fixing seat also includes: a second protrusion, the end edge of the second protrusion is arranged on the fixing plate, the middle part of the second protrusion is raised and is provided with a through hole; the end of the positioning screw has a card point, and the card point of the positioning screw is inserted into the through hole to limit the relative slippage between the positioning screw and the fixing plate.

[0026] In some embodiments, the other ends of at least two groups of adjustment components and the connection positions of the adjustment seats are arranged to form a straight line or a ring.

[0027] In some embodiments, preferably, the ring shape is at least one of a circle, a triangle, a quadrilateral, and a hexagon.

[0028] In some embodiments, at least two groups of adjustment components include: a first adjustment component, a second adjustment component, a third adjustment component, and a fourth adjustment component. The first adjustment component, the third adjustment component, the second adjustment component, and the fourth adjustment component are arranged in a quadrilateral. The first adjustment component and the second adjustment component are relatively arranged, and the third adjustment component and the fourth adjustment component are relatively arranged. The first adjustment component, the third adjustment component, the second adjustment component, and the fourth adjustment component are located at the four vertices of the quadrilateral in sequence.

[0029] In some embodiments, preferably, the quadrilateral is a square.

[0030] A surgical robot system image display optical path structure, comprising:

[0031] Two optical path components for displaying binocular images, each optical path component comprising a plurality of optical path nodes, the plurality of optical path nodes comprising a display device and at least two reflectors, the image displayed by the display device is reflected by the at least two reflectors to form one image in the binocular images;

[0032] Each optical path component also includes at least one of the above-mentioned adjustment devices;

[0033] At least one of the display device and the reflector is arranged on a fixing seat of the at least one adjusting device so as to selectively adjust a rotation angle and / or a translation distance of at least one optical path node.

[0034] In some embodiments, each optical path component has two adjustment devices, namely a display adjustment device and a reflection adjustment device;

[0035] The at least two reflectors include a first reflector and a second reflector, the second reflector is located on the reflection light path of the first reflector, and the reflective mirror surface of the first reflector is larger than the reflective mirror surface of the second reflector;

[0036] The display device is arranged on the display adjustment device to selectively adjust the rotation angle and / or translation distance of the display device, and the first reflector is arranged on the reflection adjustment device to selectively adjust the rotation angle and / or translation distance of the first reflector;

[0037] The second reflector is fixedly arranged.

[0038] In some embodiments, it also includes:

[0039] A base, two first connecting bases, two second connecting bases and a third connecting base;

[0040] A first connection seat is respectively connected to one side of the top of the base and one end of the adjustment seat of the display adjustment device on one side of the base, and a second connection seat is connected to the other end of the adjustment seat of the display adjustment device on one side of the base and one end of the adjustment seat of the reflective adjustment device on one side of the base;

[0041] Another first connection seat is respectively connected to the other side of the top of the base and one end of the adjustment seat of the display adjustment device on the other side of the base, and another second connection seat is connected to the other end of the adjustment seat of the display adjustment device on the other side of the base and one end of the adjustment seat of the reflective adjustment device on the other side of the base;

[0042] The third connecting seat is connected to the bottom of the base, and the two second reflectors are arranged on both sides of the third connecting seat.

[0043] In some embodiments, in an optical path assembly, a display device disposed on a display adjustment device fixing seat on one side of the base and a second reflector disposed on a reflective adjustment device fixing seat on one side of the base have an included angle;

[0044] In another optical path component, the display device disposed on the display adjustment device fixing seat on the other side of the base and the second reflector disposed on the reflection adjustment device fixing seat on the other side of the base have an included angle.

[0045] In some embodiments, the third connecting seat is a triangular support frame, and the two second reflectors are arranged on the inclined surfaces on both sides of the triangular support frame.

[0046] A surgical robot system, comprising:

[0047] surgical arm;

[0048] A main control console, comprising: the above-mentioned surgical robot system image display optical path structure and an operating table, wherein the operating table is used to remotely control the surgical arm;

[0049] The binocular image acquisition device is communicatively connected with the image display optical path structure of the surgical robot system, and is used to acquire binocular surgical image information of the patient and send the acquired binocular surgical image information to the image display optical path structure of the surgical robot system.

[0050] In the technical solution provided by the embodiment of the present scheme, the adjustment device includes at least two groups of adjustment components, each group of adjustment components includes a first end and a second end, the first end of each group of adjustment components is hinged to a fixed seat, and the second end of each group of adjustment components is connected to the adjustment seat with an adjustable distance, so that when the adjustment distances of the second ends of at least two groups of adjustment components and the adjustment seat are the same, the fixed seat and the adjustment seat are relatively translated, and when the adjustment distances of the second ends of at least two groups of adjustment components and the adjustment seat are not completely the same, the fixed seat and the adjustment seat are relatively rotated. The embodiment of the present scheme has a simple structure and is easy to produce. In use, by adjusting the distances of the second ends of at least two groups of adjustment components and the adjustment seat, according to whether the adjustment distances of the second ends of at least two groups of adjustment components and the adjustment seat are the same or not completely the same, the adjustment function of the rotation angle and the translation distance between the fixed seat and the adjustment seat is realized.

[0051] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and / or additional aspects and advantages of the utility model of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0053] Figure 1is a side structural schematic diagram of an adjusting device according to an embodiment of the utility model of the present application;

[0054] Figure 2 It is a side structural schematic diagram of an adjusting device according to a specific embodiment of the utility model of the present application;

[0055] Figure 3 It is a partial cross-sectional structural schematic diagram of an adjusting device for adjusting the position of a component according to a specific embodiment of the utility model of the present application;

[0056] Figure 4 yes Figure 3 A magnified view of middle;

[0057] Figure 5 This is a schematic diagram of the main structure of a first arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0058] Figure 6 It is a schematic diagram of the main structure of a second arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0059] Figure 7 This is a schematic diagram of the main structure of a third arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0060] Figure 8 This is a schematic diagram of the front view of a fourth arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0061] Fig. 9 This is a schematic diagram of the main structure of a fifth arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0062] Fig.10 This is a schematic diagram of the front view of the sixth arrangement of the adjustment components of the adjustment device according to one embodiment of the utility model of the present application;

[0063] Fig.11 This is a schematic diagram of the main structure of a seventh arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application;

[0064] Fig.12 It is a partial cross-sectional structural schematic diagram of the position of the positioning screw of the adjustment device according to one embodiment of the utility model of the application;

[0065] Fig.13 It is a structural schematic diagram of an image display optical path structure of a surgical robot system according to an embodiment of the utility model of the present application;

[0066] Fig.14It is a structural schematic diagram of a surgical robot system image display optical path structure display device disposed on a display adjustment device according to an embodiment of the utility model of the present application;

[0067] Fig.15 for Fig.14 The side view structural diagram of the imaging display optical path structure of the surgical robot system shown;

[0068] Fig.16 It is a structural schematic diagram of a surgical robot system image display optical path structure in which a first reflector is arranged in a reflective adjustment device according to an embodiment of the utility model of the present application;

[0069] Fig.17 for Fig.15 The side view structural diagram of the imaging display optical path structure of the surgical robot system shown;

[0070] Fig.18 It is a structural schematic diagram of a surgical robot system image display optical path structure in which a second reflector is arranged on a base according to an embodiment of the utility model of the present application;

[0071] Fig.19 for Fig.18 The side view structural diagram of the imaging display optical path structure of the surgical robot system shown;

[0072] Fig. 20 It is a structural schematic diagram of a surgical robot system according to an embodiment of the utility model of the present application.

