Surgical robot, medical console, and viewfinder

Abstract

The utility model discloses a surgical robot, a medical console and a viewfinder, the viewfinder comprises a support, an imaging mechanism movably connected with the support and a driving mechanism in transmission connection with the imaging mechanism, and the driving mechanism is arranged on the support and comprises a first shaft rod extending in the first direction; the first shaft rod can be driven to move relative to the support in the second direction, and an angle is formed between the second direction and the first direction. The imaging mechanism is rotatably connected with a first shaft rod of the driving mechanism and rotatably connected with the support through a second shaft rod, and the second shaft rod and the first shaft rod are arranged in parallel at an interval; the driving mechanism can drive the imaging mechanism to rotate with the second shaft rod as the center so as to adjust the pitching angle of the imaging mechanism relative to the support. According to the invention, the influence of adjusting the pitching angle of the imaging mechanism on a doctor can be minimized, the adjustment of the pitching angle of the imaging mechanism can be completed without great change of the posture of the doctor, and the operation is convenient.

Description

Technical Field

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

[0002] With the development of technology, robots are widely used in surgical operations, such as laparoscopic surgery. Compared with traditional surgery, the use of surgical robots for surgical operations has the advantages of being more precise, less invasive, and simpler.

[0003] Most existing surgical robots are of master-slave structure, that is, the doctor operates the master hand controller on the medical console to perform the operation, and the control system maps the doctor's operation to the surgical instruments carried by the robot's bedside mechanical arm, and performs the operation inside the patient's body. As the part where the doctor directly operates, the design of the medical console needs to ensure the convenience of operation and the clarity of the viewfinder, thereby ensuring the success rate of the operation. However, the existing viewfinder has a complex structure, and its corresponding angle adjustment mechanism cannot be adjusted according to the doctor's body posture, making the operation inconvenient. SUMMARY OF THE INVENTION

[0004] In view of this, the present application provides a surgical robot, a medical control console and a viewfinder to solve at least one or more of the above technical problems.

[0005] On one hand, the present application provides a viewfinder, comprising a bracket, an imaging mechanism movably connected to the bracket, and a driving mechanism transmission-connected to the imaging mechanism, wherein the driving mechanism is arranged on the bracket and comprises a first shaft extending along a first direction, the first shaft being capable of being driven to move relative to the bracket along a second direction, the second direction being arranged at an angle to the first direction; the imaging mechanism is rotatably connected to the first shaft of the driving mechanism and rotatably connected to the bracket via a second shaft, the second shaft being arranged parallel to and spaced from the first shaft; the driving mechanism can drive the first shaft to move relative to the bracket along the second direction, driving the imaging mechanism to rotate around the second shaft to adjust its pitch angle relative to the bracket.

[0006] In the viewfinder of the present application, the imaging mechanism is rotatably connected to the driving mechanism and the bracket through the first shaft and the second shaft respectively. When the driving mechanism drives the first shaft to move, it drives the imaging mechanism to rotate around the second shaft on the bracket, which can minimize the impact of adjusting the pitch angle of the imaging mechanism on the doctor. The doctor can adjust the pitch angle of the imaging mechanism without much change in his posture, which is convenient to operate.

[0007] In some embodiments, the imaging mechanism includes an eyepiece, and the rotation axis of the second shaft passes through the eyepiece. That is to say, by directly rotating around the eyepiece, the adjustment of the maximum angle range of the eyepiece can be achieved with the minimum rotation angle.

[0008] In some embodiments, the imaging mechanism further includes a first fixing member and a second fixing member arranged front and back. The first fixing member is used to carry the display screen, and the second fixing member is used to carry the eyepiece. The first fixing member is rotatably connected to the first shaft, and the second fixing member is rotatably connected to the bracket through the second shaft. With such an arrangement, when the first fixing member is driven, it moves up and down with the first rotation and rotates relative to the first shaft, and the display screen can achieve height adjustment and angle adjustment. The second fixing member rotates relative to the second shaft, and the angle adjustment of the eyepiece can be achieved.

[0009] In some embodiments, the bracket includes two support plates arranged opposite to each other, and a space is formed between the first fixing member of the imaging mechanism and the two support plates to install the driving mechanism. With such an arrangement, the imaging mechanism can be more strongly supported, and even the imaging mechanism with a dual-screen structure can rotate stably. At the rear side of the imaging mechanism, the internal space enclosed by the three is effectively utilized, so that the setting of the driving mechanism and the rotation of the imaging mechanism do not interfere with the operation and setting of other devices.

[0010] In some embodiments, the bracket further includes one or two support rods extending outward from the two support plates respectively, and the ends of the one or two support rods are connected to one side or opposite sides of the second fixing member of the imaging mechanism through the second shaft. With such an arrangement, both the front and rear sides of the imaging mechanism are effectively supported.

