Positioning control method for surgical cart, electronic device, and program product

Abstract

The present application provides a positioning control method for a surgical cart, an electronic device, and a program product. By directly observing an image below a rotary mechanism on a display screen, an operator can visually see an actual working region, thereby performing precise control and adjustment. The visual feedback mechanism greatly improves the operation precision and efficiency, and reduces the problem of inaccurate positioning caused by human judgment errors. Conventional positioning of the surgical cart usually requires cooperation of multiple personnel, comprising an operator and a commander. In the present solution, by means of direct feedback of the display screen, the operator can independently complete the positioning work without additional human assistance, thereby reducing labor costs.

Description

Positioning control method of operating trolley, electronic device and program product

[0001] The present disclosure claims priority to the application No. 202411374450.7 filed with the China Patent Office on September 29, 2024; the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of medical instruments, in particular to a positioning control method of an operating trolley, an electronic device and a program product. BACKGROUND

[0003] With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its small surgical trauma, short recovery time and less pain for patients. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision and intuitive surgical image. These characteristics can avoid the operation limitations, such as hand tremor during operation. It is widely used in abdominal, pelvic and thoracic surgical areas.

[0004] The laparoscopic surgery robot in the minimally invasive surgery robot includes a doctor console and a patient surgery platform. The patient surgery platform is provided with a plurality of surgical arms. The main operating arm of the doctor console collects the operation signal of the doctor. The operation signal is processed by the control system to generate the control signal of the surgical arm. The surgical arm controls the surgical instrument connected thereto to perform the surgical operation; or the surgical arm controls the endoscope connected thereto to perform image acquisition. Before the robot surgery is carried out, the trolley positioning of the patient surgery platform needs to be carried out. After the trolley positioning, the surgical arm is conveniently connected with the patient's stab card.

[0005] However, the existing laparoscopic robot positioning is time-consuming and labor-intensive, which affects the efficiency of the entire surgery. SUMMARY

[0006] The present disclosure provides a positioning control method of an operating trolley. The operating trolley includes a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller. The chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are connected in sequence. The rotating center of the rotating mechanism is further provided with an image acquisition device.

[0007] The method includes:

[0008] acquiring a picture collected by the image acquisition device below the rotating mechanism, and displaying the picture on a display screen to an operating user;

[0009] acquire at least one of the first control signal, the second control signal and the third control signal received by the manual controller; wherein the first control signal is used to indicate that the movement of the position adjusting mechanism brings the movement of the rotating mechanism in the three-dimensional space, the second control signal is used to indicate that the movement of the rotating mechanism brings the rotation of the surgical arm in the horizontal plane, and the third control signal is used to indicate that the movement of the chassis driving mechanism brings the movement or rotation of the position adjusting mechanism in the horizontal plane;

[0010] control the movement of at least one of the corresponding position adjusting mechanism, rotating mechanism and chassis driving mechanism based on at least one of the first control signal, the second control signal and the third control signal, so as to realize at least one of the movement of the surgical trolley in the horizontal plane, the movement of the surgical arm in the space and the rotation of the surgical arm in the horizontal plane.

[0011] The embodiment of the present disclosure also provides a positioning control method of a surgical trolley, the surgical trolley comprising a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are sequentially connected; the rotating center of the rotating mechanism is further provided with an image acquisition device; the method comprises the following steps:

[0012] receiving a mode selection signal, the mode selection signal indicating whether to use a first control mode or a second control mode;

[0013] According to the mode selection signal, a corresponding control method is executed: if the mode selection signal indicates to use the first control mode, the image acquisition device is turned on, and the first control method is executed; if the mode selection signal indicates to use the second control mode, the image acquisition device is turned off, and the second control method is executed.

[0014] The embodiment of the present disclosure also provides an electronic device, comprising a processor and a memory, the memory storing machine readable instructions executable by the processor, and the machine readable instructions are executed by the processor to execute the foregoing method.