[0073] The reference numerals are as follows:

[0074] Fixed seat 10, fixed plate 11, first protrusion 12, through hole 13, gap 131, second protrusion 14, shock-absorbing pad 15, adjustment seat 20, adjusting internal thread hole 21, positioning internal thread hole 22, adjustment assembly 30, first end 301 of adjustment assembly, second end 302 of adjustment assembly, first adjustment assembly 30a, second adjustment assembly 30b, third adjustment assembly 30c, fourth adjustment assembly 30d, first hinge portion 31, second hinge portion 32, adjustment shaft 311, limiting boss 312, card slot 313, elastic fixing member 314, threaded column 321, pin 40, positioning screw 50, card point 51, locking nut 60;

[0075] Display device 100, reflector 200, first reflector 201, second reflector 202, adjustment device 300, display adjustment device 300a, bolt 301a, reflection adjustment device 300b, clamping plate 301b, eyepiece 400, base 500, first connecting seat 600, second connecting seat 700, third connecting seat 800;

[0076] Surgical arm 101 , main control console 102 , image display optical path structure 103 , operating table 104 , and imaging device 105 . DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the utility model of the present application to clearly and completely describe the technical solutions in the embodiments of the utility model of the present application. Obviously, the described embodiments are only part of the embodiments of the utility model of the present application, rather than all the embodiments. Based on the embodiments in the utility model of the present application, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model of the present application. The drawings provided in this application are only schematic diagrams for illustration. In practice, the shapes and sizes shown in the schematic diagrams are not intended to be limitations on the specific implementation methods.

[0078] For example, if the functions of adjusting the rotation angle and the translation distance are to be achieved at the same time, two independent translation distance devices and the rotation angle device can be stacked. The translation distance device includes a first translation component and a second translation component, which are driven by a first driving mechanism to achieve relative translation of the first translation component and the second translation component; the rotation angle device includes a first rotating component and a second rotating component, which are driven by a second driving mechanism to achieve relative rotation of the first rotating component and the second rotating component. If the first rotating component is arranged on the first translation component, the functions of adjusting the rotation angle and the translation distance can be achieved at the same time. However, this structure is highly complex, requires more parts, increases the tolerance chain, and thus reduces the adjustment accuracy of the adjustment device.

[0079] The present application provides an adjustment device with a simple structure and easy production, so as to realize the adjustment functions of both the rotation angle and the translation distance.

[0080] Figure 1 : is a side view structural diagram of an adjusting device according to an embodiment of the utility model of the present application, such as Figure 1 As shown, the adjustment device includes: a fixed seat 10, an adjustment seat 20 and at least two groups of adjustment components 30, each group of adjustment components 30 includes a first end and a second end, the first end 301 of each group of adjustment components is hinged to the fixed seat 10, and the second end 302 of each group of adjustment components is connected to the adjustment seat 20 with an adjustable distance, so that when the adjustment distances of the second ends 302 of at least two groups of adjustment components and the adjustment seat 20 are the same, the fixed seat 10 and the adjustment seat 20 are relatively translated, and when the adjustment distances of the second ends 302 of at least two groups of adjustment components and the adjustment seat 20 are not exactly the same, the fixed seat 10 and the adjustment seat 20 are relatively rotated.

[0081] In the technical solution provided by the embodiment of the present invention, the adjusting device comprises at least two groups of adjusting components, each group of adjusting components comprises a first end and a second end, the first end of each group of adjusting components is hinged with a fixed seat, and the second end of each group of adjusting components is connected with an adjustable distance from the adjusting seat, so that when the adjustment distances of the second ends of at least two groups of adjusting components and the adjusting seat are the same, the fixed seat and the adjusting seat are relatively translated, and when the adjustment distances of the second ends of at least two groups of adjusting components and the adjusting seat are not completely the same, the fixed seat and the adjusting seat are relatively rotated. The embodiment of the present invention has a simple structure and is easy to produce. In use, by adjusting the distances of the second ends of at least two groups of adjusting components and the adjusting seat, the adjustment functions of the rotation angle and the translation distance between the fixed seat and the adjusting seat are realized according to whether the adjustment distances of the second ends of at least two groups of adjusting components and the adjusting seat are the same or not completely the same. In addition, in the existing scheme, its structure generally can only realize the adjustment of the translation distance or the rotation angle, and the adjustment flexibility is insufficient. If it is necessary to realize the rotation angle and translation distance functions at the same time, the structure is highly complex, the parts are numerous, and the cost is high. Therefore, in the manufacturing process, the tolerance chain is increased due to the numerous parts, and the adjustment accuracy of the adjusting device is reduced. The adjustment device in the embodiment of the present application has a low structural complexity, is easy to process, has a low tolerance chain, and can simultaneously achieve high-precision adjustment of the rotation angle and the translation distance.

[0082] The fixing seat 10 can fix the object to be adjusted. In specific applications, the adjustment device of the present application can be applied to a variety of application fields.

[0083] For example, the adjustment device can be used in a hot melt machine, the hot pressing push rod of the hot melt machine can be fixed to the adjustment seat 20, and the hot pressing surface of the hot melt machine is fixed to the fixed seat 10. By adjusting at least two groups of adjustment components 30, the rotation angle and / or translation distance (relative to the adjustment seat 20) of the hot pressing surface can be selectively adjusted.

[0084] For another example, the adjustment device can be used in a camera bracket, which supports the adjustment seat 20, and the camera is fixed to the fixed seat 10. By adjusting at least two groups of adjustment components 30, the rotation angle and / or translation distance (relative to the adjustment seat 20) of the camera lens can be selectively adjusted.

[0085] For example, the adjustment device can be used in a surgical robot system. In recent years, with the application and development of robot-related technologies, the role of surgical robot systems on the medical patient side in clinical practice has been increasingly valued. Among them, the surgical robot system can use a minimally invasive method to reduce the incision of the patient during the operation through interventional treatment, and at the same time achieve the purpose of precise surgery, so that the patient has less intraoperative trauma, less blood loss, less postoperative infection, and faster recovery. The surgical robot system usually includes: a surgical robot arm for operating on the patient, an imaging device that displays the patient's image, and a main control console for the operating physician to remotely operate the surgical robot arm. The main control console and the surgical robot arm and the imaging device may be in the same room or not. Among them, the main operating console also has binoculars, and the binocular image acquisition device can send the collected patient images to the main operating console and the imaging device. The operating physician remotely views the patient's real-time surgical image through the display device of the main operating console, and the assistant physician or nurse views the patient's real-time surgical image through the imaging device. In order to provide high-quality images, the display device of the surgical robot system has gradually developed from an open type to an immersive type. The principle is to allow the operating physician to observe the tissue characteristics in the patient's body through the three-dimensional display device on the main operating console. The operating physician controls the surgical robot system's surgical arm by remote control to complete the surgical operation. The operating physician can obtain visual effects similar to those of traditional surgery through the display device to accurately complete the minimally invasive surgery. Among them, the display device plays a very important role in minimally invasive surgery. The existing surgical robot system is limited by the influence of manufacturing precision. There is a deviation between the display optical path of the display device and the theoretical optical path. The binocular image provided is prone to position offset, image deformity and other problems, which will greatly affect the visual observation and surgical accuracy of the operating physician. The image display optical path structure of the surgical robot system includes: two optical path components for displaying binocular images, each optical path component includes a plurality of optical path nodes, the plurality of optical path nodes include a display device and at least two reflectors, the image displayed by the display device is reflected by the at least two reflectors to form an image in the binocular image; each optical path component also includes the above-mentioned adjustment device; at least one of the display device and at least one reflector is arranged on the fixing seat 10 of the at least one adjustment device to selectively adjust the rotation angle and / or translation distance of at least one optical path node.

[0086] In the following embodiments of the present application, a detailed introduction is given by taking the application of the adjustment device to a surgical robot system as an example, but the application is not limited to the application to the surgical robot system and can also be applied to other fields.

[0087] Figure 2 is a side structural schematic diagram of an adjusting device according to a specific embodiment of the utility model of the present application, Figure 3FIG. 1 is a partial cross-sectional structural diagram of an adjusting device for adjusting the position of a component according to an embodiment of the utility model of the present application, such as Figure 2 and Figure 3 As shown, the adjustment seat 20 is provided with at least two adjustment internal threaded holes 21 corresponding to the number of the adjustment components. Each group of adjustment components includes: a first hinged portion 31 and a second hinged portion 32, the connection end of the first hinged portion 31 is rotatably connected to the fixed seat 10 to hinge the first end of the adjustment component with the fixed seat 10, the hinged end of the second hinged portion 32 is hinged to the hinged end of the first hinged portion 31, the connection end of the second hinged portion 32 has a threaded column 321, and is threadedly connected to the corresponding adjustment internal threaded hole 21 of the adjustment seat 20, so that the distance between the second end of the adjustment component and the adjustment seat 20 is adjustable.