[0011] In some embodiments, the imaging mechanism includes two display screens, and the two display screens are respectively arranged on opposite sides of the first fixing member. There are two support rods which are respectively arranged around the two display screens. A lens holder is further arranged between the first fixing member and the second fixing member. Two reflectors are arranged on the lens holder, and the two reflectors respectively correspond to the two display screens. The reflectors are used to reflect the images of the display screens, and the eyepiece is arranged facing the reflectors. The images of the display screens reflected by the reflectors can be seen through the eyepiece. With such an arrangement, the imaging mechanism as a whole constitutes a dual-screen mirror reflection to form a 3D effect, with a stronger immersive effect.

[0012] In some embodiments, the driving mechanism further includes a driving motor drivingly connected to the first shaft. The bracket further includes a first substrate and a second substrate connected between the two support plates. The first substrate and the second substrate are arranged at an angle, and the driving motor is carried on the first substrate. A slide rail extending in the second direction is provided on the second substrate. The first shaft is connected with a slider, and the slider is engaged with the slide rail to slidably connect the first shaft to the second substrate and guide the movement of the first shaft in the second direction. With such an arrangement, the two substrates respectively mount the driving motor and the first shaft, arranging the components of the driving mechanism in the front-back direction, effectively reducing the height of the driving mechanism in the longitudinal direction.

[0013] In some embodiments, the driving mechanism further includes a lead screw connected between the driving motor and the first shaft and a sliding seat screwed to the lead screw. Two connecting seats are further provided on the second substrate, and the two connecting seats are spaced apart in the second direction. The two ends of the lead screw are respectively rotatably inserted into the two connecting seats, and the sliding seat is arranged between the two connecting seats. The driving motor is drivingly connected to the lead screw, and the rotation axis of the output shaft of the driving motor is parallel to the rotation axis of the lead screw. Through the cooperation of the lead screw and the sliding seat, the rotation of the driving motor is converted into the linear motion of the sliding seat in the second direction, and the first shaft is connected to the sliding seat and can move synchronously with the sliding seat. Through the screwing of the lead screw and the sliding seat, the rotation of the driving motor is converted into a linear motion, thereby driving the first shaft to move up and down. Through the cooperation of the slider and the slide rail, the longitudinal movement of the first shaft is more stable and will not generate yaw, etc. The structure is simple and the transmission efficiency is high.

[0014] In some embodiments, the driving mechanism further includes a sliding rod arranged parallel and spaced apart from the first shaft. The two ends of the sliding rod are respectively connected to the two ends of the first shaft through a connecting rod. The first shaft, the sliding rod and the connecting rod together form a square structure. An installation hole is provided in the middle of the sliding rod for installing the sliding seat. By providing the connecting seats, the moving ranges of the sliding seat and the first shaft in the longitudinal direction are restricted, and thus the rotation range of the imaging mechanism can be restricted.

[0015] In some embodiments, the driving motor is a rotary motor, and the driving mechanism further includes a transmission component provided between the output shaft of the rotary motor and the lead screw. The transmission component is a belt transmission component, a gear transmission component, a worm and worm gear transmission component or a sprocket transmission component. By providing the transmission component, long-distance power transmission can be realized, which is convenient for the arrangement of the driving motor.

[0016] On the other hand, the present application also provides a medical console, which includes a frame and the viewfinder of any one of the above-mentioned items mounted on the frame.

[0017] In some embodiments, the viewfinder further includes a first lifting mechanism mounted on the frame, and the first lifting mechanism is used to drive the imaging mechanism to move longitudinally relative to the frame; alternatively, the medical console further includes an armrest, the armrest includes a control module, a bracket connecting the control module to the frame, and a second lifting mechanism, and the second lifting mechanism is used to drive the control module to move longitudinally relative to the frame; alternatively, the medical console further includes a traveling device for carrying the frame, the traveling device includes a bottom plate, a braking mechanism and casters, the frame is disposed on the bottom plate, and the braking mechanism is used to brake the casters.

[0018] On the other hand, the present application also provides a surgical robot, which includes the medical console of any one of the above-mentioned items, and the medical console further includes one or more master hand controllers, and the master hand controllers are disposed on the lower side of the imaging mechanism of the viewfinder; the surgical robot further includes a bedside robotic arm, the bedside robotic arm includes a robotic arm and a surgical execution mechanism, the surgical execution mechanism includes an endoscope and surgical instruments, the master hand controller is used to control the movement of the robotic arm or the surgical execution mechanism, and the imaging mechanism is used to display the captured image of the endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings used in the specific descriptions of the embodiments. Obviously, the drawings used in the following specific descriptions are only some embodiments of the present application. Based on these drawings, those of ordinary skill in the art can obtain other drawings without any creative effort.

