Multi-pedal surgical robot console

Abstract

The utility model belongs to the technical field of intelligent surgical robots, and particularly relates to a multi-pedal surgical robot console. The multi-pedal surgical robot console comprises a base, a lifting assembly and a pedal operating mechanism, a first containing space is formed in the base, and the first containing space can contain two feet; the lifting assembly comprises a lifting column and a handrail, the lifting column is arranged on the base, and the handrail is arranged on the lifting column and can move so as to change the distance between the handrail and the base; the pedal operating mechanism comprises a pedal holder and a pedal key group, the pedal key group comprises at least seven pedal keys, the pedal holder is arranged in the first accommodating space, the pedal key group is arranged on the pedal holder, the pedal holder can move and rotate relative to the base, and the pedal key group is used for controlling the surgical robot to implement surgical actions. A doctor is supported by the lifting handrail, so that damage to the body of the doctor due to long-time operation is reduced; the step key group is arranged to control the surgical robot, so that the difficulty of controlling the surgical robot to perform the surgery is reduced, and the surgical efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent surgical robots, in particular to a multi-pedal surgical robot console. Background Art

[0002] With the development of medical technology, intelligent surgical robots have been developed and rapidly popularized due to their advantages of small incisions and less bleeding. Because doctors directly operate the console to control the surgical robot to perform surgery, the function and experience of the console have become more important.

[0003] In the prior art, doctors usually use operating hands to control surgical robots. However, when using a multifunctional surgical robot for surgery, it is necessary to control the movement and functional actions of the surgical robot at the same time, which is difficult to operate and has high requirements on the doctor, resulting in a long operation time and low efficiency. In addition, long-term surgery also consumes a huge amount of the doctor's energy and physical strength, especially causing excessive strain on the doctor's arms. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-pedal surgical robot console to solve the problems in the prior art that surgical robots are difficult to operate and have high requirements for doctors, and the surgery is time-consuming and inefficient; the long surgery causes excessive strain on the doctor's arms, thereby reducing the difficulty of controlling the surgical robot to perform surgery, improving the surgical efficiency, and reducing physical damage to the doctor.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] Multi-pedal surgical robot console, including:

[0007] A base, a lifting assembly and a foot-operating mechanism, wherein a first accommodating space is arranged inside the base, and the first accommodating space can accommodate both feet; the lifting assembly includes a lifting column and an armrest, the lifting column is arranged on the base, and the armrest is arranged on the lifting column and can move to change the distance between the armrest and the base; the foot-operating mechanism includes a foot-operated platform and a pedal group, the pedal group includes at least seven pedals, the foot-operated platform is arranged in the first accommodating space, the pedal group is arranged on the foot-operated platform, the foot-operated platform can move and rotate relative to the base, and the pedal group is used to control the surgical robot to perform surgical actions.

[0008] As an optional technical solution for a multi-pedal surgical robot console, the pedal group also includes a rest pedal on which the foot can be placed.

[0009] As an optional technical solution for a multi-pedal surgical robot console, a partition is provided on the pedal platform, and the partition divides the first accommodating space into a left foot operating area and a right foot operating area.

[0010] As an optional technical solution for a multi-pedal surgical robot console, an infrared signal transceiver component is provided on the foot-operated platform, and the infrared signal transceiver component is connected or blocked to block or connect the pedal for electrocute or electrocoagulation to control the surgical robot.

[0011] As an optional technical solution for a multi-pedal surgical robot console, the foot operating mechanism includes a fixed plate and a movable plate, the fixed plate is arranged on the base, the foot-operated platform is rotatably arranged on the movable plate, and the movable plate is slidably arranged on the fixed plate so that the foot-operated platform can move relative to the base.

[0012] As an optional technical solution for a multi-pedal surgical robot console, the foot-operating mechanism also includes a hovering component, which is arranged between the movable plate and the foot-operated platform. The hovering component includes a first tooth and a second tooth, the first tooth is arranged on the movable plate, and the second tooth is arranged on the foot-operated platform. The first tooth and the second tooth are meshed so that the foot-operated platform can rotate relative to the movable plate.

