Display device and surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses a display device and a surgical robot. The display device includes: a left-eye display and a right-eye display; the image collector is used for collecting pupil images of the user; the adjusting assembly is connected with the left-eye display and the right-eye display, and the adjusting assembly is used for driving the left-eye display and / or the right-eye display to move; the controller is in communication connection with the image collector and the adjusting assembly, and the controller is configured to receive the pupil image of the user from the image collector and control the adjusting assembly to drive the left eye display and / or the right eye display to move based on the pupil image of the user. The display device can adjust the transverse positions of the left-eye display and the right-eye display according to the positions of the pupils of the user.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and in particular to a display device and a surgical robot. BACKGROUND

[0002] Laparoscopic surgery is a surgical form that has been gradually developed and widely used in recent years, and has advantages such as small incision, which greatly reduces the patient's recovery time, discomfort experience and postoperative side effects. Performing laparoscopic surgery through a surgical robot system, especially single-port laparoscopic surgery, can optimize the surgical form through computer remote control technology.

[0003] When performing surgery through a surgical robot system, a user can watch the surgical field through a binocular display of a master console cart. However, the position layout of the binocular display is difficult to adapt to the interpupillary distance of different users, affecting the user's experience. UTILITY MODEL CONTENT

[0004] In some embodiments, the present disclosure provides a display device, comprising:

[0005] a left-eye display and a right-eye display;

[0006] an image collector configured to collect a user pupil image;

[0007] an adjusting assembly connected with the left-eye display and the right-eye display, the adjusting assembly configured to drive the left-eye display and / or the right-eye display to move; and

[0008] a controller in communication connection with the image collector and the adjusting assembly, the controller configured to receive the user pupil image from the image collector, and control the adjusting assembly to drive the left-eye display and / or the right-eye display to move based on the user pupil image.

[0009] In some embodiments, the image collector comprises:

[0010] a left image collecting unit disposed at a proximal end of the left-eye display and located at a first distance range from a vertical central axis of the left-eye display; and

[0011] a right image collecting unit disposed at a proximal end of the right-eye display and located at a second distance range from a vertical central axis of the right-eye display.

[0012] In some embodiments, the left image collecting unit is aligned with the vertical central axis of the left-eye display, and the right image collecting unit is aligned with the vertical central axis of the right-eye display.

[0013] In some embodiments, an optical axis of a lens of the left image collecting unit is at an oblique angle to a central axis of the left-eye display; and / or

[0014] An optical axis of a lens of the right image acquisition unit is at an oblique angle to a central axis of the right eye display.

[0015] In some embodiments, the image acquisition device comprises an infrared image acquisition device, and the display device further comprises:

[0016] A plurality of light supplement lamps are arranged circumferentially at a proximal end of the left eye display and the right eye display.

[0017] In some embodiments, the adjusting assembly comprises:

[0018] A left adjuster is connected to the left eye display and configured to drive the left eye display to move in a transverse direction, and the left adjuster comprises:

[0019] A left transmission plate is fixedly connected to the left eye display; and

[0020] A first motor is connected to the left transmission plate to drive the left transmission plate to move in the transverse direction.

[0021] In some embodiments, the left adjuster further comprises a first gear, an output shaft of the first motor is connected to the first gear to drive the first gear to rotate, and the left transmission plate comprises:

[0022] A first fixed portion is fixedly arranged above the left eye display; and

[0023] A first transmission portion is fixedly connected to the first fixed portion, the first transmission portion extends in the transverse direction, and a lower surface of the first transmission portion comprises a first sawtooth structure, the first sawtooth structure is engaged with the first gear.

[0024] In some embodiments, the adjusting assembly further comprises:

[0025] A right adjuster is connected to the right eye display and configured to drive the right eye display to move in the transverse direction, and the right adjuster comprises:

[0026] A right transmission plate is fixedly connected to the right eye display; and

[0027] A second motor is connected to the right transmission plate to drive the right transmission plate to move in the transverse direction.

[0028] In some embodiments, the right adjuster further comprises a second gear, an output shaft of the second motor is connected to the second gear to drive the second gear to rotate, and the right transmission plate comprises:

[0029] A second fixed portion is fixedly arranged above the right eye display; and

[0030] A second transmission portion is fixedly connected to the second fixed portion, the second transmission portion extends in the transverse direction, and a lower surface of the second transmission portion comprises a second sawtooth structure, the second sawtooth structure is engaged with the second gear.

[0031] In some embodiments, the adjusting assembly further comprises at least one guide rail;

[0032] The left adjusting device further comprises:

[0033] at least one first slider fixedly arranged on the upper surface of the first fixed part, and the at least one first slider is slidably connected with the at least one guide rail;

[0034] The right adjusting device further comprises:

[0035] at least one second slider fixedly arranged on the upper surface of the second fixed part, and the at least one second slider is slidably connected with the at least one guide rail.

[0036] In some embodiments, the display device further comprises:

[0037] a housing, at least a part of the left-eye display and the right-eye display and the adjusting assembly are arranged in the housing, and the proximal end of the left-eye display and the right-eye display extends out of the housing,

[0038] the first motor and the second motor are fixedly arranged in the housing, and the at least one guide rail is fixedly arranged in the housing in the transverse direction.

[0039] In some embodiments, the controller is further configured to receive a captured image from the image collector, detect whether the captured image is a user eye image including a human eye, and in response to the captured image being the user eye image, detect whether the user eye image is a user pupil image including a pupil.

[0040] In some embodiments, the controller is further configured to, in response to the user eye image being the user pupil image, identify a user pupil center.

[0041] In some embodiments, the user pupil image includes a user left pupil image, the user pupil center includes a user left pupil center, the controller is further configured to determine a first offset vector of the user left pupil center from a longitudinal center axis of the user left pupil image and determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjusting device to move the left-eye display; and / or

[0042] the user pupil image includes a user right pupil image, the user pupil center includes a user right pupil center, the controller is further configured to determine a second offset vector of the user right pupil center from a longitudinal center axis of the user right pupil image and determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjusting device to move the right-eye display.

[0043] In some embodiments, the controller is further configured to, in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by the first offset vector.

[0044] In some embodiments, the controller is further configured to cyclically receive user left pupil images from the image collector, and for each received user left pupil image, determine a first offset vector of a center of a user left pupil from a longitudinal central axis of the user left pupil image, determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by the first offset vector.

[0045] In some embodiments, the controller is further configured to, in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by a first preset amount in a direction of the first offset vector.

[0046] In some embodiments, the controller is further configured to cyclically receive user left pupil images from the image collector, and for each received user left pupil image, determine a first offset vector of a center of a user left pupil from a longitudinal central axis of the user left pupil image, determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by a first preset amount in a direction of the first offset vector.