[0088] In the technical solution provided by the embodiment of the present invention, by screwing the second hinge part 32 in the adjustment component, at least one of the rotation angle and translation distance of the display device in the optical path node can be adjusted, so that it can provide a binocular image with more accurate angle and distance.

[0089] The fixing seat 10 and the adjusting seat 20 can be a support plate structure of metal material or plastic material, etc. The fixing seat 10 and the adjusting seat 20 are both plate-shaped structures with a large area. The fixing seat 10 is used to install the display device or the reflector that needs to be adjusted to ensure the flatness requirements of the display device or the reflector. During the adjustment process, the position of the adjusting seat 20 is fixed at different positions, and the fixing seat 10 moves relative to the adjusting seat as the second hinge 32 is screwed.

[0090] In practice, the shape and size of the fixing base 10 can be matched with the shape and size of the display device 100 and the reflective mirror 200 to be fixed.

[0091] The hinged end of the second hinged part 32 and the hinged end of the first hinged part 31 are rigidly hinged, which can be achieved by using a hinged end made of metal. This can meet the requirement of stable support for the optical path node. For example, a ball hinge is used between the first hinged part 31 and the second hinged part 32. The hinged end of the first hinged part 31 can be a spherical groove, and the hinged end of the second hinged part 32 can be a sphere, which can be rotatably embedded in the spherical groove. Since the ball hinge can achieve 360° rotation, the adjustment flexibility of the adjustment device can also be increased.

[0092] like Figure 3As shown, in some embodiments, in order to facilitate production and processing and reduce processing costs and difficulty, the first hinged portion 31 and the second hinged portion 32 are hingedly connected by a pin 40. Specifically, both ends of the pin 40 can be clamped by a clamping ring to hold it between the first hinged portion 31 and the second hinged portion 32.

[0093] In some other embodiments, the first through hole of the first hinge part 31 and the second through hole of the second hinge part 32 are connected, and the diameter of the pin 40, the aperture of the first through hole, and the aperture of the second through hole are matched, so that stability can be maintained under the action of friction. Further, in order to keep the pin 40 between the first hinge part 31 and the second hinge part 32, the axes of the pins 40 of at least two groups of adjustment components have an angle. It can be understood that under the action of gravity, the adjustment seat 20 will apply a downward force to the pin 40. When the axes of the pins 40 of at least two groups of adjustment components have an angle, at least one of the two angled pins 40 will be in a non-vertical state, which can provide a larger upward support force.

[0094] Figure 4 yes Figure 3 The enlarged view of A in the figure is as follows: Figure 3 and Figure 4As shown, in a specific implementation, in the above-mentioned adjustment device, the fixing seat 10 includes: a fixing plate 11, the fixing plate 11 is provided with a first protrusion 12, the end edge of the first protrusion 12 is provided on the fixing plate 11, the middle part of the first protrusion 12 is protruding, and a through hole 13 is provided. The connecting end of the first hinged part 31 is an adjustment shaft 311, and in the direction close to the fixing seat 10, the adjustment shaft 311 is sequentially provided with a limiting boss 312 and a clamping groove 313, the adjustment shaft 311 passes through the through hole 13, the limiting boss 312 is in conflict with one side of the first protrusion 12, the clamping groove 313 extends into the protrusion of the first protrusion 12, and is clamped by an elastic fixing member 314, and the elastic fixing member 314 is in conflict with the other side of the first protrusion 12, so as to limit the adjustment shaft 311 to be rotatably limited in the through hole 13. The first protrusion 12 may be in the shape of a strip, that is, the two end edges of the first protrusion 12 in the shape of a strip are arranged on the fixing plate 11. Alternatively, the first protrusion 12 may be in the shape of a plane, that is, the one end edge of the first protrusion 12 in the shape of a plane is arranged on the fixing plate 11, so that a more stable support can be provided for the first hinged portion 31. The first protrusion 12 may be prepared by the fixing plate 11 by a stamping process, or the first protrusion 12 may be welded to the fixing plate 11 by a welding process. The elastic fixing member 314 may be a retaining spring, which is retained in the retaining groove 313 to limit the adjustment shaft 311 to be rotatably limited in the through hole 13. In addition, the adjustment shaft 311 may also be provided with no retaining groove 313, and the elastic fixing member 314 may be an elastic gasket, which passes through the end of the adjustment shaft 311, contacts the other side of the first protrusion 12, and is locked by a bolt.

[0095] During implementation, when the hinged end of the first hinged part 31 and the hinged end of the second hinged part 32 are hinged by the pin 40, the swinging direction between the hinged end of the first hinged part 31 and the hinged end of the second hinged part 32 is limited by the direction of the pin 40. In order to facilitate the angle adjustment between the fixed seat 10 and the adjustment seat 20, the elastic fixing member 314 is elastic, and there is a gap 131 between the adjustment shaft 311 and the through hole 13, so that by screwing the second hinged part 32 of at least one set of adjustment components, the relative position between the adjustment seat 20 and the fixed seat 10 changes, thereby the rotation angle between the fixed seat 10 and the adjustment seat 20 can be adjusted. For the case where only one set of adjustment components is adjusted, the range of angle adjustment can be specifically adjusted and adapted according to the elasticity of the elastic fixing member 314 and the gap 131 between the adjustment shaft 311 and the through hole. For example, the size range of the gap 131 is 0.1mm-1mm, that is, for example, the through hole is a circular through hole, the adjustment shaft is a shaft with a circular cross section, and the difference between the diameter of the circular through hole and the diameter of the adjustment shaft is 0.1mm-1mm. Within this range, the relatively stable positional relationship between the adjustment shaft 311 and the through hole 13 can be maintained, and a certain angle adjustment range can be provided between the adjustment shaft 311 and the through hole. In some preferred embodiments, the size of the gap 131 is preferably 0.2±0.05mm, such as 0.15mm, 0.2mm, 0.25mm or any value within any two of the above numerical ranges.

[0096] When adjusting the translation distance between the fixed seat 10 and the adjustment seat 20, each set of adjustment components needs to be adjusted at the same time. This can be achieved by adjusting the second hinge 32 of each set of adjustment components so that the threaded column 321 at the connection end and the corresponding internal threaded hole of the adjustment seat 20 are adjusted to the same distance.

[0097] The adjustment range of the rotation angle and the translation distance is limited by the length of the threaded column 321. If space permits, a longer threaded column 321 can be provided in theory to increase the adjustment range.

[0098] When adjusting the rotation angle between the fixing seat 10 and the adjusting seat 20, at least one set of adjusting components can be adjusted to achieve the adjustment. The specific adjusting components to be adjusted can be determined according to the actual adjustment angle.

[0099] The adjustment components are at least two groups. For example, the adjustment components can be two groups, three groups, four groups, six groups or eight groups. In a specific implementation, Figure 5 FIG. 1 is a schematic diagram of the main structure of the first arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application, such as Figure 3 , Figure 4 and Figure 5As shown, taking the adjustment assembly as two groups as an example, after adjusting the second hinge part 32 of the first group of adjustment assemblies 30, the relative distance between the fixed seat 10 and the adjustment seat 20 at the position of the first group of adjustment assemblies 30 will change, while the relative distance between the fixed seat 10 and the adjustment seat 20 at the position of the second group of adjustment assemblies 30 will not change. The elastic fixing member 314 is elastic, and there is a gap 131 between the adjustment shaft 311 and the through hole 13. At the position of the second group of adjustment assemblies 30, the angle between the adjustment shaft 311 and the fixed seat 10 changes, while the translation distance does not change, so that the fixed seat 10 is slightly tilted relative to the adjustment seat 20 as a whole, thereby realizing the rotation angle adjustment between the fixed seat 10 and the adjustment seat 20. Of course, the two groups of adjustment assemblies can also be adjusted at the same time, so that the adjustment distances of the two groups of adjustment assemblies 30 are different, then the rotation angle and translation distance between the fixed seat 10 and the adjustment seat 20 can be adjusted at the same time.