[0020] Figure 1 FIG. is a schematic structural diagram of a viewfinder according to an embodiment of the present application.

[0021] Figure 2 For Figure 1 Another perspective view of the shown viewfinder.

[0022] Figure 3 For Figure 2 An exploded view of the shown viewfinder.

[0023] Figure 4 For Figure 3 A schematic diagram of the driving mechanism of the viewfinder.

[0024] Figure 5 For Figure 4 Another perspective view of the shown driving mechanism.

[0025] Figure 6 The Figure 4 exploded view of the driving mechanism shown in

[0026] Figure 7 The Figure 1 longitudinal sectional view of the viewfinder shown in

[0027] Figure 8 The Figure 7 enlarged view of the circle VIII in

[0028] Figure 9 The Figure 1 schematic diagram of another state of the viewfinder shown in

[0029] Figure 10 The Figure 9 longitudinal sectional view of the viewfinder shown in

[0030] Figure 11 The Figure 10 enlarged view of the circle XI in

[0031] Figure 12 is a schematic structural diagram of a medical console according to an embodiment of the present application.

[0032] Figure 13 The Figure 12 schematic structural diagram of the armrest of the medical console shown in

[0033] Figure 14 The Figure 13 view from another angle of

[0034] Figure 15 is another schematic structural diagram of the medical console.

[0035] Figure 16 is a schematic diagram of the bedside robotic arm of the surgical robot. Detailed implementation manners

[0036] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0037] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0039] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "set" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0040] This application provides a viewfinder, preferably applied to a medical console. Figures 1-3 Shown is a specific embodiment of the viewfinder of this application. The shown viewfinder 100 includes a bracket 20, an imaging mechanism 30 movably connected to the bracket 20, and a driving mechanism 40 drivingly connected to the imaging mechanism 30. Under the action of the driving mechanism 40, the imaging mechanism 30 can rotate about a first axis in the transverse direction relative to the bracket 20.

[0041] The imaging mechanism 30 includes a display screen base 32 for carrying a display screen (not shown in the figure), and the display screen is used to display the images captured by the endoscope or to display the system interface. The imaging mechanism 30 also includes an eyepiece 33 (see Figure 15) The eyepiece 33 can be an actual pair of glasses, preferably polarized glasses such as 3D glasses, or can be non-prescription glasses, or can also be a spectacle frame, which is used to indicate the placement position of the user's eyes. During the operation, the doctor's eyes will rest on the position where the eyepiece 33 is located to view the images captured by the endoscope. By rotating the imaging mechanism 30 around the first axis, the pitch angle of the eyepiece 33 can be adjusted, that is, the pitch adjustment of the viewing angle of the operator (such as a doctor, etc.) can be achieved, enabling the doctor to more comprehensively observe the situation of the surgical site and perform corresponding surgical operations accordingly, thereby improving the success rate of the operation.

[0042] In this embodiment, the imaging mechanism 30 has a dual-screen structure, that is, it includes two display screens. The two display screens are arranged symmetrically on the left and right sides inside the imaging mechanism 30, making the overall size of the imaging mechanism 30 larger and the weight heavier. For convenient installation, the imaging mechanism 30 further includes a first fixing member 34 and a second fixing member 36 arranged front and back. Among them, the first fixing member 34 is substantially block-shaped and is connected between the two display screen seats 32; the second fixing member 36 is plate-shaped and is located on the front side (i.e., the side facing the operator) of the first fixing member 34 and the two display screens. The eyepiece 33 is arranged on the front side of the second fixing member 36, and the first axis passes through the eyepiece 33.

[0043] A first fixing portion 341 is provided at the middle position on the back surface of the first fixing member 34. The first fixing portion 341 is provided with a first shaft hole 343 (see Figure 8 ). The first shaft rod 50 is rotatably inserted into the first shaft hole 343 to pivotally connect the first fixing member 34 to the bracket 20. The first fixing portion 341 can be connected to the first fixing member 34 by screwing, welding, etc. after being separately formed, or can be integrally formed with the first fixing member 34.

[0044] Second fixing portions 361 are respectively provided on the left and right side edges of the second fixing member 36. The second fixing portions 361 are provided with second shaft holes 363. The second shaft rod 52 is rotatably inserted into the second shaft hole 363 to pivotally connect the second fixing member 36 to the bracket 20. The second fixing portions 361 can be connected to the second fixing member 36 by screwing, welding, etc. after being separately formed, or can be integrally formed with the second fixing member 36. The first shaft rod 50 and the second shaft rod 52 are arranged in parallel at intervals and extend along the horizontal first direction. The above-mentioned first axis is the central axis of the second shaft rod 52.