[0047] In some embodiments, the controller is further configured to, in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by the second offset vector.

[0048] In some embodiments, the controller is further configured to cyclically receive user right pupil images from the image collector, and for each received user right pupil image, determine a second offset vector of a center of a user right pupil from a longitudinal central axis of the user right pupil image, determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by the second offset vector.

[0049] In some embodiments, the controller is further configured to, in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by a second preset amount in a direction of the second offset vector.

[0050] In some embodiments, the controller is further configured to cyclically receive a user right pupil image from the image collector, and for each received user right pupil image, determine a second offset vector of a center of the user right pupil from a longitudinal center axis of the user right pupil image, determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to drive the right eye display to move in a direction of the second offset vector by a second preset amount.

[0051] In some embodiments, the present disclosure further provides a surgical robot, comprising:

[0052] a master console cart, the master console cart comprising:

[0053] at least one master operator configured to receive user operations; and

[0054] a display device as in any one of some embodiments of the present disclosure.

[0055] In some embodiments, the master console cart further comprises:

[0056] at least one user detection sensor disposed at a proximal end of the left eye display and / or the right eye display of the display device, the at least one user detection sensor being in communication connection with a controller of the display device, the at least one user detection sensor being configured to generate a trigger signal in response to detecting a user;

[0057] the controller being configured to control the image collector of the display device to collect images in response to the trigger signal.

[0058] In some embodiments, the surgical robot further comprises:

[0059] a surgical cart in communication connection with the master console cart, the surgical cart comprising at least one mechanical arm and at least one surgical instrument disposed at a distal end of the at least one mechanical arm.

[0060] Some embodiments of the present disclosure have one or more of the following technical effects: the lateral positions of the left eye display and the right eye display can be adapted to the interpupillary distance of different users, thereby helping to improve the surgical field observation effect of the user and improving the user experience; the lateral positions of the left eye display and the right eye display can be automatically adjusted when the user approaches the binocular display. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the description of the embodiments of the present disclosure will be briefly introduced as follows. The drawings in the following description only show some embodiments of the present disclosure, and for those skilled in the art, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings without paying creative labor.

[0062] Figure 1 Fig. 1 shows a structural schematic diagram of a display device according to some embodiments of the present disclosure;

[0063] Figure 2 Fig. 2 shows a partial structural schematic diagram of a display device according to some embodiments of the present disclosure;

[0064] Figure 3 Fig. 3 shows a left view of a display device according to some embodiments of the present disclosure;

[0065] Figure 4 Fig. 4 shows a cross-sectional perspective schematic diagram of a display device according to some embodiments of the present disclosure along Figure 2 A-A’;

[0066] Figure 5 Fig. 5 shows a structural schematic diagram of a surgical robot according to some embodiments of the present disclosure.

[0067] List of reference signs:

[0068] 100, display device; 111, left eye display; 112, right eye display; 113, observation window;

[0069] 120, image collector; 121, left image collection unit; 122, right image collection unit;

[0070] 130, adjusting assembly; 131, left adjuster; 1311, left transmission plate; 13111, first fixed part; 13112, first transmission part; 1312, first motor; 1313, first gear; 1314, speed reducer; 1315, first sliding block; 132, right adjuster; 1321, right transmission plate; 13211, second fixed part; 13212, second transmission part; 1322, second motor; 1325, second sliding block; 1331, 1332, guide rail;

[0071] 140, housing;

[0072] 200, surgical robot; 210, main control console; 211, main operator; 212, user detection sensor; 220, surgical console; 221, mechanical arm; 222, surgical instrument. DETAILED DESCRIPTION

[0073] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all embodiments.

[0074] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0075] In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood broadly, for example, it can be fixed connection, or it can be detachable connection; it can be mechanical connection, or it can be electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0076] In the present disclosure, the end close to the operator (e.g. doctor) is defined as the proximal end, proximal part or rear end, rear part, and the end opposite to the proximal end, proximal part or rear end, rear part is defined as the distal end, distal part or front end, front part. Alternatively, the end close to the operator (e.g. patient) is defined as the distal end, distal part or front end, front part, and the end opposite to the distal end, distal part or front end, front part is defined as the proximal end, proximal part or rear end, rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical instruments or surgical robots, or in other non-medical devices.

[0077] Some embodiments of the present disclosure provide a display device 100. Figure 1 A structural schematic diagram of the display device 100 according to some embodiments of the present disclosure is shown. Figure 2 A partial structural schematic diagram of the display device 100 according to some embodiments of the present disclosure is shown. The display device 100 can be applied to a surgical robot, such as a laparoscopic surgical robot or any suitable surgical robot. In some embodiments, the surgical robot can include a patient-side surgical trolley and a user-side master console trolley. The surgical trolley can include at least one mechanical arm and an endoscope and surgical tools (e.g. forceps, curved scissors, etc.) mounted on the distal end of the mechanical arm. During surgery, the endoscope is inserted into the patient's body through the patient's opening to collect the surgical field image. The master console trolley is in communication connection with the surgical trolley, and the display device 100 can be arranged on the master console trolley. The user can watch the surgical field image collected by the endoscope through the display device 100.

[0078] As Figure 2As shown, the display device 100 can include a left eye display 111 and a right eye display 112. The left eye display 111 and the right eye display 112 can each include a micro screen located at a distal end and an optical assembly (which can include an eyepiece, etc.) located proximal to the micro screen, the optical assembly can guide the image light emitted by the micro screen to the proximal end for a user to view. The user can view the image through a viewing window 113 located proximal to the left eye display 111 and the right eye display 112. In some embodiments, the display device 100 can be used for a surgical robot, and the user can view the images of the surgical field collected by an endoscope through the left eye display 111 and the right eye display 112.

[0079] In some embodiments, as shown in Figure 1 and Figure 2 The left eye display 111 and the right eye display 112 can each include a barrel-shaped housing. The display device 100 can further include a housing 140, which can be generally cuboid. At least a portion of the left eye display 111 and the right eye display 112 can be disposed in the housing 140. The proximal end of the left eye display 111 and the right eye display 112 can extend out of the housing 140, so that the user can view the image through the proximal end of the left eye display 111 and the right eye display 112.

[0080] As shown in Figure 1 and Figure 2 The display device 100 further includes an image collector 120, which can be used to collect the user's pupil image. In some embodiments, the image collector 120 can be directed towards the user's eye, so as to collect the user's pupil image. Those skilled in the art can understand that, in the collection image collected by the image collector 120, the collection image including the user's pupil is the user's pupil image. In some embodiments, the image collector 120 can be disposed at the proximal end of the display device 100, so as to collect the image when the user views the image through the display device 100. In some embodiments, the image collector 120 can include a left image collection unit 121 disposed at the proximal end of the left eye display 111 and a right image collection unit 122 disposed at the proximal end of the right eye display 112, so as to collect the images of the user's left eye and right eye, respectively.