[0015] The embodiment of the present disclosure also provides a computer program product, comprising a computer program / instruction, which is executed by a processor to implement the steps of the foregoing method. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments of the present disclosure. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] FIG. 1 is a positioning control method of a surgical trolley provided by the embodiment of the present disclosure;

[0018] Fig. 2 is a structural diagram of a surgical trolley according to an embodiment of the present disclosure;

[0019] Fig. 3 is a structural diagram of a manual controller according to an embodiment of the present disclosure;

[0020] Fig. 4 is a schematic diagram of a positioning control process in a first control mode according to an embodiment of the present disclosure;

[0021] Fig. 5 is a schematic diagram of a positioning control process in a second control mode according to an embodiment of the present disclosure;

[0022] Fig. 6 shows a possible structure of an electronic device according to an embodiment of the present disclosure.

[0023] Fig. 1 shows a schematic diagram of a surgical trolley according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present disclosure will be described below with reference to the drawings in the embodiments of the present disclosure.

[0025] In this specification, many specific technical details are described in some places, so that those skilled in the art can understand the complete technical solutions. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation of the present application, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details can not be shown in detail, so as not to mislead the public about the inventive points of the present application.

[0026] In this specification, the drawings show the schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electrical and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of several embodiments of the present application, or by replacing or combining well-known content.

[0027] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Spatially relative terms, such as "under", "below", "lower", "over", "upper", "middle", "indside", "outside", "central", "lateral", "longitudinal", "vertical", "horizontal", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0028] As used herein, the terms "a," "an" and "the" are intended to encompass both singular and plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0029] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "piece," "module," "assembly," and "element" are used interchangeably.

[0030] The terms "instrument," "surgical instrument," and "surgical instruments" are used herein to describe a medical device configured to be inserted into a patient's body for performing a surgical or diagnostic procedure. The medical device generally includes an end effector. The end effector can be a surgical tool. The surgical tool is associated with one or more surgical operations. The end effector can be a forceps, a needle holder, a scissors, a bipolar cauterizer, a tissue stabilizer or retractor, a clip applier, a stapling device, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some instruments used by embodiments of the present disclosure further provide an articulating support (sometimes referred to as a "wrist," "joint") for the surgical tool. The articulating support can flexibly manipulate the position and / or orientation of the end effector relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom. Functional mechanical degrees of freedom can include jaws that open or close; or a blade that translates along a particular path. The instrument can also contain persistent information. The instrument can also include updatable storage (e.g., on a PCBA board within the instrument) information. The storage information can be updated by a surgical system. Accordingly, the system can provide one-way or two-way information communication between the instrument and one system component. The system can provide one-way or two-way information communication between the instrument and multiple system components.

[0031] The term "mating" (sometimes referred to as "connecting," "coupling," "mounting," "assembling") can be interpreted broadly. In a broad sense, "mating" is understood to be any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with one another. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two objects. Many objects and components can be used to mate multiple objects. For example, objects A and B can be mated by using object C. Furthermore, the term "removably coupled" or "removably mated" can be interpreted to mean a non-permanent coupling or mating situation between two objects; or a non-permanent coupling or mating situation between more objects. Removably coupled objects can be uncoupled and separated such that they no longer operate in conjunction with one another.

[0032] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive, "or" and "and / or" are to be interpreted as meaning any one or any combination. Thus "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will occur only when two or more elements, functions, steps or acts are in some way mutually exclusive from one another.