[0045] The drive mechanism 40 includes a drive motor 42 and a transmission assembly 44 connected between the drive motor 42 and the first shaft 50. Under the drive of the drive motor 42 and the action of the transmission assembly 44, the first shaft 50 moves in the second direction. While the first shaft 50 moves in the second direction, the imaging mechanism 30 rotates along the first shaft 50. The second direction is set at an angle to the first direction, preferably perpendicular to each other. In the illustrated embodiment, the first shaft 50 moves longitudinally, and the second shaft 52 and the bracket 20 are fixed in the longitudinal direction and cannot move relative to each other, so that the first fixing member 34 and the entire imaging mechanism 30 rotate in the vertical plane with the first shaft 50 as the center. At the same time, the imaging mechanism 30, especially the second fixing member 36, also rotates relative to the bracket 20 with the second shaft 52 as the center. In this way, the eyepiece 33 on the second fixing member 36 rotates with the second shaft 52 as the center to adjust its pitch angle.

[0046] Through the above embodiments, the influence of adjusting the pitch angle of the imaging mechanism on the doctor can be minimized. The doctor does not need to make too much change in body posture to complete the adjustment of the pitch angle of the imaging mechanism, and the operation is convenient. Through the arrangement of the first shaft 50 and the second shaft 52, both the front ends and the central part of the rear side of the imaging mechanism 30 are rotatably connected to the bracket 20, forming a stable three-point support. Even if the imaging mechanism 30 itself is large in size and heavy in weight, its rotational stability can be ensured, so that the eyepiece 33 of the imaging mechanism 30 can rotate around the axis of the second shaft 52 to adjust to the desired angle.

[0047] In this embodiment, the imaging mechanism 30 further includes a lens holder 38. The front end of the lens holder 38 is connected to the middle part of the second fixing member 36, and the rear end is connected to the first fixing member 34. In this way, the overall structure of the imaging mechanism 30 is more compact and the force is more balanced. Two bearing surfaces are symmetrically provided on the lens holder 38, which are respectively used to mount two reflectors (not shown in the figure). The two reflectors correspond to two display screens respectively. The imaging mechanism 30 as a whole constitutes a double-screen mirror reflection to form a 3D effect, with a strong immersive effect. In some embodiments, the imaging mechanism 30 of the viewfinder can also be a single-display screen structure without reflectors, such as a viewfinder in the form of VR glasses.

[0048] Here, the display screen is used to display the images taken by the endoscope or the system operation interface, etc. There is a certain angular relationship between the display screen and the reflector. The image on the display screen can be reflected on the reflector. The eyepiece is arranged facing the reflector, and the image on the display screen can be observed on the reflector through the eyepiece.

[0049] During the surgical operation, the position of the endoscope is adjusted according to the surgical situation to adjust the surgical field of view. In order to maintain an immersive surgical effect, the doctor will also adjust the position of the imaging mechanism 30 according to the surgical field of view. To minimize the impact of adjusting the imaging mechanism 30 on the surgery, the imaging mechanism 30 is rotated around the axis where the eyepiece 33 is located to the desired angle. With such a setting, the doctor can complete the adjustment of the surgical field of view without much change in body posture. It can be understood that the first axis is also set to roughly pass through the doctor's cervical vertebrae.

[0050] Figure 1 , Figure 9 respectively show two different states of the viewfinder 100, where Figure 1 in the first state shown, the imaging mechanism 30 is tilted downward by a certain angle relatively, Figure 9 in the second state shown, the imaging mechanism 30 is tilted upward by a certain angle relatively. Please also refer to Figures 7-8 . In the first state, the first shaft rod 50 is in a relatively high first position longitudinally and is relatively close to the drive motor 42 and the transmission assembly 44. At this time, the tilt angle of the imaging mechanism 30 relative to the horizontal direction is α; as Figures 10-11 shown, when switching to the second state, the first shaft rod 50 is driven to move downward to a lower second position and is relatively far from the drive motor 42 and the transmission assembly 44. The downward movement of the first shaft rod 50 causes the imaging mechanism 30 to rotate clockwise (as shown by the arrow in Figure 10 ) relative to the bracket 20, that is, the imaging mechanism 30 tilts upward, and its tilt angle relative to the horizontal direction is β. Obviously, β > α.