[0081] As shown in Figure 2 The display device 100 further includes an adjustment assembly 130. The adjustment assembly 130 can be connected with the left eye display 111 and the right eye display 112, and the adjustment assembly 130 can be used to drive the left eye display 111 and / or the right eye display 112 to move, for example, to move laterally. Those skilled in the art can understand that, in the present disclosure, the lateral direction refers to the direction perpendicular to the central axis Z1 (as shown in Figure 3 of the left eye display 111 and the right eye display 112, for example Figure 2a horizontal direction indicated by a dashed-dotted line A-A'.

[0082] In some embodiments, the adjusting assembly 130 can include a single or multiple adjusting assemblies connected with the left-eye display 111 and the right-eye display 112, which can synchronously adjust the lateral positions of the left-eye display 111 and the right-eye display 112, for example, synchronously or respectively move towards or away from the central axis. In other embodiments, the adjusting assembly 130 can include a left adjusting device 131 connected with the left-eye display 111 and used to drive the left-eye display 111 to move laterally, and a right adjusting device 132 connected with the right-eye display 112 and used to drive the right-eye display 112 to move laterally, the left adjusting device 131 and the right adjusting device 132 can respectively adjust the lateral positions of the left-eye display 111 and the right-eye display 112. The adjusting assembly 130 can be arranged in the housing 140 of the display device 100.

[0083] The display device 100 further includes a controller (not shown in the figure), which can be communicatively connected with the image collector 120 and the adjusting assembly 130. The controller can be configured to receive the user pupil image from the image collector 120, and control the adjusting assembly 130 to drive the left-eye display 111 and / or the right-eye display 112 to move based on the user pupil image. Based on this, the display device 100 can adjust the lateral positions of the left-eye display 111 and the right-eye display 112 according to the pupil features (for example, the interpupillary distance) of the user, so as to adapt to the pupil features of the user, which helps to improve the use effect and use experience of the user.

[0084] In some embodiments, as shown in FIGS. 1A and 1B, the image collector 120 can include a left image collecting unit 121 and a right image collecting unit 122. Figure 1 and Figure 2 As shown in FIGS. 1A and 1B, the image collector 120 can include a left image collecting unit 121 and a right image collecting unit 122. The left image collecting unit 121 can be arranged at the proximal end of the left-eye display 111, and be at a first distance range from the vertical central axis of the left-eye display 111. In some embodiments, the first distance range can be a small distance range. Based on this, when the left eye pupil of the user is located on the longitudinal axis of the left pupil image of the user, the left eye pupil of the user is at the first distance range from the vertical central axis of the left-eye display 111, and the left eye pupil of the user is close to the vertical central axis of the left-eye display 111. The controller can determine whether the vertical central axis of the left-eye display 111 is close to the left eye pupil of the user, and thus determine whether the left-eye display 111 is at a position suitable for the left eye pupil of the user, based on whether the left eye pupil of the user is located on the longitudinal axis of the left pupil image of the user. In some embodiments, the left image collecting unit 121 can be aligned with the vertical central axis of the left-eye display 111.

[0085] The right image acquisition unit 122 can be disposed at the proximal end of the right eye display 112 and at a second distance range from the vertical central axis of the right eye display 112. In some embodiments, the second distance range can be a smaller distance range. In some embodiments, the second distance range can be the same as the first distance range. When the user's right eye pupil is located on the longitudinal axis of the user's right pupil image, the user's right eye pupil is at the second distance range from the vertical central axis of the right eye display 112, and the user's right eye pupil is close to the vertical central axis of the right eye display 112. The controller can determine whether the vertical central axis of the right eye display 112 is close to the user's right eye pupil, and thus determine whether the right eye display 112 is at a position suitable for the user's right eye pupil, based on whether the user's right eye pupil is located on the longitudinal axis of the user's right pupil image. In some embodiments, the right image acquisition unit 122 can be aligned with the vertical central axis of the right eye display 112.

[0086] Figure 3 A left view of the display device 100 according to some embodiments of the present disclosure is shown. In some embodiments, the optical axis Z2 of the lens of the left image acquisition unit 121 can be at an inclined angle from the central axis Z1 of the left eye display 111. Similarly, the optical axis of the lens of the right image acquisition unit 122 is at an inclined angle from the central axis of the right eye display 112. Based on this, when the user views images through the viewing window at the proximal end of the left eye display 111 and the right eye display 112, the lenses of the left image acquisition unit 121 and the right image acquisition unit 122 are directed towards the user's eyeballs, thereby facilitating the acquisition of the user's pupil image including the user's pupil.

[0087] In some embodiments, the image acquisition device 120 can include an infrared image acquisition device to facilitate the acquisition of images in dark environments. For example, the left image acquisition unit 121 and / or the right image acquisition unit 122 can be infrared image acquisition devices. The display device 100 can further include a plurality of fill-in lights (not shown in the figure) which can be disposed circumferentially at the proximal end of the left eye display 111 and the right eye display 112. Those skilled in the art can understand that the fill-in lights can be used to supplement light for the infrared image acquisition device. In some embodiments, the plurality of fill-in lights can be disposed circumferentially at the proximal end of the left eye display 111 and the right eye display 112, respectively, to supplement light for the left image acquisition unit 121 and the right image acquisition unit 122, respectively. In some embodiments, the plurality of fill-in lights can be uniformly disposed along the proximal end of the left eye display 111 and the right eye display 112, respectively. In some embodiments, the plurality of fill-in lights can be disposed at the distal side of the viewing window 113. In some embodiments, the fill-in lights can include infrared lights, white light lights, or any suitable lights.

[0088] In some embodiments, as Figure 2As shown, the adjustment assembly 130 may include a left adjuster 131. The left adjuster 131 may be connected to the left-eye display 111, and the left adjuster 131 may be used to drive the left-eye display 111 to move laterally. The left adjuster 131 may include a left transmission plate 1311 and a first motor 1312. The left transmission plate 1311 may be fixedly connected to the left-eye display 111. The first motor 1312 may be fixedly disposed within the housing 140, for example, the first motor 1312 may be fixedly disposed within the housing 140 through a connecting device fixedly disposed within the housing 140. In some embodiments, the lateral position of the first motor 1312 may be located at the center of the display device 100 to avoid affecting the lateral movement of the left-eye display 111 and the right-eye display 112. The first motor 1312 may be connected to the left transmission plate 1311 to drive the left transmission plate 1311 to move laterally, thereby driving the left-eye display 111 fixedly connected to the left transmission plate 1311 to move laterally.