[0100] In order to achieve the angle adjustment of rotation angles in more directions, in the specific implementation, Figure 6 FIG. 1 is a schematic diagram of the main structure of a second arrangement of adjustment components of an adjustment device according to an embodiment of the utility model of the present application. Figure 3 , Figure 4 and Figure 6 As shown, taking the three groups of adjustment components 30 as an example, the three groups of adjustment components 30 are arranged in a triangle or a straight line (not shown). If arranged in a triangle, the three groups of adjustment components are located at the three vertices of the triangle. In the specific adjustment, the second hinge 32 of one group of adjustment components 30 can be adjusted separately, and the specific adjustment component can be selected according to the direction to be adjusted. In addition, the second hinge 32 of two groups of adjustment components 30 can also be adjusted at the same time to achieve the required rotation angle. Of course, the three groups of adjustment components 30 can also be adjusted at the same time, so that the adjustment distances of at least two groups of adjustment components are different, then the rotation angle and translation distance between the fixed seat 10 and the adjustment seat 20 can be adjusted at the same time.

[0101] In order to achieve more comprehensive rotation angle adjustment, four groups of adjustment components can be set. Four groups of adjustment components are the optimal implementation method, which is not only easy to adjust but also can ensure the stability of installation. Figure 7 : is a schematic diagram of the main structure of the third arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application, such as Figure 7As shown, in a specific implementation, four groups of adjustment components can be arranged in a four-corner manner. For example, the four groups of adjustment components include: a first adjustment component 30a, a second adjustment component 30b, a third adjustment component 30c, and a fourth adjustment component 30d. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are arranged in a quadrilateral. The first adjustment component 30a and the second adjustment component 30b are relatively arranged, and the third adjustment component 30c and the fourth adjustment component 30d are relatively arranged. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are located at the four vertices of the quadrilateral in sequence.

[0102] like Figure 7 As shown, specifically, the first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d can be arranged in a square. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are sequentially located at the four vertices of the square.

[0103] Figure 8 1 is a schematic diagram of the main structure of the fourth arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application. In this embodiment, the difference from the above embodiment is that the arrangement shapes of the four groups of adjustment components are different, such as Figure 8 As shown, the first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d can be arranged in a rectangle. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are sequentially located at the four vertices of the rectangle.

[0104] Fig. 9 1 is a schematic diagram of the main structure of the fifth arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application. In this embodiment, the difference from the above embodiment is that the arrangement shapes of the four groups of adjustment components are different, such as Fig. 9 As shown, the first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d can be arranged in a parallelogram. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are sequentially located at the four vertices of the parallelogram. Exemplarily, the first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d can also be arranged in a rhombus.

[0105] In the above embodiment, the adjustment of any rotation angle between the fixing seat 10 and the adjusting seat 20 is achieved by adjusting at least one of the four adjusting components.

[0106] It can be understood that in some embodiments of this solution, Fig.10 : is a schematic diagram of the main structure of the sixth arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application, such as Fig.10 As shown, the number of groups of adjustment components 30 can be more, such as six groups of adjustment components 30. The six groups of adjustment components 30 can be arranged in the shape of an equilateral hexagon, that is, located at the six vertices of the equilateral hexagon.

[0107] Similarly, Fig.11 : is a schematic diagram of the main structure of the seventh arrangement of the adjustment components of the adjustment device according to an embodiment of the utility model of the present application, such as Fig.11 As shown, for example, eight groups of adjustment components 30 can be arranged in the shape of an equilateral octagon, that is, located at the eight vertices of the equilateral octagon. A larger number of adjustment components 30 can achieve a more stable support, and at the same time, it is also convenient to achieve a more refined adjustment of the rotation angle and translation distance.

[0108] When the hinge end of the first hinged part 31 and the hinge end of the second hinged part 32 are hinged by the pin 40. Specifically, the pin 40 of the first adjustment component 30a and the pin 40 of the second adjustment component 30b are coaxial, or the pin 40 of the third adjustment component 30c and the pin 40 of the fourth adjustment component 30d are coaxial. Then, at the coaxial position of the pin 40, it is convenient to realize the rotation angle adjustment between the fixed seat 10 and the adjustment seat 20 in the coaxial axis direction. It is easy to understand that the coaxial axis of the pin 40 can be determined according to the rotation angle that usually needs to be adjusted.

[0109] It is understandable that the pin shaft 40 of the first adjustment assembly 30a and the pin shaft 40 of the second adjustment assembly 30b are coaxial, or the pin shaft 40 of the third adjustment assembly 30c and the pin shaft 40 of the fourth adjustment assembly 30d are coaxial, which can be the initial state when leaving the factory. During use, the user can adjust the rotation angle of the second hinged portion 32 in the adjustment device to change the angular position of the pin shaft 40.

[0110] Fig.12 FIG. 1 is a partial cross-sectional structural diagram of the positioning screw position of the adjusting device according to an embodiment of the utility model of the present application, as shown in FIG. Figure 7 and Fig.12 Combined with Figure 3As shown, in the implementation, the above-mentioned adjustment device also includes: a positioning screw 50, and the adjustment seat 20 is provided with a positioning internal threaded hole 22. The positioning screw 50 is threadedly connected with the positioning internal threaded hole 22 of the adjustment seat 20, and contacts the fixed seat 10. By tightening the positioning screw 50, the positioning screw 50 contacts the fixed seat 10. Under the action of the positioning screw 50, the fixed seat 10 can further press the elastic fixing member 314, so that the elastic fixing member 314 is in a locked state (the elastic fixing member 314 will not continue to deform elastically), and the positional relationship between the adjustment seat 20 and the fixed seat 10 can be stably maintained, that is, the relative movement between the fixing seat 10 and the adjustment seat 20 (the relative movement is the rotation angle and the translation distance) can be pressed.

[0111] In order to enable the positioning screw 50 to apply a relatively uniform load force to at least two groups of adjustment components, at least two adjustment internal threaded holes 21 are arranged around the positioning internal threaded hole 22 as the center, so that at least two groups of adjustment components are arranged in a ring around the positioning screw 50 as the center. Under the action of the positioning screw 50, the load force exerted on the elastic fixing parts 314 at different positions can be relatively uniform, thereby overcoming the problem of low adjustment accuracy caused by uneven load force exerted on the elastic fixing parts 314, and further improving the adjustment accuracy of the adjustment device.

[0112] like Fig.12 As shown, in a specific embodiment, in the above-mentioned adjustment device, the fixing seat 10 also includes: a second protrusion 14, the end edge of the second protrusion 14 is arranged on the fixing plate 11, the middle part of the second protrusion 14 is raised, and a through hole is arranged. The end of the positioning screw 50 has a clamping point 51, and the clamping point 51 of the positioning screw 50 is clamped into the through hole to limit the relative slip between the positioning screw 50 and the fixing plate 11. The shape of the second protrusion 14 can be strip-shaped, that is, the two end edges of the strip-shaped second protrusion 14 are arranged on the fixing plate 11. Alternatively, the shape of the second protrusion 14 can be planar, that is, the one-circle edge of the second protrusion 14 of the panel is arranged on the fixing plate 11, so that the first hinged portion 31 can be more firmly supported. The second protrusion 14 can be prepared by the fixing plate 11 by a stamping process, or the second protrusion 14 can be welded to the fixing plate 11 by a welding process.

[0113] like Figure 3As shown, after the second hinge 32 is adjusted, in order to achieve the position stability between the fixed seat 10 and the adjustment seat 20, the adjustment device further includes a locking nut 60, which is threadedly connected to the connection end of the second hinge 32 and contacts the adjustment seat 20 to lock the adjustment seat 20 to the connection end of the second hinge 32. When adjusting the second hinge 32, the locking nut 60 is first loosened, and after the adjustment of the second hinge 32 is completed, the locking nut 60 is locked.