[0013] As an optional technical solution for a multi-pedal surgical robot console, the hovering assembly also includes a rotation limiting member, which is arranged on the circumferential side of the second tooth and can move in a direction approaching or away from the second tooth to abut or disengage from the abutment with the second tooth, thereby causing the foot-operated gimbal to hover or rotate.

[0014] As an optional technical solution for a multi-pedal surgical robot console, the multi-pedal surgical robot console also includes a display component, which is used to display data and surgical images. The display component is arranged on the lifting column and can move to change the distance between it and the base.

[0015] As an optional technical solution for a multi-pedal surgical robot console, two lifting columns are provided, each of which includes a fixed section and a movable section. The movable section can move relative to the fixed section, and the two fixed sections are both provided on the base. The armrest and the display assembly are respectively provided on the two movable sections to move with the movable sections respectively to change the distance between them and the base.

[0016] As an optional technical solution for a multi-pedal surgical robot console, the multi-pedal surgical robot console also includes an operating hand assembly, which is arranged on the base and is used to control the surgical robot to perform surgical actions together with the pedal group.

[0017] Beneficial effects of the utility model:

[0018] The utility model provides a multi-pedal surgical robot console including a base, a lifting assembly and a pedal operating mechanism, wherein a first accommodating space is provided inside the base, and the first accommodating space can accommodate both feet; the lifting assembly includes a lifting column and an armrest, the lifting column is provided on the base, and the armrest is provided on the lifting column and can move to change the distance between the lifting column and the base; the pedal operating mechanism includes a foot-operated platform and a pedal key group, the foot-operated platform is provided in the first accommodating space, the pedal key group is provided on the foot-operated platform, the foot-operated platform can move and rotate relative to the base, and the pedal key group is used to control the surgical robot to perform surgical actions. By providing an armrest that can be raised and lowered, the doctor is supported, and the damage to the doctor's body caused by long-term surgery is reduced; by providing a pedal group to control the surgical robot, the difficulty of controlling the surgical robot to perform surgery is reduced, and the surgical efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axonometric diagram of a seven-pedal embodiment of a multi-pedal surgical robot console provided by an embodiment of the utility model;

[0020] Figure 2 It is an axonometric diagram of an eight-pedal embodiment of a multi-pedal surgical robot console provided by an embodiment of the utility model;

[0021] Figure 3 This is a partial structural diagram of a seven-pedal embodiment of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 1 ;

[0022] Figure 4 This is a partial structural diagram of a seven-pedal embodiment of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 2 ;

[0023] Figure 5 It is a partial structural schematic diagram of an eight-pedal embodiment of a multi-pedal surgical robot console provided by an embodiment of the utility model;

[0024] Figure 6 This is a partial structural diagram of the multi-pedal surgical robot console provided by the embodiment of the utility model. Figure 1 ;

[0025] Figure 7 This is a partial structural diagram of the multi-pedal surgical robot console provided by the embodiment of the utility model. Figure 2 ;

[0026] Figure 8 This is a hovering diagram of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 1 ;

[0027] Fig. 9 This is a hovering diagram of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 2 ;

[0028] Fig.10 This is a hovering diagram of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 3 ;

[0029] Fig.11 This is a hovering diagram of a multi-pedal surgical robot console provided by an embodiment of the utility model. Figure 4 .

[0030] In the figure:

[0031] 100, base;

[0032] 200, lifting assembly; 210, lifting column; 220, handrail;

[0033] 300, foot-operated mechanism; 310, foot-operated pan-tilt; 311, partition; 320, pedal group; 321, rest pedal; 322, field of view clutch pedal; 323, multi-function pedal; 324, left electric cutting pedal; 325, right electric cutting pedal; 326, mirror arm clutch pedal; 327, left electrocoagulation pedal; 3271, left infrared receiver; 3272, left infrared transmitter; 328, right electrocoagulation pedal; 3281, right infrared receiver; 3282, right infrared transmitter; 329, information processing pedal; 3210, custom pedal; 330, fixed plate; 331, slide rail; 332, electric push rod; 333, dust curtain; 340, moving plate; 341, slider; 350, hovering assembly; 360, side kick;

[0034] 400, display component; 410, first display screen; 420, second display screen; 430, third display screen; 500, operator hand component; 510, left operator hand; 520, right operator hand. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0036] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0039] In the prior art, doctors usually use operating hands to control surgical robots. However, when using a multifunctional surgical robot for surgery, it is necessary to control the movement and functional actions of the surgical robot at the same time, which is difficult to operate and has high requirements on the doctor, resulting in a long operation time and low efficiency. In addition, long-term surgery also consumes a huge amount of the doctor's energy and physical strength, especially causing excessive strain on the doctor's arms.