[0089] Figure 4 The following are some embodiments according to this disclosure. Figure 2 A three-dimensional schematic diagram of the cross-section of line A-A'. (See diagram below.) Figure 4 As shown, in some embodiments, the left adjuster 131 may further include a first gear 1313. The output shaft of the first motor 1312 may be connected to the first gear 1313 to drive the first gear 1313 to rotate. In some embodiments, the first motor 1312 may be connected to the first gear 1313 via a reducer 1314 to reduce the rotational speed and increase the torque.

[0090] like Figure 2 and Figure 4 As shown, the left transmission plate 1311 may include a first fixing part 13111 and a first transmission part 13112. The first fixing part 13111 may be fixedly disposed above the left eye display 111. The first fixing part 13111 may extend along the length direction of the left eye display 111 to be fastened to the left eye display 111. The first transmission part 13112 may be fixedly connected to the first fixing part 13111, for example, by welding, integral molding, etc. The first transmission part 13112 may be connected to the first motor 1312 to receive the drive of the first motor 1312. The first transmission part 13112 may extend laterally to facilitate connection with the first motor 1312. The lower surface of the first transmission part 13112 may include a first serrated structure, which may mesh with a first gear 1313. Based on this, the first motor 1312 can drive the first gear 1313 to rotate, thereby driving the left transmission plate 1311 connected to the first gear 1313 to move laterally, thus driving the left eye display 111 to move laterally.

[0091] In some embodiments, such as Figure 2As shown, the adjustment assembly 130 may further include a right adjuster 132. The right adjuster 132 can be connected to the right eye display 112, and the right adjuster 132 can be used to drive the right eye display 112 to move laterally. The right adjuster 132 may include a right transmission plate 1321 and a second motor 1322. The right transmission plate 1321 can be fixedly connected to the right eye display 112. The second motor 1322 can be fixedly disposed within the housing 140, for example, the second motor 1322 can be fixedly disposed within the housing 140 through a connecting device fixedly disposed within the housing 140. In some embodiments, the lateral position of the second motor 1322 can be located at the center of the display device 100 to avoid affecting the lateral movement of the left eye display 111 and the right eye display 112. The second motor 1322 can be connected to the right transmission plate 1321 to drive the right transmission plate 1321 to move laterally, thereby driving the right eye display 112 fixedly connected to the right transmission plate 1321 to move laterally.

[0092] In some embodiments, the right regulator 132 may further include a second gear (not shown). The output shaft of the second motor 1322 may be connected to the second gear to drive the second gear to rotate. In some embodiments, the second motor 1322 may be connected to the second gear via a reducer to reduce the speed and increase the torque.

[0093] like Figure 2 As shown, the right transmission plate 1321 may include a second fixing part 13211 and a second transmission part 13212. The second fixing part 13211 may be fixedly disposed above the right eye display 112. The second fixing part 13211 may extend along the length direction of the right eye display 112 to be fastened to the right eye display 112. The second transmission part 13212 may be fixedly connected to the second fixing part 13211, for example, by welding, integral molding, etc. The second transmission part 13212 may be connected to the second motor 1322 to receive the drive of the second motor 1322. The second transmission part 13212 may extend laterally to facilitate connection with the second motor 1322. The lower surface of the second transmission part 13212 may include a second serrated structure, which may mesh with a second gear. Based on this, the second motor 1322 may drive the second gear to rotate, thereby driving the right transmission plate 1321 connected to the second gear to move laterally, thereby driving the right eye display 112 to move laterally.

[0094] In some embodiments, such as Figure 2 and Figure 4As shown, the adjustment assembly 130 may also include at least one guide rail, such as guide rail 1331 and guide rail 1332. At least one guide rail may be fixedly disposed laterally within the housing 140, for example, at least one guide rail may be fixedly connected to the top cover of the housing 140 by fasteners, or fixedly connected to the top cover or side walls of the housing 140 by welding or other suitable means.

[0095] The left adjuster 131 may further include at least one first slider 1315, which may be fixedly disposed on the upper surface of the first fixing part 13111 of the left transmission plate 1311, for example, by means of adhesive bonding, fitting, welding bolts, or other suitable methods. At least one first slider 1315 may be slidably connected to at least one guide rail. Based on this, the movement direction of the left eye display 111 can be constrained, improving its lateral movement stability.

[0096] like Figure 2 As shown, the right adjuster 132 may further include at least one second slider 1325, which may be fixedly disposed on the upper surface of the second fixing portion 13211 of the right transmission plate 1321, for example, by means of adhesive bonding, fitting, welding bolts, or other suitable methods. At least one second slider 1325 may be slidably connected to at least one guide rail (e.g., guide rail 1331 and guide rail 1332). Based on this, the movement direction of the right eye display 112 can be constrained, improving the stability of its lateral movement.

[0097] In some embodiments, the controller may include a signal transceiver circuit configured to receive acquired images from the image acquisition unit 120. The controller may also be configured to detect whether the acquired image is a user eye image including the human eye, and in response to the acquired image being a user eye image, to detect whether the user eye image is a user pupil image including the pupil. For example, the controller may include an image detection circuit configured to detect whether the acquired image is a user eye image including the human eye, and in response to the acquired image being a user eye image, to detect whether the user eye image is a user pupil image including the pupil. In some embodiments, the controller's signal transceiver circuit may also be configured to receive acquired images from the image acquisition unit 120 in response to a trigger signal.

[0098] In some embodiments, the controller can be further configured to, in response to the captured image not being the user eye image, control the image capturer 120 to capture the image again, and detect whether the captured image again is the user eye image. In some embodiments, the image detecting circuit of the controller can be configured to, in response to the captured image not being the user eye image, send a signal to the signal transceiver circuit, which can be configured to, in response to the signal, send a control signal to control the image capturer 120 to capture the image again, and the image detecting circuit can be further configured to detect whether the captured image again is the user eye image. It can be appreciated by those skilled in the art that the controller can detect the captured images from the left image capturing unit 121 and the right image capturing unit 122 respectively.

[0099] In some embodiments, the controller can be further configured to, in response to the user eye image being the user pupil image, identify the user pupil center. For example, the image detecting circuit of the controller can be configured to, in response to the user eye image being the user pupil image, identify the user pupil center. In some embodiments, the controller can be further configured to, in response to the user eye image not being the user pupil image, control the image capturer 120 to capture the image again, and detect whether the captured image again is the user eye image, and in response to the captured image being the user eye image, detect whether the user eye image is the user pupil image. For example, the image detecting circuit of the controller can be configured to, in response to the user eye image not being the user pupil image, send a control signal to the image capturer 120 through the signal transceiver circuit to control the image capturer 120 to capture the image again, and detect whether the captured image again is the user eye image, and in response to the captured image being the user eye image, detect whether the user eye image is the user pupil image.