[0051] It should be understood that when it is necessary to reduce the tilt angle of the imaging mechanism 30, that is, when the imaging mechanism 30 needs to tilt downward, the first shaft rod 50 is driven to move upward so that the imaging mechanism 30 rotates counterclockwise relative to the bracket 20. In this way, the imaging mechanism 30 flips downward to reduce its tilt angle. It should be understood that the longitudinal stroke of the first shaft rod 50 is directly related to the rotation angle of the imaging mechanism 30. Therefore, the adjustment range of the pitching angle of the imaging mechanism 30 can be limited by designing the moving range of the first shaft rod 50 longitudinally. In the illustrated embodiment, the tilt angle α of the imaging mechanism 30 in the first state is about 15 degrees, and the tilt angle β in the second state is about 30 degrees. That is to say, the imaging mechanism 30 can at least adjust the pitching angle within the range of 15 to 30 degrees. Of course, the adjustment range of the pitching angle of the viewfinder in this application can be set according to needs and is not limited to the above specific embodiments.

[0052] As Figures 2-3As shown, the bracket 20 includes two support plates 22 arranged at intervals. A space is formed between the two support plates 22 and the first fixing member 34 for installing the driving mechanism 40. Since the driving mechanism 40 is arranged in the space within the bracket 20, it does not occupy other spaces itself, and the pitching motion of the imaging mechanism 30 driven by it will not affect the movement of the master hand controller, etc. The overall structure is more compact, which is beneficial to the miniaturization of the product. In this embodiment, as Figures 4-6 shown, a transverse first substrate 26 and a longitudinal second substrate 24 are connected between the two support plates 22. The driving motor 42 is fixedly arranged on the first substrate 26, and the first shaft rod 50 is slidably connected to the second substrate 24. The second substrate 24 and the first substrate 26 can be arranged at intervals. In this way, the driving motor 42, the transmission component 44, and the first shaft rod 50 can be arranged front and back, making full use of the space in the front and back directions of the bracket 20 and reducing the overall longitudinal height of the driving mechanism 40.

[0053] As Figures 4-6 shown, a longitudinal slide rail 241 is arranged on the second substrate 24. The first shaft rod 50 is connected with a slider 54, and the slider 54 cooperates with the slide rail 241 to guide the movement of the first shaft rod 50 in the longitudinal direction. Preferably, two slide rails 241 are arranged on the second substrate 24 at intervals. The sliding rod 56 is connected with a slider 54 at positions near its two ends respectively. Through the cooperation of the two sliders 54 and the two slide rails 241, the smoothness of the up and down movement of the first shaft rod 50 can be further increased.

[0054] In this embodiment, the slider 54 is connected with a sliding rod 56 through fixing members such as screws. The sliding rod 56 and the first shaft rod 50 are arranged at intervals up and down. The two ends of the first shaft rod 50 are respectively connected with the two ends of the sliding rod 56 through connecting rods 58. In this way, the first shaft rod 50, the sliding rod 56, and the connecting rods 58 together form a rectangular structure, which slides up and down relative to the second substrate 24 as a whole, further increasing the smoothness of the up and down movement of the first shaft rod 50.

[0055] Preferably, the bottom end of the connecting rod 58 extends downward by a certain length relative to the second substrate 24, so that the first shaft rod 50 is located outside the second substrate 24, which is convenient for connecting the first shaft rod 50 with the first fixing member 34 of the imaging mechanism 30, and is also convenient for the up and down movement of the first shaft rod 50 and the rotation of the imaging mechanism 30.

[0056] Please refer to Figure 7 and Figure 8, an assembly hole is provided in the center of the sliding rod 56. A sliding block 46 is fixedly arranged in the assembly hole, and a lead screw 48 is inserted through the sliding block 46. The lead screw 48 is in screw connection with the sliding block 46, and the two together constitute a first transmission unit 44a. The lead screw 48 is arranged longitudinally, and its rotation is converted into the linear movement of the sliding block 46 in its axial direction through thread fit, thereby driving the sliding rod 56, the slider 54, the first shaft rod 50, etc. to slide up and down, and finally driving the imaging mechanism 30 to rotate around the first shaft rod 50. Its second fixing member 36 and the eyepiece 33 rotate relative to the bracket 20 with the second shaft rod 52 as the center. The lead screw 48 is driven by a driving motor 42, and a second transmission unit 44b is also arranged between the two. The second transmission unit 44b can be a belt transmission unit, a sprocket transmission unit, a gear transmission unit, a worm and worm gear transmission unit, etc. The first transmission unit 44a and the second transmission unit 44b cooperate with each other to jointly constitute the transmission assembly 44.

[0057] In the illustrated embodiment, the second transmission unit 44b is preferably a belt transmission unit, which can achieve long-distance power transmission and facilitate the separate arrangement of the driving motor 42 from the first transmission unit 44a and the first shaft rod 50. As Figures 4-6 shown, a connecting seat 28 is further provided on the second substrate 24, and the lead screw 48 is rotatably inserted into the connecting seat 28. Preferably, a connecting seat 28 is provided at each end of the lead screw 48, so that the rotation of the lead screw 48 is more stable. Preferably, the sliding rod 56 and the sliding block 46 are longitudinally located between the two connecting seats 28, so that the connecting seat 28 can limit the longitudinal movement of the sliding block 46, the sliding rod 56, and the first shaft rod 50, that is, the longitudinal stroke of the first shaft rod 50 can be limited, and further the adjustment range of the pitching angle of the imaging mechanism 30 can be limited.