[0114] In the embodiment of the present scheme, by screwing the second hinged portion 32 of at least one group of adjustment components, the rotation angle and the translation distance between the fixed seat 10 and the adjustment seat 20 can be adjusted. For example, when adjusting the translation distance between the fixed seat 10 and the adjustment seat 20 (for example, relative translation occurs between the fixed seat 10 and the adjustment seat 20), the second hinged portion 32 of each group of adjustment components is screwed so that the adjustment distance between the adjustment seat 20 and the fixed seat 10 of each group of adjustment positions is equal. Similarly, it can be understood that when adjusting the rotation angle between the fixed seat 10 and the adjustment seat 20, screwing the second hinged portion 32 of at least one group of adjustment components can achieve the adjustment of the rotation angle between the fixed seat 10 and the adjustment seat 20. Compared with the prior art, the embodiment of the present scheme can achieve the adjustment of the rotation angle and the translation distance at the same time.

[0115] For example, in practice, the pitch range of the threaded column 321 of the second hinged part 32 can be selected to be 0.5mm-2.5mm, such as 1.5mm. When the second hinged part 32 is adjusted to rotate one circle, the distance between the fixed seat 10 and the adjustment seat 20 in the axial direction of the threaded column 321 will increase or decrease by 1.5mm. Depending on the different pitches set for the threaded column 321, the distance between the fixed seat 10 and the adjustment seat 20 changes differently with each rotation, and the corresponding angle changes are also different.

[0116] The present application provides a surgical robot system and an image display optical path structure that are simple in structure and easy to produce, so as to realize the functions of adjusting both the rotation angle and the translation distance. Specifically, a surgical robot system and an image display optical path structure of an embodiment of the utility model are described below with reference to the accompanying drawings.

[0117] Specifically, a surgical robot system and its image display optical path structure according to an embodiment of the present application are described below with reference to the accompanying drawings.

[0118] Fig.13This is a structural schematic diagram of the image display optical path structure of a surgical robot system according to an embodiment of the utility model of the present application. It should be noted that the image display optical path structure of the surgical robot system of the embodiment of the present application can be applied to a surgical robot system. The image display optical path can be set at the main control console of the surgical robot system. The imaging device can collect binocular surgical image information of the patient and send it to the image display optical path in real time for the operating physician to watch. The main control console also has a control console for the operating physician to remotely operate the surgical robotic arm. The operating physician can observe the patient's surgical image in real time by observing the binocular image provided by the image display optical path at the main control console. And according to the observed surgical image, the operating console of the main control console can be operated to remotely control the surgical robotic arm and perform precise minimally invasive surgery on the patient.

[0119] like Fig.13 As shown, the image display optical path structure of the surgical robot system includes: two optical path components for displaying binocular images, the two optical path components can be symmetrically arranged, each optical path component includes a plurality of optical path nodes, the plurality of optical path nodes include a display device 100 and at least two reflectors 200, the picture displayed by the display device 100 is reflected by the at least two reflectors 200 to form one of the binocular images; each optical path component also includes at least one adjustment device 300; at least one of the display device 100 and the reflector 200 is arranged on the at least one adjustment device 300 to selectively adjust the rotation angle and / or translation distance of at least one optical path node.

[0120] In the technical solution provided in the embodiment of the present scheme, in the image display optical path structure of the surgical robot system, each optical path component also includes at least one adjustment device, and at least one of the display device and the reflector is arranged on the adjustment device to selectively adjust the rotation angle and / or translation distance of at least one optical path node. In the case that tolerances occur in the prepared image display optical path structure of the surgical robot system, in the embodiment of the present scheme, the rotation angle and / or translation distance of at least one of the display device and the reflector can be selectively adjusted by the adjustment device. Compared with the technical solution in the prior art that can only adjust the angles of the large and small reflectors separately, in the present scheme, the display device and the reflector have higher adjustability, thereby improving the adjustment efficiency of the image display optical path structure of the surgical robot system. At the same time, this solution utilizes the fact that the display device is at the source of the optical path component, and has the characteristics of large adjustable space and low adjustable difficulty. The display device is set on the adjustment device, and the adjustment device is simple to operate. It only takes tens of minutes to complete the adjustment of the display optical path. Compared with the display optical path adjustment time of several days required in the prior art, the embodiment of this solution can efficiently complete the display optical path adjustment, and the adjustment time required for several days in the prior art is shortened to only tens of minutes to achieve the adjustment of the image display optical path structure of the surgical robot system, which greatly shortens the time spent on adjusting the optical path, reduces the difficulty of adjusting the display optical path, and improves the adjustment efficiency of the display optical path.

[0121] In the two optical paths, one optical path is used to display the left eye image, and the other optical path is used to display the right eye image, that is, the two optical path components are used to display binocular images, wherein the left eye image and the right eye image form a binocular image, and the left eye image and the right eye image are set to adapt to the lateral parallax image of the binocular eyes, which can be recognized as a three-dimensional image by the doctor's binocular eyes. That is, in some embodiments, the binocular image is an image from different positions of the patient captured by two cameras or sensors, and the captured image is transmitted to the display device 100 through communication. The image displayed by the display device 100 is reflected by a reflector to form an image in the binocular image. The two images simulate the way human binoculars observe the world. By comparing the difference between the two images, the human brain can infer the depth information, thereby realizing the perception and recognition of the patient's three-dimensional scene.

[0122] Specifically, the display screens of the two display devices 100 may come from binocular surgical image information collected by the binocular image acquisition device from the patient, and the binocular surgical image information may be viewed by the operating physician and recognized as three-dimensional image information. Among them, the clarity and authenticity of the three-dimensional image information are closely related to the quality of the binocular image provided by the image display optical path structure 103. If the quality of the binocular image provided by the image display optical path structure 103 is low, such as deviations in the imaging position, deviations in the imaging angle, and deviations in the imaging distance, it will have a greater impact on the human brain's recognition of three-dimensional image information.

[0123] In this embodiment, if there is a dimensional tolerance in the optical path structure after manufacturing, it will cause quality problems in the binocular image provided by the image display optical path structure 103, such as position deviation and angle deviation of the optical path node. In order to solve this problem, the adjustment device 300 can be used to adjust the translation distance or rotation angle of the display device 100 and the reflector 200 to achieve the adjustment operation of the display optical path, which greatly improves the flexibility of the display optical path adjustment.

[0124] The display device 100 is disposed on the at least one adjustment device 300 to selectively adjust the rotation angle and / or translation distance of the display device 100. Adjustment of the translation distance and / or rotation angle of the display device 100 by sight.

[0125] Alternatively, at least one reflector 200 is disposed on the at least one adjusting device 300 to selectively adjust the rotation angle and / or translation distance of the at least one reflector 200 , thereby achieving adjustment of the translation distance and / or rotation angle of the at least one reflector 200 .

[0126] It may be difficult to accurately correct the image display optical path structure 103 by adjusting the display device 100 or the reflector 200 alone. In some embodiments, the translation distance and / or rotation angle of the display device 100 and the reflector 200 can also be adjusted simultaneously. Further, the display device 100 and at least one reflector 200 are arranged on the at least one adjustment device 300 to selectively adjust the rotation angle and / or translation distance of the display device 100 and at least one reflector 200. There are at least two adjustment devices 300 for each optical path component, and the display device 100 and each of the reflectors 200 are respectively arranged on the corresponding adjustment devices 300.

[0127] In a specific embodiment, the at least two reflectors 200 include a first reflector 201 and at least one second reflector 202, and the at least one second reflector 202 is located on the reflection light path of the first reflector 201. In the surgical robot system, the display device 100 is arranged on the upper part of the main control panel, the first reflector 201 is arranged at a lower position on the side of the main control panel, and the second reflector 202 at the end of the reflection light path is arranged below the binoculars and at a lower position in the middle of the main control panel. Through the binoculars, the virtual image reflected by the second reflector 202 at the end of the reflection light path can be seen.