[0033] Overview of master-slave teleoperated laparoscopic surgical robot

[0034] Laparoscopic surgery robots generally include a surgeon control platform, a patient surgery platform, and an image platform. A surgeon sits at the surgeon control platform and watches a two-dimensional or three-dimensional image of a surgical area. The two-dimensional or three-dimensional image is transmitted by a laparoscope (sometimes referred to as an “endoscope”) placed inside a patient’s body. The surgeon manipulates the movement of a robotic arm on the patient surgery platform, as well as a surgical instrument or laparoscope attached to the robotic arm. The robotic arm is equivalent to a simulated human arm. The surgical instrument is equivalent to a simulated human hand. The robotic arm and surgical instrument provide a series of simulated human wrist motions to the surgeon. The robotic arm and surgical instrument filter the tremors of the human hand itself. Thus, laparoscopic surgery robots are increasingly widely used in surgery, especially in abdominal, thoracic, and general surgery.

[0035] The patient surgery platform generally includes a base, a column, a plurality of robotic arms, and surgical instrument manipulators. The plurality of robotic arms are connected to the column. The surgical instrument manipulators are mounted at the end of a support assembly of each robotic arm. Each robotic arm can mount one or more surgical instrument manipulators. The surgical instruments and / or laparoscopes are detachably coupled to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes. The surgical instruments and / or laparoscopes operate at a surgical site inside a patient’s body. Each surgical instrument manipulator can be allowed to control the associated surgical instrument. The control of the surgical instrument manipulator is in various forms of movement in one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is limited by mechanical or software constraints. Each surgical instrument is limited to rotating the associated surgical instrument about a center of motion on the surgical instrument, which remains stationary relative to the patient. The center of motion is generally located at the location where the surgical instrument enters the body wall. The center of motion is commonly referred to as a “telecenter” or “immobile point”.

[0036] The image platform generally includes a device (commonly an endoscope) with a video image capturing function, and one or more video displays. The video displays are used to display the surgical instruments in the captured images. Some laparoscopic surgery robots include optical devices. The optical devices transfer the images from inside the patient’s body to imaging sensors (e.g., CCD or CMOS sensors). The number of imaging sensors is one or more. The imaging sensors are connected to the distal end of the endoscope. The imaging sensors transfer the video images to the host of the image platform through steps such as photoelectric conversion. Subsequently, the host of the image platform performs image processing on the images. The processed images are displayed on the video displays for observation by other doctors or assistants.

[0037] The surgeon control platform typically includes a base, a foot pedal assembly, a stereo monitor, a master control arm, and a hand controller connected to the end of the master control arm. The surgeon can effectuate specific actions of the surgical instrument by controlling the hand controller and the foot pedal assembly. The surgeon can effectuate energy activation of the surgical instrument by controlling the hand controller and the foot pedal assembly. The surgeon control platform can be at a single location in the surgical system. The surgeon control platform can be distributed at two or more locations in the surgical system. The surgical system can consist of a laparoscopic surgical robot. The teleoperated master / slave operation can be accomplished according to a pre-set control degree. For example, the surgeon control platform at one location can be the master control as the primary surgeon, and the surgeon control platform at another location can be the slave control as the secondary surgeon. The master control can perform the primary surgical operation. The slave control can perform the secondary operation such as laparoscopic movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of performing one or more manual operations. The input device can be a joystick, an exoskeleton glove, a powered and gravity compensated manipulator, or the like. These input devices collect the surgeon's operation signals. The operation signals are processed by the control system to generate control signals. The control signals are transmitted to the robotic arm and the surgical instrument manipulator. The control signals control the remote motor on the surgical instrument manipulator to work. The remote motor working in turn controls the final movement of the surgical instrument.

[0038] Generally, the force generated by the remote motor is transmitted through a transmission system. The transmission system transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device that controls the manipulator can be placed at a location away from the patient. The input device that controls the manipulator can be placed in or outside the room where the patient is located, or even in a different city. Then, the input signals of the input device are transmitted to the control system. Those skilled in the art of remote manipulation, teleoperation, and remote presentation of surgery will be familiar with such a system and its components, which will not be described here.