[0100] In some embodiments, the user pupil image can include a user left pupil image from the left image capturing unit 121, and the user pupil center can include a user left pupil center. The controller can be configured to identify the user left pupil center based on the user left pupil image. The controller can be further configured to determine a first offset vector D1 of the user left pupil center from a longitudinal center axis of the user left pupil image. For example, the controller can include an image analyzing circuit, which can be configured to determine the first offset vector D1 of the user left pupil center from the longitudinal center axis of the user left pupil image.

[0101] The absolute value of the first offset vector D1 can represent the distance between the left pupil center of the user and the longitudinal central axis of the left pupil image, and the direction of the first offset vector D1 can represent the offset direction of the left pupil center of the user relative to the longitudinal central axis of the left pupil image, which can be defined as the direction from the left pupil center of the user to the longitudinal central axis of the left pupil image. In some embodiments, the left image acquisition unit 121 is aligned with the vertical central axis of the left eye display 111, and thus the first offset vector D1 can represent the offset distance and direction of the left pupil center of the user relative to the vertical central axis of the left eye display 111.

[0102] In some embodiments, the controller can be further configured to determine whether the absolute value of the first offset vector D1 exceeds a first preset value, and in response to the absolute value of the first offset vector D1 exceeding the first preset value, control the left adjuster 131 to move the left eye display 111. For example, the image analysis circuit of the controller can be configured to determine whether the absolute value of the first offset vector D1 exceeds the first preset value, and in response to the absolute value of the first offset vector D1 exceeding the first preset value, generate a control signal for the left adjuster 131 to control the left adjuster 131 to move the left eye display 111. In some embodiments, the controller can include a storage circuit, and the first preset value can be stored in the storage circuit for reading by the image analysis circuit. The signal transceiver circuit of the controller can be configured to send the control signal to the left adjuster 131 to control the left adjuster 131 to move the left eye display 111. Those skilled in the art can understand that if the absolute value of the first offset vector D1 does not exceed the first preset value, the distance between the left pupil center of the user and the longitudinal central axis of the left pupil image is within an allowable range, and thus there is no need to adjust the position of the left eye display 111.

[0103] In some embodiments, the controller can be further configured to, in response to the absolute value of the first offset vector D1 exceeding the first preset value, control the left adjuster 131 to move the left eye display 111 by the first offset vector D1. In some embodiments, the image analysis circuit of the controller can be configured to, in response to the absolute value of the first offset vector D1 exceeding the first preset value, generate a control signal and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the left adjuster 131 to control the left adjuster 131 to move the left eye display 111 by the first offset vector D1. Those skilled in the art can understand that in this embodiment, the left adjuster 131 moving the left eye display 111 by the first offset vector D1 can align the left pupil center of the user with the vertical central axis of the left eye display 111, which is beneficial to improve the user's experience of viewing the surgical field.

[0104] In some embodiments, the controller can be further configured to cyclically perform (e.g., at a predetermined time period) the detecting of the user pupil image and the adjusting of the display based thereon. For example, the controller can be further configured to cyclically receive (e.g., at a first predetermined time period) the user left pupil image from the image collector 120 (e.g., the left image collection unit 121). In some embodiments, the signal transceiver circuit of the controller can be configured to cyclically receive the user left pupil image from the image collector 120. In some embodiments, the signal transceiver circuit of the controller can be configured to send a control signal to the image collector 120 to cause the image collector 120 to cyclically (e.g., at a first predetermined period) collect the image and send the image to the controller. In other embodiments, the signal transceiver circuit can be configured to cyclically (e.g., at a first predetermined period) send a control signal to the image collector 120 to cause the image collector 120 to collect the image and send the image to the controller.

[0105] In some embodiments, the controller can be further configured to, for each received user left pupil image, determine a first offset vector D1 of the user left pupil center from a longitudinal center axis of the user left pupil image, determine whether an absolute value of the first offset vector D1 exceeds a first preset value, and in response to the absolute value of the first offset vector D1 exceeding the first preset value, control the left adjuster 131 to move the left eye display 111 by the first offset vector D1. For example, the image analysis circuit of the controller can be configured to, for each received user left pupil image, determine a first offset vector D1 of the user left pupil center from a longitudinal center axis of the user left pupil image, and determine whether an absolute value of the first offset vector D1 exceeds a first preset value. The image analysis circuit can be configured to, in response to the absolute value of the first offset vector D1 exceeding the first preset value, generate a control signal, and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the left adjuster 131 to cause the left adjuster 131 to move the left eye display 111 by the first offset vector D1.

[0106] In this way, the controller can monitor the offset of the left eye display 111 at all times, and timely adjust the left eye display 111 back to normal when the left eye display 111 is excessively offset, so as to align the left eye display 111 with the user left pupil center. Based on this, in the case of multiple users watching the surgical field, the display device 100 can automatically adjust the position of the left eye display 111 to adapt to the positions of different user left pupil centers without the need for the user to trigger. In the case where the vertical center axis of the left eye display 111 fails to align with the user left pupil center through one adjustment due to motor driving errors or other factors, the display device 100 can automatically determine the first offset vector D1 again and adjust the position of the left eye display 111 again.

[0107] In some embodiments, the controller can be further configured to step adjust the display. For example, the controller can be further configured to control the left adjuster 131 to move the left eye display 111 in the direction of the first offset vector D1 by a first preset amount d1 in response to the absolute value of the first offset vector D1 exceeding a first preset value. For example, the image processing circuit of the controller can be configured to generate a control signal in response to the absolute value of the first offset vector D1 exceeding the first preset value, and send the control signal to the signal transceiver circuit. The signal transceiver circuit of the controller can be configured to send the control signal to the left adjuster 131 to control the left adjuster 131 to move the left eye display 111 in the direction of the first offset vector D1 by the first preset amount d1. In some embodiments, the left adjuster 131 can include a storage circuit, and the first preset amount d1 can be stored in the storage circuit.

[0108] In some embodiments, the controller can be further configured to receive the left pupil image of the user from the image collector 120 (e.g., the left image collection unit 121) cyclically (e.g., at a second predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to receive the left pupil image of the user from the image collector 120 cyclically (e.g., at a second predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to send a control signal to the image collector 120 to control the image collector 120 to collect images and send the images to the controller cyclically (e.g., at a second predetermined time period). In other embodiments, the signal transceiver circuit can be configured to send a control signal to the image collector 120 to control the image collector 120 to collect images and send the images to the controller cyclically (e.g., at a second predetermined time period).