[0040] To solve the above problems, this embodiment provides a multi-pedal surgical robot console. Figure 1 and Figure 2, including a base 100, a lifting assembly 200 and a foot-operating mechanism 300. The base 100 is provided with a first accommodating space inside, and the first accommodating space can accommodate both feet; the lifting assembly 200 includes a lifting column 210 and an armrest 220. The lifting column 210 is arranged on the base 100, and the armrest 220 is arranged on the lifting column 210 and can move to change the distance between the base 100 and the base 100; the foot-operating mechanism 300 includes a foot-operated platform 310 and a pedal group 320. The pedal group 320 includes at least seven pedals. The foot-operated platform 310 is arranged in the first accommodating space, and the pedal group 320 is arranged on the foot-operated platform 310. The foot-operated platform 310 can move and rotate relative to the base 100, and the pedal group 320 is used to control the surgical robot to perform surgical actions. By providing a liftable armrest 220, the doctor is supported, reducing the damage to the doctor's body caused by long-term surgery; by providing a pedal group 320 to control the surgical robot, the difficulty of controlling the surgical robot to perform surgery is reduced, and the surgical efficiency is improved.

[0041] Specifically, the armrest 220 is configured to be ring-shaped, and the armrest 220 can adjust its own height and can be specifically configured according to the height of different doctors, thereby increasing the flexibility of the multi-pedal surgical robot console.

[0042] Further, see Figure 3-Figure 5 The pedal group 320 also includes a rest pedal 321, which can be used to place the foot. The pedal platform 310 is provided with a partition 311, which divides the first accommodation space into a left foot operation area and a right foot operation area to avoid stepping on the wrong pedal. The pedal platform 310 is provided with an infrared signal transceiver component, which is connected or blocked to block or connect the pedal for electrocuting or electrocoagulation to control the surgical robot.

[0043] Specifically, when the pedal group 320 is provided with seven pedals, including the field of view clutch pedal 322, the multi-function pedal 323, the left electric cutting pedal 324, the right electric cutting pedal 325, the mirror holding arm clutch pedal 326, the left electric coagulation pedal 327, and the right electric coagulation pedal 328; the foot-operated pan-tilt platform 310 is arranged in a style of splicing an inclined plate and a horizontal plate, specifically, the partition 311 is selectively arranged on the inclined plate or the horizontal plate. The inclined plate is provided with the field of view clutch pedal 322, the multi-function pedal 323, the left electric cutting pedal 324 and the right electric cutting pedal 325 in sequence from left to right, wherein the rest pedal 321 is provided between the field of view clutch pedal 322 and the multi-function pedal 323; the horizontal plate is provided with the mirror holding arm clutch pedal 326, the left electric coagulation pedal 327 and the right electric coagulation pedal 328 in sequence from left to right, wherein the partition 311 is provided between the mirror holding arm clutch pedal 326 and the left electric coagulation pedal 327, and the mirror holding arm clutch pedal 326 is provided at the end of the left foot operating area away from the partition 311.

[0044] Furthermore, a left infrared receiver 3271 and a right infrared receiver 3281 are arranged at positions on the horizontal plate corresponding to the left electrocoagulation pedal 327 and the right electrocoagulation pedal 328, and a left infrared transmitter 3272 and a right infrared transmitter 3282 are arranged at positions on the base 100 corresponding to the left infrared receiver 3271 and the right infrared receiver 3281, the left infrared transmitter 3272 is connected to the left infrared receiver 3271, and the right infrared transmitter 3282 is connected to the right infrared receiver 3281; when in use, when the doctor steps on the left infrared receiver 3271 and the right infrared receiver 3281, so that the left infrared transmitter 3272 and the left infrared receiver 3271 are blocked, and the right infrared transmitter 3282 and the right infrared receiver 3281 are blocked, it can be determined that the doctor wants to use electrocutting operation or electrocoagulation operation, so as to avoid the doctor accidentally touching the left electrocutting pedal 324, the right electrocutting pedal 325, the left electrocoagulation pedal 327 and the right electrocoagulation pedal 328, thereby avoiding harm to the patient. The field of view clutch pedal 322 is used to be connected to the surgical robot clutch to adjust the field of view that the robot can transmit. The multi-functional pedal 323 can customize functions to increase the flexibility of the multi-pedal surgical robot console.