[0039] Please refer to FIG. 2, which is a structure diagram of a surgical trolley provided by an embodiment of the present disclosure. The surgical trolley includes a surgical arm 7, a base driving mechanism 3, a position adjusting mechanism, a rotating mechanism 4, and a hand controller 2. The base driving mechanism 3, the position adjusting mechanism, the rotating mechanism 4, and the surgical arm 7 are connected in sequence. The rotating center of the rotating mechanism 4 is also provided with an image acquisition device 1.

[0040] In this embodiment, the position adjusting mechanism includes an extension mechanism 5 and a lifting mechanism 6. The extension mechanism is connected to the rotating mechanism 4, and the lifting mechanism 6 is connected to the extension mechanism 5. The other end of the lifting mechanism 6 is connected to the base driving mechanism 3. The extension mechanism can also rotate around the central axis of the lifting mechanism 6. Of course, in other embodiments, the extension mechanism 5 can also be replaced by a swing mechanism connected by two connecting rods.

[0041] The manual controller 2 comprises a trigger device which provides at least six degrees of freedom independent movement. The degree of triggering of the trigger device, the size of the control signal and the desired movement speed of the chassis driving mechanism 3, the position adjusting mechanism and the rotating mechanism 4 have a unique mapping relationship. Among the six degrees of freedom, three degrees of freedom correspond to the generation of a first control signal. The first control signal is used to indicate the movement of the telescopic mechanism and the lifting mechanism 6 to cause the rotating mechanism 4 to move in the three-dimensional space. One degree of freedom corresponds to the generation of a second control signal. The second control signal is used to indicate the movement of the rotating mechanism 4 to cause the surgical arm device to rotate in the horizontal plane. The last two degrees of freedom correspond to the generation of a third control signal. The third control signal is used to indicate the movement of the chassis driving mechanism 3 to cause the whole surgical trolley to move or rotate in the horizontal plane.

[0042] Please refer to FIG. 3, which is a structural diagram of the manual controller provided by the embodiment of the present disclosure. The manual controller 2 comprises a controller and a position adjusting knob 21. The controller is used to: control the telescopic mechanism 5 to extend when the position adjusting knob 21 is pulled upward; control the telescopic mechanism 5 to retract when the position adjusting knob 21 is pulled downward; control the telescopic mechanism 5 to rotate clockwise around the axis of the first rotating joint when the position adjusting knob 21 is pulled to the right; control the telescopic mechanism 5 to rotate counterclockwise around the axis of the first rotating joint when the position adjusting knob 21 is pulled to the left; control the rotating mechanism 4 to rotate clockwise around the axis of the second rotating joint when the position adjusting knob 21 is rotated clockwise; and control the rotating mechanism 4 to rotate counterclockwise around the axis of the second rotating joint when the position adjusting knob 21 is rotated counterclockwise.

[0043] In some embodiments, since pulling the position adjusting knob 21 up and down can control the telescopic mechanism 5 to extend or retract, pulling the position adjusting knob 21 left and right can control the telescopic mechanism 5 to rotate clockwise or counterclockwise around the axis of the first rotating joint. It can be obtained that when the position adjusting knob 21 is pulled obliquely, the controller receives a first control signal. The first control signal contains information for controlling the movement and rotation of the telescopic mechanism 5; accordingly, after the controller receives the first control signal, based on the principle of motion synthesis, the controller can control the telescopic mechanism 5 to move along an oblique line in the horizontal plane, i.e., the movement track of the telescopic mechanism 5 is a straight line displacement, thereby realizing the position adjustment of the telescopic mechanism 5 in the horizontal plane through a single operation of obliquely pulling the position adjusting knob 21, and improving the positioning efficiency.

[0044] In the present disclosure, obliquely pulling the position adjusting knob 21 can be understood as pulling the position adjusting knob 21 in a direction other than up, down, left and right. Moving along an oblique line in the horizontal plane can be understood as moving in the horizontal plane to a position other than the telescopic mechanism 5 extension or retraction point.