[0109] In some embodiments, the controller can be further configured to, for each received user left pupil image, determine a first offset vector D1 of the user left pupil center from a longitudinal center axis of the user left pupil image, determine whether an absolute value of the first offset vector D1 exceeds a first preset value, and in response to the absolute value of the first offset vector D1 exceeding the first preset value, control the left adjuster 131 to move the left eye display 111 by the first preset amount d1 in a direction of the first offset vector D1. For example, the image analysis circuit of the controller can be configured to, for each received user left pupil image, determine a first offset vector D1 of the user left pupil center from a longitudinal center axis of the user left pupil image, determine whether an absolute value of the first offset vector D1 exceeds a first preset value, in response to the absolute value of the first offset vector D1 exceeding the first preset value, generate a control signal, and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the left adjuster 131 to control the left adjuster 131 to move the left eye display 111 by the first preset amount d1 in a direction of the first offset vector D1.

[0110] As understood by those skilled in the art, the first preset amount d1 can be a small step distance value. In the present embodiment, the controller can adjust the absolute value of the first offset vector D1 to be less than the first preset value step by step by adjusting the position of the left eye display 111 in a loop (e.g., with a second predetermined time period), which is simple and easy to implement. Based on this, the display device 100 can automatically adjust the position of the left eye display 111 to adapt to the position of the user left pupil center without the need for the user to trigger.

[0111] In some embodiments, the user pupil image can further include a user right pupil image from the right image acquisition unit 122. The user pupil center can include a user right pupil center. The controller can be further configured to identify the user right pupil center based on the user right pupil image. The controller can be further configured to determine a second offset vector D2 of the user right pupil center from a longitudinal center axis of the user right pupil image. For example, the controller can include an image analysis circuit, which can be configured to determine a second offset vector D2 of the user right pupil center from a longitudinal center axis of the user right pupil image.

[0112] Those skilled in the art can understand that the absolute value of the second offset vector D2 can represent the distance between the user's right pupil center and the longitudinal central axis of the user's right pupil image, and the direction of the second offset vector D2 can represent the offset direction of the user's right pupil center relative to the longitudinal central axis of the user's right pupil image, which can be defined as the direction from the user's right pupil center to the longitudinal central axis of the user's right pupil image. In some embodiments, the right image acquisition unit 122 is aligned with the vertical central axis of the right eye display 112, and thus the second offset vector D2 can represent the offset distance and direction of the user's right pupil center relative to the vertical central axis of the right eye display 112.

[0113] In some embodiments, the controller can be further configured to determine whether the absolute value of the second offset vector D2 exceeds a second preset value, and in response to the absolute value of the second offset vector D2 exceeding the second preset value, control the right adjuster 132 to move the right eye display 112. For example, the image analysis circuit of the controller can be configured to determine whether the absolute value of the second offset vector D2 exceeds the second preset value, and in response to the absolute value of the second offset vector D2 exceeding the second preset value, generate a control signal for the right eye display 112 to control the right adjuster 132 to move the right eye display 112. In some embodiments, the controller can further include a storage circuit, and the second preset value can be stored in the storage circuit for the image analysis circuit to read.

[0114] In some embodiments, the image analysis circuit of the controller can be further configured to send a control signal to the signal transceiver circuit, and the signal transceiver circuit can be configured to send the control signal to the right adjuster 132 to control the right adjuster 132 to move the right eye display 112. In some embodiments, the first preset value and the second preset value can be equal or unequal. Those skilled in the art can understand that if the absolute value of the second offset vector D2 does not exceed the second preset value, the distance between the user's right pupil center and the longitudinal central axis of the user's right pupil image is within the allowable range, and thus there is no need to adjust the position of the right eye display 112.

[0115] In some embodiments, the controller can be further configured to control the right adjuster 132 to move the right eye display 112 by the second offset vector D2 in response to an absolute value of the second offset vector D2 exceeding a second preset value. In some embodiments, the image analyzing circuit of the controller can be configured to generate a control signal in response to the absolute value of the second offset vector D2 exceeding the second preset value, and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the right adjuster 132 to control the right adjuster 132 to move the right eye display 112 by the second offset vector D2. It is appreciated by those skilled in the art that, in the present embodiment, the right adjuster 132 moving the right eye display 112 by the second offset vector D2 can align the user’s right pupil center with the vertical center axis of the right eye display 112, which is beneficial to improve the user’s experience of viewing the surgical field.

[0116] In some embodiments, the controller can be further configured to receive the user’s right pupil images from the image collector 120 (e.g., the right image collection unit 122) cyclically (e.g., at a third predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to receive the user’s right pupil images from the image collector 120 cyclically (e.g., at a third predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to send a control signal to the image collector 120 to cause the image collector 120 to collect images and send the images to the controller cyclically (e.g., at a third predetermined time period). In other embodiments, the signal transceiver circuit can be configured to send a control signal to the image collector 120 to cause the image collector 120 to collect images and send the images to the controller cyclically (e.g., at a third predetermined time period).

[0117] In some embodiments, the controller can be further configured to, for each of the received user’s right pupil images, determine a second offset vector D2 of a center of the user’s right pupil from a vertical center axis of the user’s right pupil image, determine whether an absolute value of the second offset vector D2 exceeds a second preset value, and control the right adjuster 132 to move the right eye display 112 by the second offset vector D2 in response to the absolute value of the second offset vector D2 exceeding the second preset value. For example, the image analyzing circuit of the controller can be configured to, for each of the received user’s right pupil images, determine a second offset vector D2 of a center of the user’s right pupil from a vertical center axis of the user’s right pupil image, and determine whether an absolute value of the second offset vector D2 exceeds a second preset value. The image analyzing circuit can be configured to generate a control signal in response to the absolute value of the second offset vector D2 exceeding the second preset value, and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the right adjuster 132 to cause the right adjuster 132 to move the right eye display 112 by the second offset vector D2.

[0118] In this way, the controller can monitor the offset of the right eye display 112 all the time and adjust the right eye display 112 back to the normal position in time when the right eye display 112 is excessively offset, so as to align the right eye display 112 with the user’s right pupil center. Based on this, when multiple users watch the surgical field, the display device 100 can automatically adjust the position of the right eye display 112 to adapt to the positions of the right pupil centers of different users without the need for the user to trigger. In the case where the vertical central axis of the right eye display 112 fails to align with the user’s right pupil center through one adjustment due to motor driving errors or other factors, the display device 100 can automatically determine the second offset vector D2 again and adjust the position of the right eye display 112 again.

[0119] In some embodiments, the controller can be further configured to, in response to the absolute value of the second offset vector D2 exceeding a second preset value, control the right adjuster 132 to drive the right eye display 112 to move in the direction of the second offset vector D2 by a second preset amount d2. For example, the image analysis circuit can be configured to, in response to the absolute value of the second offset vector D2 exceeding the second preset value, generate a control signal and send the control signal to the signal transceiver circuit. The signal transceiver circuit of the controller can be configured to send the control signal to the right adjuster 132 to control the right adjuster 132 to drive the right eye display 112 to move in the direction of the second offset vector D2 by the second preset amount d2. In some embodiments, the right adjuster 132 can include a storage circuit, and the second preset amount d2 can be stored in the storage circuit.