[0058] As Figure 7 、 Figure 8 shown, in the first state, the sliding rod 56 and the sliding block 46 are close to the connecting seat 28 at the upper end of the lead screw 48. At this time, the first shaft rod 50 cannot move up further, that is, the imaging mechanism 30 cannot rotate counterclockwise and further pitch down, and the imaging mechanism 30 reaches the minimum inclination angle position. As Figure 10 、 Figure 11 shown, in the second state, the sliding rod 56 and the sliding block 46 are close to the connecting seat 28 at the lower end of the lead screw 48. At this time, the first shaft rod 50 cannot move down further, that is, the imaging mechanism 30 cannot rotate clockwise and further pitch up, and the imaging mechanism 30 reaches the maximum inclination angle position. The setting of the connecting seat 28 not only forms a stable support for the rotation of the lead screw 48, but more importantly, limits the stroke of the first shaft rod 50, and further limits the adjustment range of the pitching angle of the imaging mechanism 30.

[0059] As Figure 2 、 Figure 3As shown, a support rod 29 is provided on the outer side of each support plate 22. The support rod 29 is generally L-shaped. After extending outward horizontally perpendicular to the support plate 22 for a certain length, it is bent and extends forward for a certain length. The left and right sides of the second fixing member 36 are respectively pivotally connected to the ends of the two support rods 29 through second shaft rods 52. In this way, the support rods 29, the first fixing member 34, and the second fixing member 36 together form a frame structure surrounding the display screen, which can not only support the display screen but also play a role in anti-collision protection. The support rod 29 can be formed separately and then connected to the bracket 20 by screwing, welding, etc., or can be integrally formed with the bracket 20. The second shaft rod 52 can be formed separately and then connected to the support rod 29 and the second fixing portion 361, or can be integrally formed with the support rod 29 or the second fixing portion 361.

[0060] Here, when the viewfinder is a VR glasses type viewfinder, the support rod 29 can also be formed by extending outward from the outer side of any support plate 22. The support rod 29 is an articulated arm generally in the shape of an L. After extending outward horizontally perpendicular to the support plate 22 for a certain length, it is bent and extends forward for a certain length. Any left or right side of the second fixing member 36 is pivotally connected to the end of the support rod 29 through the second shaft rod 52. The viewfinder can be moved with one hand, which is convenient for operation.

[0061] As Figure 2 , Figure 3 shown, the viewfinder 100 further includes a first lifting mechanism 60. The first lifting mechanism 60 includes a first lifting motor 62 and a first movable member 64 driven by the first lifting motor 62. The first movable member 64 is fixedly connected to the bracket 20. The first movable member 64 moves up and down under the action of the first lifting motor 62, and drives the entire viewfinder 100 to move up and down through the bracket 20, so as to adjust the height of the imaging mechanism 30 of the viewfinder 100 to match the height and operating habits of the operator, etc., and improve the comfort of the surgical operation. When the viewfinder 100 is applied to a medical console, the first lifting motor 62 of the first lifting mechanism 60 is fixedly installed on the frame 200 of the medical console (see Figure 12 ), and slide rails and sliders can be provided between the frame 200 and the bracket 20 to guide the up and down movement of the viewfinder 100. Figure 1 In the state shown, the viewfinder 100 rises relatively and is in a high position; Figure 9 In the state shown, the viewfinder 100 descends relatively and is in a low position.

[0062] The viewfinder 100 provided in the present application forms a space for installing the driving mechanism 40 in its bracket 20 and the recess in the second fixing member 36, which fully and reasonably utilizes the space in the front and rear directions of the imaging mechanism 30, not only making the product structure compact, but more importantly, the setting of the driving mechanism 40 and the pitch angle adjustment of the imaging mechanism 30 will not affect the operation of other devices, especially the operation of the main hand, making the surgical operation smoother and safer. The front and rear sides of the imaging mechanism 30 are rotatably connected to the bracket 20 through the first shaft 50 and the second shaft 52 respectively. The bracket 20 can form a stable support for the imaging mechanism 30. Even if the imaging mechanism 30 adopts a dual-screen structure, it can be stably rotated under the action of the driving mechanism 40 to adjust the pitch angle. The doctor can observe the surgical site more comprehensively and perform corresponding surgical operations, thereby improving the success rate of the operation.