[0128] The first reflector 201 is disposed on the adjusting device 300 to selectively adjust the rotation angle and / or translation distance of the first reflector 201 .

[0129] Furthermore, the reflective surface of the first reflector 201 is larger than the reflective surface of the second reflector 202. Specifically, the first reflector 201 is disposed on an adjustment device 300 corresponding thereto.

[0130] Since the area of ​​the second reflector 202 is small, its setting position leads to a small space and is difficult to adjust. Even if it can be adjusted, it is inconvenient to observe the change of the light path during the adjustment process. Therefore, in this solution, the second reflector can be adjusted without adjusting the second reflector, and the setting method of adjusting the first reflector 201 alone is adopted. Specifically, for the first reflector 201 with a larger area, the adjustment device can selectively set it to be adjustable in at least one of the rotation angle and the translation distance, while the second reflector 202 with a smaller area is set to be unadjustable in both the rotation angle and the translation distance, and a fixed setting method is adopted. This design method takes into account the difficulty of installing the adjustment device and the difficulty of adjusting the second reflector 202. On the contrary, the first reflector 201 with a large area can be easily set on the adjustment device, and the adjustment device can also ensure the installation flatness of the large reflector. The large reflector is set on the side of the main console, and there is enough space for adjustment. It is also convenient to observe the changes of the light path on the display device 100, the first reflector 201 and the second reflector 202 during adjustment. In contrast, the second reflector 202 with a smaller area is not easy to adjust due to its setting position and space problems, and the selection of the adjustment scheme has a significant impact on the second reflector 202. Because the ultimate goal of the display light path in actual installation and adjustment is to keep the positions among the display device 100, the first reflector 201, and the second reflector 202 to meet the light path requirements, there is an adjustment scheme. When adjusting the laser to align with the center of the second reflector 202, the reflected laser must pass through the center of the first reflector 201 and the display device 100 at the same time to meet the light path requirements. Since the second reflector is still at the end of the reflected light path, if the rotation angle and translation distance of the second reflector 202 are adjusted at this time, after the light path is reflected, the distance of the laser offset from the center on the first reflector 201 and the display device 100 will be magnified, making it difficult to adjust the position among the three.

[0131] Therefore, in the embodiment of the present solution, the display device 100 and the first reflector 201 can be adjusted, for example, the first reflector 201 and the display device 100 are adjusted in sequence, so that the image display optical path structure 103 can be adjusted well, and the adjustment scheme is simple and efficient. In order to facilitate accurate adjustment, in the embodiment of the present solution, the first reflector 201 is arranged on the fixing seat 10 of the reflective adjustment device. Since the area of ​​the first reflector 201 is large, in the embodiment of the present solution, the reflective adjustment device 300b is arranged on the first reflector 201, and the spacing between the two groups of adjustment components can be set larger than that arranged on the second reflector 202. When the second hinged portion 32 is screwed at the same angle, the reflector can be adjusted at a smaller angle, and the optical path can be finely adjusted. That is, compared with the prior art, by setting the display device 100 and the first reflector 201 on the adjustment device 300, the image display optical path structure 103 of the surgical robot system can be efficiently adjusted while keeping the position of the second reflector 202 with a smaller area unchanged and the first reflector 201 with a larger area installed flat, so that it can provide binocular images with more precise angles and positions.

[0132] It is easy to understand that in the above-mentioned embodiment, when the number of reflectors is greater than two, the second reflector 202 may not be at the end of the reflected light path of the multiple light path nodes, or may be at the end of the reflected light path of the multiple light path nodes. In the embodiment of this scheme, when the second reflector 202 is at the end of the reflected light path of the at least two-level light path nodes, the second reflector 202 is an end reflector, and the end reflector is fixedly set. Since the reflector at the end position is difficult to adjust, a fixed setting can be adopted, and the first reflector 201 with a larger area outside the end is adjusted, and the adjustment efficiency is higher.

[0133] Specifically, the above-mentioned surgical robot system image display optical path structure 103 also includes: binoculars 400. The display device 100, the first reflector 201, and the second reflector 202 of the two optical path components form two image optical paths toward the binoculars 400, that is, the display images of the displays of the two optical path components are reflected by the first reflector 201 and the second reflector 202 of the two optical path components in sequence to provide binocular images for the binoculars 400. The binocular images can be configured as left-eye images and right-eye images of three-dimensional images. The doctor can form a three-dimensional image in his brain by observing the left-eye image and the right-eye image of the binoculars 400 with both eyes.

[0134] Fig.14 It is a structural schematic diagram of a surgical robot system image display optical path structure display device disposed on a display adjustment device according to an embodiment of the utility model of the present application; Fig.15 for Fig.14 The side view structure diagram of the surgical robot system image display optical path structure is shown. Fig.14 and Fig.15 As shown, one of the two adjustment devices 300 is a display adjustment device 300a, the display device 100 is arranged on the display adjustment device 300a, the fixing seat 10 of the display adjustment device 300a is provided with a threaded hole, the display device 100 is arranged on the fixing seat 10 of the display adjustment device 300a, and is fastened to the threaded hole of the fixing seat 10 by a bolt 301a.

[0135] The fixing seat 10 of the display adjustment device 300a includes a fixing plate 11, and the fixing plate 11 and the display device 100 can be fixed by multiple bolts. The display adjustment device 300a has multiple adjustment components, including: a first adjustment component 30a, a second adjustment component 30b, a third adjustment component 30c, and a fourth adjustment component 30d. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are arranged in a square. The first adjustment component 30a and the second adjustment component 30b are arranged oppositely, and the third adjustment component 30c and the fourth adjustment component 30d are arranged oppositely. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are located at the four vertices of the square in sequence. The first adjustment component 30a, the second adjustment component 30b, the third adjustment component 30c, and the fourth adjustment component 30d are centered on the positioning screw 50.

[0136] During implementation, the side length of the square in the display adjustment device 300a is 220 mm. With each rotation of the second hinged portion 32, the angle between the fixed seat 10 and the adjustment seat 20 changes by 0.4 degrees. In this solution, the second hinged portion 32 can be adjusted to rotate 6 times, that is, the adjustment range of the rotation angle of the display device 100 is between 0° and 2.4°.

[0137] Specifically, Fig.15 Combined with Figure 1 As shown, by rotating the second hinged portion 32 of the third adjusting component 30c in the first direction and rotating the second hinged portion 32 of the fourth adjusting component 30d in the second direction, the fixing base 10 and the adjusting base 20 can be rotated relative to each other, thereby adjusting the rotation angle of the display device 100.

[0138] Fig.16 This is a schematic diagram of a structure in which a first reflector is arranged in a reflective adjustment device in an image display optical path structure of a surgical robot system according to an embodiment of the utility model of the present application. Fig.17 for Fig.15 The side view structure diagram of the optical path structure of the surgical robot system is shown in FIG. Fig.16 and Fig.17 As shown, the other adjusting device of the two adjusting devices 300 is a reflective adjusting device 300b, and the first reflector 201 is arranged on the reflective adjusting device 300b; the edges of at least two directions of the fixing seat 10 of the reflective adjusting device 300b are provided with clamping plates 301b, and the first reflector 201 is arranged on the fixing seat 10 of the display adjusting device 300a and is supported by the clamping plates 301b.

[0139] Furthermore, in order to ensure the safety of the large-sized first reflector 201, a shock-absorbing pad 15 can be arranged between the first reflector 201 and the clamping plate of the fixing seat 10, so that the first reflector 201 is not easily broken due to deformation and stress concentration between the adjustment seat 20 during vibration. At the same time, a larger-sized clamping plate is arranged to ensure the installation flatness of the first reflector 201.