[0120] In some embodiments, the controller can be further configured to receive the user’s right pupil image from the image collector 120 (for example, the right image collection unit 122) cyclically (for example, at a fourth predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to receive the user’s right pupil image from the image collector 120 cyclically (for example, at a fourth predetermined time period). In some embodiments, the signal transceiver circuit of the controller can be configured to send a control signal to the image collector 120 to control the image collector 120 to collect images and send the images to the controller cyclically (for example, at a fourth predetermined time period). In other embodiments, the signal transceiver circuit can be configured to send a control signal to the image collector 120 to control the image collector 120 to collect images and send the images to the controller cyclically (for example, at a fourth predetermined time period).

[0121] In some embodiments, the controller can be further configured to, for each received user right pupil image, determine a second offset vector D2 of the user right pupil center from a longitudinal center axis of the user right pupil image, determine whether an absolute value of the second offset vector D2 exceeds a second preset value, and in response to the absolute value of the second offset vector D2 exceeding the second preset value, control the right adjuster 132 to move the right eye display 112 by the second preset amount d2 in a direction of the second offset vector D2. For example, the image analysis circuit of the controller can be configured to, for each received user right pupil image, determine a second offset vector D2 of the user right pupil center from a longitudinal center axis of the user right pupil image, determine whether an absolute value of the second offset vector D2 exceeds a second preset value, in response to the absolute value of the second offset vector D2 exceeding the second preset value, generate a control signal, and send the control signal to the signal transceiver circuit. The signal transceiver circuit can be configured to send the control signal to the right adjuster 132 to control the right adjuster 132 to move the right eye display 112 by the second preset amount d2 in a direction of the second offset vector D2.

[0122] As can be appreciated by those skilled in the art, the second preset amount d2 can be a small step distance value. In the present embodiment, the controller can gradually adjust the absolute value of the second offset vector D2 to be less than the second preset value by adjusting the position of the right eye display 112 in a loop (e.g., with a fourth predetermined time period), which is simple and easy to implement. Based on this, the display device 100 can automatically adjust the position of the right eye display 112 to adapt to the position of the user right pupil center without the need for the user to trigger. As can be appreciated by those skilled in the art, the first, second, third, and fourth predetermined time periods can be the same, partially the same, or different, and can be set according to actual scenarios.

[0123] As can be appreciated by those skilled in the art, the various parts included in the controller in the present disclosure, such as the signal transceiver circuit, the image detection circuit, the image analysis circuit, and the like, can be implemented by means of general hardware, such as by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components, and the like. The specific hardware structure used to implement the functions that can be implemented by the signal transceiver circuit, the image detection circuit, the image analysis circuit, and the like can be implemented using various circuit technologies, such as analog circuits, digital circuits, configurable circuits, or special-purpose circuits.

[0124] Some embodiments of the present disclosure also provide a surgical robot 200. Figure 5 A structural schematic diagram of the surgical robot 200 according to some embodiments of the present disclosure is shown. As shown in FIG. 1, the surgical robot 200 includes a display device 100 and a surgical robot 200. Figure 5As shown, the surgical robot 200 may include a main control carriage 210. The main control carriage 210 may include at least one master manipulator 211, which can be used to receive user operations. The at least one master manipulator 211 may include a left master manipulator for receiving operations from the user's left hand and a right master manipulator for receiving operations from the user's right hand. During surgery, the main control carriage 210 may be located on the user's side for easy operation. The main control carriage 210 may also include a display device (e.g., display device 100) as described in any of some embodiments of this disclosure. The distal end of the display device 100 may be connected to the body of the main control carriage 210, and the proximal end of the display device 100 may protrude from the body of the main control carriage 210 to allow the user to view surgical field images from the proximal end of the display device 100.

[0125] In some embodiments, such as Figure 5 As shown, the main control carriage 210 may further include at least one user detection sensor 212. The at least one user detection sensor 212 may be disposed near the proximal end of the left-eye display 111 and / or the right-eye display 112 of the display device 100. In some embodiments, the at least one user detection sensor 212 may be disposed on a base protruding from the proximal end of the display device 100 and facing centrally to facilitate user detection. The at least one user detection sensor 212 may be communicatively connected to the controller of the display device 100. The at least one user detection sensor 212 may be used to generate a trigger signal in response to the detection of a user.

[0126] In some embodiments, the user detection sensor 212 may be a suitable sensor such as an infrared sensor. The controller may be configured to control the image acquisition unit 120 of the display device 100 to acquire images in response to a trigger signal. For example, the controller may include a signal transceiver circuit configured to receive a trigger signal from the user detection sensor 212 and, in response to the trigger signal, send a control signal to the image acquisition unit 120 to control the image acquisition unit 120 to acquire images. Based on this, the surgical robot 100 can automatically adjust the positions of the left-eye display 111 and the right-eye display 112 when the user reaches a position near the proximal end of the display device 100.

[0127] In other embodiments, the display device may cyclically acquire user pupil images and adjust the position of the left eye display 111 and / or the right eye display 112 based on the user pupil images without requiring the user to trigger the signal of the detection sensor 212.

[0128] In some embodiments, the surgical robot 200 can further include a surgical cart 220. In surgery, the surgical cart 220 can be located at the patient side to facilitate performing surgical operations on the patient. The surgical cart 220 can be communicatively connected with the master cart 210, and the surgical cart 220 can include at least one mechanical arm 221 and at least one surgical instrument 222 (e.g., an endoscope, a clamp, a curved scissors, an electric hook, etc.) disposed at the distal end of the at least one mechanical arm 221. In surgery, a user can issue control instructions by operating the at least one master operator 211 on the master cart 210 to control the at least one surgical instrument 222 to perform surgical operations.

[0129] Those skilled in the art can understand that the surgical robot 200 can be any suitable surgical robot including a laparoscopic surgical robot.

[0130] It is noted that the above merely illustrates exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art can understand that the present disclosure is not limited to the specific embodiments herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the appended claims.

Claims

1. A display device, characterized by comprising: Comprise: a left eye display and a right eye display; an image collector configured to collect a user pupil image; an adjusting assembly connected with the left eye display and the right eye display, the adjusting assembly configured to drive the left eye display and / or the right eye display to move; and a controller connected in communication with the image collector and the adjusting assembly, the controller configured to receive the user pupil image from the image collector and control the adjusting assembly to drive the left eye display and / or the right eye display to move based on the user pupil image.