[0063] The present application also provides a medical control console including the viewfinder 100, Figure 12 The figure shows a specific embodiment of a medical control console, which also includes a frame 200, an arm support 300, etc. The doctor performs specific surgical operations through a main operator (not shown) according to the situation of the surgical site observed by the viewfinder 100. These surgical operations are mapped to the surgical instruments carried by the robot's mechanical arm through the control system, and the surgical operations are performed inside the patient's body.

[0064] If Figures 13-14 As shown in FIG. 1 , the armrest 300 includes a control module 310 and a bracket 320 that movably connects the control module 310 to the frame 200. The control module 310 is used to perform auxiliary surgical operations. For example, the drive mechanism 40, the first lifting mechanism 60, etc. can be controlled by manipulating the control module 310. The bracket 320 is used to place the doctor's arm. It can be understood that the position of the control module 310 includes but is not limited to the middle, both sides, and sides of the bracket 320, and other positions that are not easily touched by the doctor's arm. The control module 310 can be a control screen / control key located in the middle of the bracket 320, or a control screen / control key located on both sides or sides of the bracket 320. The control key can be formed as but is not limited to a press key, a touch key, a knob, a push key, a toggle key, etc. Each control key can receive one or more control operations, and can send the received control operation to the control system in the form of an electrical signal, so that the control system performs control according to the corresponding control operation.

[0065] Preferably, a second lifting mechanism 330 is provided on the frame 200, and the second lifting mechanism 330 is connected to the bracket 320 in a transmission manner, and is used to drive the arm support 300 to move longitudinally relative to the frame 200, and adjust the height of the control module 310 to match the height and operating habits of the operator, so as to further improve the comfort of the surgical operation. ​​

[0066] As Figures 13-14 shown, the second lifting mechanism 330 includes a second lifting motor 332 and a second movable member 334 driven by the second lifting motor 332. The second lifting motor 332 is fixedly connected to the frame 200, and the second movable member 334 is fixedly connected to the bracket 320. The second lifting motor 332 can be controlled by operating the control module 310. Under the action of the second lifting motor 332, the second movable member 334 moves up and down, driving the entire armrest 300 to move up and down through the bracket 320. A slide rail and a slider can be arranged between the frame 200 and the bracket 320 to guide the up and down movement of the armrest 300 on the frame 320.

[0067] As Figure 12 shown, the medical console of the present application may further include a traveling device 400, through which the medical console can freely travel in the operating room or between operating rooms, so as to quickly move to a predetermined position for surgical operations. The traveling device 400 includes a bottom plate 410, casters 420 connected to the lower side of the bottom plate 410, and a braking mechanism 430 arranged above the bottom plate 410 and connected to the casters 420. The frame 200 and the viewfinder 100 and the armrest 300 connected to the frame 200 are carried on the bottom plate 410.

[0068] When the medical console moves to a predetermined position through its traveling device 400, step on the braking mechanism 430 for braking to fix the medical console in the desired position. Then, the doctor can adjust the heights of the armrest 300 and the viewfinder 100 according to his personal habits. After the adjustment is completed, surgical operations can be performed through the control module 310 of the armrest 300. During the operation, the pitching angle of the imaging mechanism 30 of the viewfinder 100 can be adjusted as needed to facilitate observing the surgical site and improve the success rate of the operation. It can be understood that corresponding adjustment components can be added to adjust other degrees of freedom of movement of the armrest 300 and the viewfinder 100, such as lateral translation, rotation, etc.

[0069] The present application also provides a surgical robot including the above-mentioned medical console. As Figure 16 shown, the surgical robot further includes a bedside robotic arm 500. The bedside robotic arm 500 includes a robotic arm 510 and a surgical execution mechanism 520. The surgical execution mechanism 520 includes an endoscope and surgical instruments. The medical console may further include one or more master hand controllers, and the master hand controller is arranged on the lower side of the imaging mechanism 30 for controlling the movement of the robotic arm 510 or the surgical execution mechanism 520.

[0070] Finally, it should be noted that the above only describes the preferred embodiments of the present application and does not constitute a limitation on the protection scope of the present application. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions described in the foregoing embodiments can still be modified or some technical features can be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be within the protection scope of the present application.

Claims

1. A viewfinder, characterized in that: The invention comprises a support, an imaging mechanism movably connected to the support, and a driving mechanism transmission-connected to the imaging mechanism. The driving mechanism is arranged on the bracket, and comprises a first shaft extending along a first direction, the first shaft can be driven to move relative to the bracket along a second direction, and the second direction is arranged at an angle to the first direction; The imaging mechanism is rotatably connected to the first shaft of the driving mechanism and is rotatably connected to the bracket via a second shaft, and the second shaft is parallel to and spaced from the first shaft; The driving mechanism can drive the first shaft to move relative to the bracket along the second direction, and drive the imaging mechanism to rotate around the second shaft to adjust its pitch angle relative to the bracket.