[0045] Specifically, when the pedal group 320 is provided with eight pedals, on the basis of the original seven pedals, the multifunctional pedal 323 is replaced with an information processing pedal 329 , and a custom pedal 3210 is provided between the mirror holding arm clutch pedal 326 and the partition 311 .

[0046] Furthermore, a side kick 360 is provided on the left side wall of the foot-operated platform 310, and the function of the side kick 360 can be customized to increase the flexibility of the multi-pedal surgical robot console.

[0047] Further, see Figure 6 and Figure 7 The foot-operating mechanism 300 includes a fixed plate 330 and a movable plate 340. The fixed plate 330 is arranged on the base 100. The foot-operated platform 310 is rotatably arranged on the movable plate 340. The movable plate 340 is slidably arranged on the fixed plate 330 so that the foot-operated platform 310 can move relative to the base 100. In this embodiment, a slide rail 331 is arranged on the fixed plate 330, and a slider 341 is arranged on the movable plate 340. The slider 341 is slidably arranged in the slide rail 331 so that the movable plate 340 is slidably arranged on the fixed plate 330. In other embodiments, a slide groove is arranged on the fixed plate 330, and a slider 341 is arranged on the movable plate 340. The slider 341 is slidably arranged in the slide groove so that the movable plate 340 is slidably arranged on the fixed plate 330. The inner diameter of the slide groove gradually decreases from the closed end to the open end, and the width of the slider 341 gradually increases in the direction away from the movable plate 340. Prevent the slider 341 from falling off from the slide groove. Specifically, an electric push rod 332 is disposed on the fixed plate 330 , and one end of the electric push rod 332 is disposed on the movable plate 340 for driving the movable plate 340 to move.

[0048] Furthermore, the foot-operated mechanism 300 further includes a suspension assembly 350, which is disposed between the moving plate 340 and the foot-operated platform 310. The suspension assembly 350 includes a first tooth and a second tooth, wherein the first tooth is disposed on the moving plate 340, and the second tooth is disposed on the foot-operated platform 310. The first tooth and the second tooth are meshed so that the foot-operated platform 310 can rotate relative to the moving plate 340. The suspension assembly 350 further includes a rotation-limiting member, which is disposed on the peripheral side of the second tooth and can move in a direction approaching or moving away from the second tooth to abut against or disengage from the abutment with the second tooth, thereby causing the foot-operated platform 310 to suspend or rotate. Specifically, the rotation-limiting member can be configured as an electric clamp to clamp the two sides of the second tooth, thereby limiting the rotation of the second tooth, so that the foot-operated platform 310 can achieve a suspending effect.

[0049] Further, see Figure 8-Figure 11 A dustproof curtain 333 is also provided between the movable plate 340 and the pedal platform 310 , and both ends of the dustproof curtain 333 are respectively fixed on the movable plate 340 and the pedal platform 310 . The dustproof curtain 333 can be retracted or unfolded as the movable plate 340 moves and rotates to prevent dust or debris from entering the hovering assembly 350 .

[0050] Further, see Figure 1 The multi-pedal surgical robot console further includes a display assembly 400, which is used to display data and surgical images. The display assembly 400 is disposed on the lifting column 210 and can move to change the distance between the display assembly 400 and the base 100. Specifically, the display assembly 400 includes a first display screen 410, a second display screen 420, and a third display screen 430. The first display screen 410 is used to display patient data, the second display screen 420 is used to display the surgical robot transmission screen, and the third display screen 430 is used to display surgical data.

[0051] Further, two lifting columns 210 are provided, and the lifting columns 210 include a fixed section and a movable section, and the movable section can move relative to the fixed section, and the two fixed sections are both provided on the base 100, and the armrest 220 and the display assembly 400 are respectively provided on the two movable sections to move with the movable sections respectively to change the distance between the armrest 220 and the display assembly 400. Specifically, the armrest 220 is arranged inside the display assembly 400 to prevent the armrest 220 and the display assembly 400 from affecting each other when they move.