2. The display device according to claim 1, wherein The image collector comprises: a left image collecting unit arranged at a proximal end of the left eye display and at a first distance range from a vertical central axis of the left eye display; and a right image collecting unit arranged at a proximal end of the right eye display and at a second distance range from a vertical central axis of the right eye display.

3. The display device according to claim 2, wherein The left image collecting unit is aligned with the vertical central axis of the left eye display, and the right image collecting unit is aligned with the vertical central axis of the right eye display.

4. The display device according to claim 2, wherein: an optical axis of a lens of the left image collecting unit is at an inclined angle to the central axis of the left eye display; and / or an optical axis of a lens of the right image collecting unit is at an inclined angle to the central axis of the right eye display.

5. The display device according to claim 1, wherein The image collector comprises an infrared image collector, and the display device further comprises: a plurality of light supplement lamps arranged circumferentially at a proximal end of the left eye display and the right eye display.

6. The display device according to claim 1, wherein The adjusting assembly comprises: a left adjuster connected with the left eye display and configured to drive the left eye display to move in a transverse direction, the left adjuster comprising: a left transmission plate fixedly connected with the left eye display; and a first motor connected with the left transmission plate to drive the left transmission plate to move in the transverse direction.

7. The display device according to claim 6, wherein The left adjuster further comprises a first gear connected with an output shaft of the first motor to drive the first gear to rotate; and the left transmission plate comprises: a first fixed portion fixedly arranged above the left eye display; and a first transmission portion fixedly connected with the first fixed portion, the first transmission portion extending in the transverse direction, and a lower surface of the first transmission portion comprising a first sawtooth structure engaged with the first gear.

8. The display device according to claim 7, wherein The adjusting assembly further comprises: a right adjuster connected with the right eye display and configured to drive the right eye display to move in the transverse direction, the right adjuster comprising: a right transmission plate fixedly connected with the right eye display; and a second motor connected with the right transmission plate to drive the right transmission plate to move in the transverse direction.

9. The display device of claim 8, wherein, The right adjuster further comprises a second gear connected with an output shaft of the second motor to drive the second gear to rotate; and the right transmission plate comprises: a second fixed portion fixedly arranged above the right eye display; and a second transmission portion fixedly connected with the second fixed portion, the second transmission portion extending in the transverse direction, and a lower surface of the second transmission portion comprising a second sawtooth structure engaged with the second gear. A second transmission part is fixedly connected with the second fixed part, the second transmission part extends in the transverse direction, and a lower surface of the second transmission part comprises a second sawtooth structure which is engaged with the second gear.

10. The display device according to claim 9, wherein The adjustment assembly further comprises at least one guide rail; The left adjuster further comprises: At least one first sliding block is fixedly arranged on the upper surface of the first fixed part, and the at least one first sliding block is slidably connected with the at least one guide rail. The right adjuster further comprises: At least one second sliding block is fixedly arranged on the upper surface of the second fixed part, and the at least one second sliding block is slidably connected with the at least one guide rail.

11. The display device according to claim 10, wherein Further comprising: A housing, at least a part of the left-eye display and the right-eye display and the adjustment assembly are arranged in the housing, and the proximal ends of the left-eye display and the right-eye display extend out of the housing, The first motor and the second motor are fixedly arranged in the housing, and the at least one guide rail is fixedly arranged in the housing in the transverse direction.

12. The display device of claim 8, wherein, The controller is further configured to receive a captured image from the image collector, detect whether the captured image is a user eye image including a human eye, and in response to the captured image being a user eye image, detect whether the user eye image is a user pupil image including a pupil.

13. The display device of claim 12, wherein, The controller is further configured to identify a user pupil center in response to the user eye image being the user pupil image.

14. The display device of claim 13, wherein The user pupil image comprises a user left pupil image, and the user pupil center comprises a user left pupil center, the controller is further configured to determine a first offset vector of the user left pupil center from a longitudinal center axis of the user left pupil image and determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left-eye display; and / or The user pupil image comprises a user right pupil image, and the user pupil center comprises a user right pupil center, the controller is further configured to determine a second offset vector of the user right pupil center from a longitudinal center axis of the user right pupil image and determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right-eye display.

15. The display device of claim 14, wherein, The controller is further configured to control the left adjuster to move the left-eye display by the first offset vector in response to the absolute value of the first offset vector exceeding the first preset value.

16. The display device of claim 15, wherein, The controller is further configured to cyclically receive user left pupil images from the image collector, and for each received user left pupil image, determine a first offset vector of the user left pupil center from a longitudinal center axis of the user left pupil image, determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by the first offset vector.

17. The display device of claim 14, wherein, The controller is further configured to, in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by a first preset amount in a direction of the first offset vector.

18. The display device of claim 17, wherein, The controller is further configured to cyclically receive user left pupil images from the image collector, and for each received user left pupil image, determine a first offset vector of the user left pupil center from a longitudinal center axis of the user left pupil image, determine whether an absolute value of the first offset vector exceeds a first preset value, and in response to the absolute value of the first offset vector exceeding the first preset value, control the left adjuster to move the left eye display by the first preset amount in a direction of the first offset vector.

19. The display device of claim 14, wherein, The controller is further configured to, in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by the second offset vector.

20. The display device of claim 19, wherein, The controller is further configured to cyclically receive user right pupil images from the image collector, and for each received user right pupil image, determine a second offset vector of the user right pupil center from a longitudinal center axis of the user right pupil image, determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by the second offset vector.

21. The display device of claim 14, wherein, The controller is further configured to, in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by a second preset amount in a direction of the second offset vector.

22. The display device of claim 21, wherein, The controller is further configured to cyclically receive user right pupil images from the image collector, and for each received user right pupil image, determine a second offset vector of the user right pupil center from a longitudinal center axis of the user right pupil image, determine whether an absolute value of the second offset vector exceeds a second preset value, and in response to the absolute value of the second offset vector exceeding the second preset value, control the right adjuster to move the right eye display by the second preset amount in a direction of the second offset vector.

23. A surgical robot characterized by, Comprising: A master console cart, the master console cart comprising: At least one master operator for receiving user operations; And The display device of any one of claims 1-22.

24. The surgical robot of claim 23, wherein, The master console cart further comprises: at least one user detection sensor disposed at a proximal end of a left eye display and / or a right eye display of the display device, the at least one user detection sensor in communicative connection with a controller of the display device, the at least one user detection sensor configured to generate a trigger signal in response to detecting a user; the controller configured to control an image collector of the display device to collect an image in response to the trigger signal.

25. The surgical robot of claim 23, wherein, Further comprising: a surgical cart in communicative connection with the master cart, the surgical cart comprising at least one robotic arm and at least one surgical instrument disposed at a distal end of the at least one robotic arm.

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