2. The viewfinder according to claim 1, characterized in that The imaging mechanism includes an eyepiece, and the rotation axis of the second shaft passes through the eyepiece.

3. The viewfinder according to claim 2, characterized in that The imaging mechanism also includes a first fixing member and a second fixing member arranged front to back, the first fixing member is used to support the display screen, and the second fixing member is used to support the eyepiece; the first fixing member is rotatably connected to the first shaft rod, and the second fixing member is rotatably connected to the bracket through the second shaft rod.

4. The viewfinder according to claim 3, characterized in that The bracket includes two supporting plates arranged opposite to each other, and a space is formed between the first fixing member of the imaging mechanism and the two supporting plates to install the driving mechanism.

5. The viewfinder according to claim 4, characterized in that The bracket further includes one or two support rods respectively extending outwards from the two support plates, and ends of the one or two support rods are connected to one side or two opposite sides of the second fixing member of the imaging mechanism through the second shaft.

6. The viewfinder according to claim 5, characterized in that The imaging mechanism includes two display screens, which are respectively arranged on opposite sides of the first fixing member, and there are two support rods, which are respectively arranged around the two display screens. A mirror seat is also arranged between the first fixing member and the second fixing member, and two reflectors are provided on the mirror seat, and the two reflectors respectively correspond to the two display screens. The reflectors are used to reflect the images of the display screens, and the eyepiece is arranged toward the reflector, and the image of the display screen reflected by the reflector can be seen through the eyepiece.

7. The viewfinder according to claim 4, characterized in that The driving mechanism further includes a driving motor drivingly connected to the first shaft, the bracket further includes a first base plate and a second base plate connected between the two support plates, the first base plate and the second base plate are arranged at an angle, and the driving motor is carried on the first base plate; A slide rail extending along the second direction is arranged on the second substrate, and a slider is connected to the first shaft rod. The slider cooperates with the slide rail to slidably connect the first shaft rod to the second substrate and guide the movement of the first shaft rod in the second direction.

8. The viewfinder according to claim 7, characterized in that The driving mechanism further includes a screw connected between the driving motor and the first shaft and a sliding seat threadedly connected to the screw. The second substrate is also provided with two connection seats, which are spaced apart in the second direction; the two ends of the screw rod are respectively rotatably inserted into the two connection seats, and the sliding seat is provided between the two connection seats; The drive motor is transmission-connected to the screw rod, the rotation axis of the output shaft of the drive motor is parallel to the rotation axis of the screw rod, the rotation of the drive motor is converted into linear motion of the sliding seat in the second direction through the cooperation between the screw rod and the sliding seat, and the first shaft is connected to the sliding seat and can move synchronously with the sliding seat.

9. The viewfinder according to claim 8, characterized in that The driving mechanism also includes a sliding rod arranged parallel to the first shaft rod and spaced apart from the first shaft rod. The two ends of the sliding rod are respectively connected to the two ends of the first shaft rod through a connecting rod. The first shaft rod, the sliding rod and the connecting rod together constitute a frame structure. A mounting hole is provided in the middle of the sliding rod for mounting the sliding seat.

10. The viewfinder according to claim 8, characterized in that The driving motor is a rotary motor, and the driving mechanism further comprises a transmission assembly arranged between the output shaft of the rotary motor and the lead screw, wherein the transmission assembly is a belt transmission assembly, a gear transmission assembly, a worm gear transmission assembly or a sprocket transmission assembly.

11. A medical control console, comprising a frame and a viewfinder mounted on the frame, characterized in that: The viewfinder is the viewfinder according to any one of claims 1 to 10.

12. The medical control console according to claim 11, characterized in that: The viewfinder further comprises a first lifting mechanism mounted on the frame, wherein the first lifting mechanism is used to drive the imaging mechanism to move longitudinally relative to the frame; or, The medical control console further comprises an arm support, wherein the arm support comprises a control module, a bracket connecting the control module to the frame, and a second lifting mechanism, wherein the second lifting mechanism is used to drive the control module to move longitudinally relative to the frame; or, The medical control console also includes a walking device for carrying the frame, the walking device includes a base plate, a brake mechanism and casters, the frame is arranged on the base plate, and the brake mechanism is used for braking the casters.

13. A surgical robot, characterized in that: The medical control console according to claim 11 or 12 further comprises one or more master hand controllers, wherein the master hand controllers are arranged on the lower side of the imaging mechanism of the viewfinder; The surgical robot also includes a bedside robotic arm, which includes a robotic arm and a surgical execution mechanism. The surgical execution mechanism includes an endoscope and surgical instruments. The main hand controller is used to control the movement of the robotic arm or the surgical execution mechanism, and the imaging mechanism is used to display the captured image of the endoscope.

Images