[0052] Further, see Figure 1 and Figure 2 The multi-pedal surgical robot console further includes a manipulator assembly 500, which is disposed on the base 100 and is used to control the surgical robot to perform surgical actions together with the pedal assembly 320. Specifically, the manipulator assembly 500 includes a left manipulator 510 and a right manipulator 520, which are used to control the movement of the surgical robot.

[0053] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A multi-pedal surgical robot console, characterized in that: include: A base (100), wherein a first accommodation space is provided inside the base (100), and the first accommodation space is capable of accommodating two feet; A lifting assembly (200), the lifting assembly (200) comprising a lifting column (210) and an armrest (220), the lifting column (210) being arranged on the base (100), the armrest (220) being arranged on the lifting column (210) and being movable so as to change the distance between the lifting column and the base (100); A foot-operating mechanism (300) includes a foot-operating platform (310) and a pedal key group (320), the pedal key group (320) includes at least seven pedal keys, the foot-operating platform (310) is arranged in the first accommodating space, the pedal key group (320) is arranged on the foot-operating platform (310), the foot-operating platform (310) can move and rotate relative to the base (100), and the pedal key group (320) is used to control the surgical robot to perform surgical actions.

2. The multi-pedal surgical robot console according to claim 1, characterized in that: The pedal key group (320) further comprises a rest pedal (321), and the rest pedal (321) can be used to place feet.

3. The multi-pedal surgical robot console according to claim 1, characterized in that: The foot-operated platform (310) is provided with a partition (311), and the partition (311) divides the first accommodating space into a left foot operating area and a right foot operating area.

4. The multi-pedal surgical robot console according to claim 1, characterized in that: The foot-operated platform (310) is provided with an infrared signal transceiver component, which is connected or blocked to block or connect the pedal for electrocuting or electrocoagulation to control the surgical robot.

5. The multi-pedal surgical robot console according to any one of claims 1 to 4, characterized in that: The foot-operated operating mechanism (300) comprises a fixed plate (330) and a movable plate (340), wherein the fixed plate (330) is arranged on the base (100), the foot-operated platform (310) is rotatably arranged on the movable plate (340), and the movable plate (340) is slidably arranged on the fixed plate (330), so that the foot-operated platform (310) can move relative to the base (100).

6. The multi-pedal surgical robot console according to claim 5, characterized in that: The foot-operated mechanism (300) further comprises a suspension assembly (350), wherein the suspension assembly (350) is arranged between the movable plate (340) and the foot-operated platform (310), and the suspension assembly (350) comprises a first tooth and a second tooth, wherein the first tooth is arranged on the movable plate (340), and the second tooth is arranged on the foot-operated platform (310), and the first tooth and the second tooth are meshed so that the foot-operated platform (310) can rotate relative to the movable plate (340).

7. The multi-pedal surgical robot console according to claim 6, characterized in that: The suspension assembly (350) further comprises a rotation-limiting member, which is arranged on the peripheral side of the second tooth and can move in a direction approaching or away from the second tooth to abut against or disengage from the second tooth, thereby causing the foot-operated platform (310) to suspend or rotate.

8. The multi-pedal surgical robot console according to any one of claims 1 to 4, characterized in that: The multi-pedal surgical robot console further comprises a display component (400), wherein the display component (400) is used to display data and surgical images, and the display component (400) is arranged on the lifting column (210) and is movable to change the distance between the display component and the base (100).

9. The multi-pedal surgical robot console according to claim 8, characterized in that: Two lifting columns (210) are provided, and the lifting columns (210) include a fixed section and a movable section, and the movable section can move relative to the fixed section. The two fixed sections are both arranged on the base (100), and the armrests (220) and the display assembly (400) are respectively arranged on the two movable sections so as to move with the movable sections respectively so as to change the distance between the armrests and the base (100).

10. The multi-pedal surgical robot console according to any one of claims 1 to 4, characterized in that: The multi-pedal surgical robot console further comprises an operating hand assembly (500), wherein the operating hand assembly (500) is arranged on the base (100) and is used to control the surgical robot together with the pedal assembly (320) to perform surgical actions.

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