[0045] In the embodiments of the present disclosure, the movement of the telescopic mechanism 5 and the rotating mechanism 4 is controlled by positioning and adjusting the different operation modes (up and down, left and right, oblique, clockwise / counterclockwise rotation) of the positioning and adjusting knob 21. The intuitive operation mode of the positioning and adjusting knob 21 reduces the learning cost, so that even the medical staff who use it for the first time can quickly get started, and the ease of use of the system is improved.

[0046] In some optional embodiments, the manual controller 2 further comprises a lifting button 22; the controller is configured to control the lifting mechanism 6 to lift when the lifting button 22 is up-dialed, and control the lifting mechanism 6 to lower when the lifting button 22 is down-dialed.

[0047] Please refer to FIG. 1, which is a positioning control method of a surgical trolley provided by the embodiments of the present disclosure, specifically including:

[0048] Step S11, acquiring the picture collected by the image collection device below the rotating mechanism, and displaying the picture on the display screen for the operation user;

[0049] Step S12, acquiring at least one of the first control signal, the second control signal and the third control signal received by the manual controller;

[0050] Step S13, based on at least one of the first control signal, the second control signal and the third control signal, controlling the movement of at least one corresponding position adjustment mechanism, rotating mechanism and chassis driving mechanism, thereby realizing at least one of the movement of the surgical trolley in the horizontal plane, the movement of the surgical arm in the space and the rotation of the surgical arm in the horizontal plane.

[0051] When the surgical trolley is positioned, it is usually first positioned to a suitable position by controlling the chassis driving mechanism to realize the "coarse adjustment" process, and then the "fine adjustment" process is realized by controlling the position adjustment mechanism and the rotating mechanism. The following embodiments mainly introduce the control method of the "fine adjustment" process. One or more specific control processes are described in the following embodiments.

[0052] In the first embodiment of the present application, the surgical trolley works in the first control mode, and the specific control process includes:

[0053] First, before the operation personnel perform manual control, a first three-dimensional coordinate system is established with the highest stationary point of the position adjustment mechanism on the horizontal plane when the horizontal adjustment is the origin, and the first three-dimensional coordinate system includes a first horizontal axis, a first vertical axis and a first vertical axis; a second horizontal coordinate system is established with the center point of the image collection device as the origin, and the second horizontal coordinate system includes a second horizontal axis and a second vertical axis; a third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third vertical axis.

[0054] Then, the operator controls the positioning process of the operating trolley by operating the manual controller, which comprises:

[0055] In step S21, the position increment of the rotating mechanism in the first three-dimensional coordinate system is obtained according to the desired motion speed of the rotating mechanism and the control time, and the angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

[0056] In step S22, the target position of the rotating mechanism in the first three-dimensional coordinate system is obtained according to the initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment.

[0057] In step S23, the joints of the position adjustment mechanism are controlled to move based on the target position coordinates so that the rotating mechanism reaches the desired position.

[0058] The position increment is:

[0059] IncX is the position increment of the rotating mechanism in the first horizontal axis, IncY is the position increment of the rotating mechanism in the first vertical axis, V X2 is the desired motion speed of the rotating mechanism in the second horizontal axis direction, V Y2 is the desired motion speed of the rotating mechanism in the second vertical axis direction, t is the control time, and β is the angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

[0060] Therefore, the target position of the rotating mechanism in the first three-dimensional coordinate system is: Cur TarPosX = X Cur Cur + IncX TarPosY = Y Cur + IncY

[0061] wherein TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the coordinate value of the target position in the first vertical axis, XCur is the initial coordinate value of the rotating mechanism in the first horizontal axis, and YCur is the initial coordinate value of the rotating mechanism in the first vertical axis. β = α + θ; α is the rotation angle of the rotating mechanism relative to the zero position, and θ is the rotation angle of the telescopic mechanism relative to the zero position about the central axis of the lifting mechanism.