[0140] In one embodiment, the reflective adjustment device 300b includes a plurality of adjustment components, including: a first adjustment component 30a, a second adjustment component 30b, a third adjustment component 30c, and a fourth adjustment component 30d. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are arranged in a square. The first adjustment component 30a and the second adjustment component 30b are arranged opposite to each other, and the third adjustment component 30c and the fourth adjustment component 30d are arranged opposite to each other. The first adjustment component 30a, the third adjustment component 30c, the second adjustment component 30b, and the fourth adjustment component 30d are sequentially located at the four vertices of the square. The first adjustment component 30a, the second adjustment component 30b, the third adjustment component 30c, and the fourth adjustment component 30d are centered on the positioning screw 50.

[0141] The side length of the square in the reflective adjustment device 300b is 160 mm. With each rotation of the second hinged portion 32, the angle between the fixed seat 10 and the adjustment seat 20 changes by 0.54 degrees. In this solution, the second hinged portion 32 can be adjusted to rotate 6 times, that is, the angle adjustment range of the first reflector 201 is from 0° to 3.24°.

[0142] Therefore, illustratively, when the angle adjustment range of the display adjustment device 300a is between 0° and 2.4°, and the angle adjustment range of the reflective adjustment device 300b is between 0° and 3.24°, then the two can achieve angle adjustment within the range of 5.64°, so that the binocular images provided by the two optical path components of the image display optical path structure 103 can meet the actual projection position requirements. It is easy to understand that in the embodiment of the present scheme, the angle adjustment range of the display adjustment device 300a is not limited to 0° to 2.4°, that is, its angle adjustment range can be larger, and the angle adjustment range of the reflective adjustment device 300b is not limited to 0° to 3.24°, that is, its angle adjustment range can be larger. Then, in the embodiment of the present scheme, the angle adjustment range in practice is not limited to within the range of 5.64°, and can also be larger, such as 5.8°, 6.5°, etc. That is, the above values ​​are only exemplary. In order to improve the adjustment accuracy of the translation distance and rotation angle of the adjusting device, a second hinged part with a smaller pitch can be selected. With the adjusting device of this scheme, since the threaded column of the second hinged part can be rotated at any angle, theoretically the translation distance and rotation angle are steplessly adjusted. However, in actual operation, the adjustment accuracy of the translation distance can reach 0.1mm, and the adjustment accuracy of the rotation angle can reach 0.01°, and the adjustment accuracy is relatively high. In order to improve the adjustment range of the translation distance and rotation angle of the adjusting device, the length of the threaded column on the second hinged part can be increased if the adjustment space permits. For example, the maximum single pitch is 2.5mm, and it can be rotated up to 6 times. The adjustment range of the translation distance can reach 15mm, and the adjustment range of the rotation angle also needs to determine the number of adjustment components and the arrangement of each adjustment component. Generally, the adjustment range of the rotation angle can reach 10°.

[0143] Fig.18 This is a schematic diagram of a structure in which a second reflector of an image display optical path structure of a surgical robot system is arranged on a base according to an embodiment of the utility model of the present application. Fig.19 for Fig.18 The side view structure diagram of the surgical robot system image display optical path structure is shown. Fig.18 and Fig.19 As shown, the third connecting seat 800 is a triangular support frame, and the two second reflectors 202 are arranged on the inclined surfaces on both sides of the triangular support frame. Specifically, a clamping plate can be used to clamp the two side edges of the second reflector 202 on the inclined surfaces of the triangular support frame.

[0144] Based on the image display optical path structure 103 of the above-mentioned embodiment, a surgical robot system of another embodiment of the present application includes: the above-mentioned surgical robot system image display optical path structure 103 and a binocular image acquisition device, the binocular image acquisition device is communicatively connected to the surgical robot system image display optical path structure 103, and is used to collect binocular surgical image information of the patient, and send the collected binocular surgical image information to the surgical robot system image display optical path structure 103.

[0145] like Fig.13 As shown, specifically, the surgical robot system image display optical path structure 103 includes: a base 500 and at least one connection seat, and the two adjustment devices 300, and any one of the adjustment devices 300 and the base 500 are connected through the connection seat. That is, the base 500 and the adjustment seat 20 of the display adjustment device 300a can be connected through the connection seat, the adjustment seat 20 of the display adjustment device 300a and the adjustment seat 20 of the reflective adjustment device 300b can be connected through the connection seat, or the base 500 and the adjustment seat 20 of the reflective adjustment device 300b can also be connected through the connection seat.

[0146] Specifically, at least one connection base includes: two first connection bases 600, two second connection bases 700 and a third connection base 800. Two adjustment devices are arranged on both sides of the base 500, one first connection base 600 is connected to one side of the top of the base 500 and one end of the adjustment base 20 of the adjustment device 300a displayed on one side of the base 500, and one second connection base 700 is connected to one end of the adjustment base 20 of the adjustment device 300a displayed on one side of the base 500 and one end of the adjustment base 20 of the reflective adjustment device on one side of the base 500. Another first connection base 600 is connected to the other side of the top of the base 500 and one end of the adjustment base 20 of the adjustment device 300a displayed on the other side of the base 500, and another second connection base 700 is connected to one end of the adjustment base 20 of the adjustment device 300a displayed on the other side of the base 500 and one end of the adjustment base 20 of the reflective adjustment device 300b displayed on the other side of the base 500. The third connection base 800 is connected to the bottom of the base 500 , the two second reflectors 202 are disposed on both sides of the third connection base 800 , and the binoculars 400 are disposed on the third connection base 800 and located between the two second reflectors 202 .

[0147] In an optical path component, a display device 100 of a display adjustment device 300a fixing seat 10 arranged on one side of a base 500 and a second reflector 202 of a reflective adjustment device 300b fixing seat 10 arranged on one side of the base 500 have an angle. By adjusting the adjustment device 300 in the optical path component, the angle and relative position of the display device 100 on one side of the base 500 and the second reflector 202 can be adjusted.

[0148] In another optical path component, the display device 100 arranged on the display adjustment device 300a fixing seat 10 on the other side of the base 500 and the second reflector 202 arranged on the reflective adjustment device 300b fixing seat 10 on the other side of the base 500 have an angle. By adjusting the adjustment device 300 in the other optical path component, the angle and relative position of the display device 100 on the other side of the base 500 and the second reflector 202 can be adjusted.

[0149] Fig. 20 FIG. 1 is a schematic diagram of the structure of a surgical robot system according to an embodiment of the utility model of the present application. Fig. 20 As shown. A surgical robot system provided in an embodiment of the present application includes: a surgical arm 101 and a main control console 102. The main control console 102 includes: a surgical robot system image display optical path structure 103 and an operating table 104 as described in any of the above embodiments, wherein the operating table 104 can be communicatively connected to the surgical arm 101 for remotely controlling the surgical arm 101, that is, the operating physician can operate the operating table 104 to remotely control the surgical arm 101 to perform remote precision surgical operations on the patient. A binocular image acquisition device (such as an endoscope, an ultrasonic probe, etc.) is communicatively connected to the surgical robot system image display optical path structure 103 for acquiring binocular surgical image information from the patient, and sending the acquired binocular surgical image information to the surgical robot system image display optical path structure 103. The binocular image acquisition device can also send the acquired binocular surgical image information to the imaging device 105 of the surgical robot system.

[0150] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0151] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A regulating device, characterized in that: include: Fixed seat (10); Adjustment seat (20), At least two groups of adjustment components (30), each group of adjustment components (30) comprises a first end and a second end, the first end (301) of each group of adjustment components is hinged to the fixed seat (10), and the second end (302) of each group of adjustment components is connected to the adjustment seat (20) in an adjustable distance, so that when the adjustment distances of the second ends (302) of at least two groups of adjustment components and the adjustment seat (20) are the same, the fixed seat (10) and the adjustment seat (20) translate relative to each other, and when the adjustment distances of the second ends (302) of at least two groups of adjustment components and the adjustment seat (20) are not completely the same, the fixed seat (10) and the adjustment seat (20) rotate relative to each other.

2. The adjusting device according to claim 1, characterized in that: The adjustment seat (20) is provided with at least two adjustment internal threaded holes (21) corresponding to the number of the adjustment components; Preferably, each group of adjustment components comprises: a first hinged portion (31) and a second hinged portion (32), wherein the connecting end of the first hinged portion (31) is rotatably connected to the fixed seat (10) so as to hinge the first end of the adjustment component and the fixed seat (10), the hinged end of the second hinged portion (32) is hinged to the hinged end of the first hinged portion (31), the connecting end of the second hinged portion (32) has a threaded column (321) and is threadedly connected to the corresponding adjustment internal threaded hole (21) of the adjustment seat (20) so as to connect the second end of the adjustment component and the adjustment seat (20) in an adjustable distance.

3. The adjusting device according to claim 2, characterized in that: The hinged end of the first hinged part (31) and the hinged end of the second hinged part (32) are hingedly connected via a pin (40), or, A ball joint is adopted between the hinge end of the first hinge part (31) and the hinge end of the second hinge part (32).

4. The adjusting device according to claim 2, characterized in that: The fixing seat (10) comprises: a fixing plate (11); The fixing plate (11) is provided with a first protruding portion (12), the end edge of the first protruding portion (12) is arranged on the fixing plate (11), and the middle portion of the first protruding portion (12) is raised and provided with a through hole (13); The connecting end of the first hinged portion (31) is an adjusting shaft (311). In the direction close to the fixing seat (10), the adjusting shaft (311) is provided with a limiting boss (312) and a clamping groove (313) in sequence. The adjusting shaft (311) passes through the through hole (13). The limiting boss (312) contacts one side of the first protruding portion (12). The clamping groove (313) extends into the protrusion of the first protruding portion (12) and is clamped by an elastic fixing member (314). The elastic fixing member (314) contacts the other side of the first protruding portion (12) so as to limit the adjusting shaft (311) to be rotatably limited in the through hole (13). Preferably, the elastic fixing member (314) is a retaining spring.

5. The adjusting device according to claim 4, characterized in that: A gap (131) is provided between the adjustment shaft (311) and the through hole (13), so that the rotation angle between the adjustment seat (20) and the fixed seat (10) can be adjusted by screwing the second hinge portion (32) of at least one set of adjustment components.

6. The adjusting device according to claim 4, characterized in that: Also includes: A locking nut (60) is threadedly connected to the connecting end of the second hinged portion (32) and contacts the adjusting seat (20) to lock the adjusting seat (20) to the connecting end of the second hinged portion (32).

7. The adjusting device according to claim 4, characterized in that: Also includes: A positioning screw (50); The adjustment seat (20) is provided with a positioning internal threaded hole (22); The positioning screw (50) is threadedly connected to the positioning internal thread hole (22) of the adjustment seat (20) and contacts the fixing seat (10); The fixing seat (10) further comprises: a second protrusion (14), the end edge of the second protrusion (14) being arranged on the fixing plate (11), the middle part of the second protrusion (14) being protruding and being provided with a through hole; the end of the positioning screw (50) having a clamping point (51), the clamping point (51) of the positioning screw (50) being clamped into the through hole to limit the relative slip between the positioning screw (50) and the fixing plate (11).

8. The adjustment device according to claim 1, characterized in that: Also includes: A positioning screw (50); The adjustment seat (20) is provided with a positioning internal threaded hole (22); The positioning screw (50) is threadedly connected to the positioning internal thread hole (22) of the adjustment seat (20) and contacts the fixing seat (10); Preferably, at least two adjusting internal threaded holes (21) are arranged around the positioning internal threaded hole (22) as the center.

9. The adjusting device according to claim 1, characterized in that: The other ends of at least two groups of adjustment components and the connection positions of the adjustment seat (20) are arranged to form a straight line or a ring; Preferably, the ring shape is at least one of a circle, a triangle, a quadrilateral and a hexagon.

10. The adjustment device according to claim 9, characterized in that At least two groups of adjustment components include: a first adjustment component (30a), a second adjustment component (30b), a third adjustment component (30c), and a fourth adjustment component (30d); the first adjustment component (30a), the third adjustment component (30c), the second adjustment component (30b), and the fourth adjustment component (30d) are arranged in a quadrilateral; the first adjustment component (30a) and the second adjustment component (30b) are arranged relative to each other; the third adjustment component (30c) and the fourth adjustment component (30d) are arranged relative to each other; and the first adjustment component (30a), the third adjustment component (30c), the second adjustment component (30b), and the fourth adjustment component (30d) are sequentially located at four vertices of the quadrilateral; Preferably, the quadrilateral is a square.

11. A surgical robot system image display optical path structure, characterized in that: include: Two optical path components for displaying binocular images, each optical path component comprising a plurality of optical path nodes, the plurality of optical path nodes comprising a display device (100) and at least two reflectors (200), the image displayed by the display device (100) being reflected by the at least two reflectors (200) to form one image in the binocular images; Each optical path component further comprises at least one adjustment device (300) as described in any one of claims 1 to 10 above; At least one of the display device (100) and the reflector (200) is arranged on a fixing seat (10) of the at least one adjustment device (300) so as to selectively adjust the rotation angle and / or translation distance of at least one optical path node.

12. The image display optical path structure of the surgical robot system according to claim 11, characterized in that: Each optical path component has two adjustment devices (300), namely a display adjustment device (300a) and a reflection adjustment device (300b); The at least two reflectors (200) include a first reflector (201) and a second reflector (202), wherein the second reflector (202) is located on a reflection light path of the first reflector (201), and a reflective mirror surface of the first reflector (201) is larger than a reflective mirror surface of the second reflector (202); The display device (100) is arranged on the display adjustment device (300a) so as to selectively adjust the rotation angle and / or translation distance of the display device (100); the first reflector (201) is arranged on the reflection adjustment device (300b) so as to selectively adjust the rotation angle and / or translation distance of the first reflector (201); The second reflector (202) is fixedly arranged.

13. The image display optical path structure of the surgical robot system according to claim 12, characterized in that: Also includes: A base (500), two first connecting bases (600), two second connecting bases (700) and a third connecting base (800); A first connection seat (600) is respectively connected to one side of the top of the base (500) and one end of the adjustment seat (20) of the display adjustment device (300a) on one side of the base (500); a second connection seat (700) is connected to the other end of the adjustment seat (20) of the display adjustment device (300a) on one side of the base (500) and one end of the adjustment seat (20) of the reflective adjustment device (300b) on one side of the base (500); Another first connection seat (600) is respectively connected to the other side of the top of the base (500) and one end of the adjustment seat (20) of the display adjustment device (300a) on the other side of the base (500), and another second connection seat (700) is connected to the other end of the adjustment seat (20) of the display adjustment device (300a) on the other side of the base (500) and one end of the adjustment seat (20) of the reflective adjustment device (300b) on the other side of the base (500); The third connecting seat (800) is connected to the bottom of the base (500), and the two second reflectors (202) are arranged on both sides of the third connecting seat (800).

14. The image display optical path structure of the surgical robot system according to claim 13, characterized in that: In an optical path component, a display device (100) disposed on a display adjustment device (300a) fixing seat (10) on one side of a base (500) and a second reflector (202) disposed on a reflection adjustment device (300b) fixing seat (10) on one side of the base (500) have an included angle; In another optical path component, a display device (100) disposed on a display adjustment device (300a) fixing seat (10) on the other side of the base (500) and a second reflector (202) disposed on a reflective adjustment device (300b) fixing seat (10) on the other side of the base (500) have an included angle; Preferably, the third connecting seat (800) is a triangular support frame, and the two second reflectors (202) are arranged on the inclined surfaces on both sides of the triangular support frame.

15. A surgical robot system, characterized in that: include: surgical arm (101); A main control console (102), comprising: a surgical robot system image display optical path structure and an operating table (104) according to any one of claims 11 to 14, wherein the operating table (104) is used for remotely controlling the surgical arm (101); The binocular image acquisition device is communicatively connected with the image display optical path structure of the surgical robot system, and is used to acquire binocular surgical image information of the patient and send the acquired binocular surgical image information to the image display optical path structure of the surgical robot system.

Images