[0062] In the embodiments of the present disclosure, the operator can directly observe the picture below the rotating mechanism on the display screen and intuitively see the actual working area, thereby accurately controlling and adjusting. This visual feedback mechanism greatly improves the accuracy and efficiency of the operation and reduces the problem of inaccurate positioning caused by human judgment errors. Traditional operating trolley positioning usually requires the cooperation of multiple personnel, including operators and commanders. The present solution enables the operator to independently complete the positioning work through direct feedback from the display screen. The present solution does not require additional manpower, thereby reducing labor costs.

[0063] Specifically, the manual controller 2 further comprises a display screen 23; the image acquisition device 1 acquires a picture below the rotating mechanism 4, and the picture is displayed on the display screen 23. Please refer to FIG. 4, which is a schematic diagram of the positioning control process in the first control mode according to the embodiment of the present disclosure. The rectangle with the center point A represents the initial position and initial angle of the rotating mechanism 4, and the rectangle with the center point B represents the final target position and target angle of the rotating mechanism 4. The position and angle of the rotating mechanism correspond to the field of view of the display picture on the display screen. The first three-dimensional coordinate system takes the center point of the first rotating joint as the origin O, OA is the initial length L of the telescopic mechanism 5, OB is the length L1 of the telescopic mechanism 5 after positioning, the X-axis is the first horizontal axis, the Y-axis is the first vertical axis, and θ is the rotation angle of the telescopic mechanism 5 relative to the Y-axis. The initial coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are (0, L), and the terminal coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are (L1×sinθ, L1×cosθ). The origin of the second horizontal coordinate system is the center point of the rectangle, the second horizontal axis (x-axis) is along the length direction of the rectangle, and the second vertical axis (y-axis) is along the width direction of the rectangle.

[0064] Similarly, the position adjustment knob 21 can be used to adjust the position and orientation angle of the rotating mechanism 4 in the horizontal direction. The position adjustment knob 21 can be adjusted leftward and rightward to move the rotating mechanism 4 in the X-axis direction. When the position adjustment knob 21 is adjusted rightward, the rotating mechanism 4 moves in the positive direction of the X-axis; when the position adjustment knob 21 is adjusted leftward, the rotating mechanism 4 moves in the negative direction of the X-axis. The position adjustment knob 21 can be adjusted upward and downward to move the rotating mechanism 4 in the Y-axis direction. When the position adjustment knob 21 is adjusted upward, the rotating mechanism 4 moves in the positive direction of the Y-axis; when the position adjustment knob 21 is adjusted downward, the rotating mechanism 4 moves in the negative direction of the Y-axis.

[0065] The position adjustment knob 21 can be rotated to rotate the rotating mechanism 4 clockwise or counterclockwise around the origin O. When the position adjustment knob 21 is rotated clockwise, the rotating mechanism 4 rotates clockwise around the origin O; when the position adjustment knob 21 is rotated counterclockwise, the rotating mechanism 4 rotates counterclockwise around the origin O. When the position adjustment knob 21 starts to adjust, the desired motion speed in a certain unit of time can be obtained.

[0066] Correspondingly, the position adjustment knob 21 can be adjusted obliquely to control the rotating mechanism 4 to move in the X-axis direction while moving in the Y-axis direction, so as to realize the linear movement of the rotating mechanism 4 in the horizontal plane formed by the first horizontal axis and the first vertical axis based on the principle of motion synthesis. Thus, the position adjustment knob 21 can be obliquely adjusted to adjust the position of the rotating mechanism 4 in the horizontal plane formed by the first horizontal axis and the first vertical axis, thereby improving the positioning efficiency.

[0067] Because the positioning adjusting knob 21 is operated with the second horizontal coordinate system in which the display screen 23 is located as the reference in the positioning control process, a transpose matrix is needed to make coordinate system conversion to obtain the coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system.

[0068] Specifically, the angle of the rotating mechanism relative to the first horizontal axis is β = α + θ.

[0069] Wherein, α is the rotating angle of the rotating mechanism 4, and θ is the angle of the telescopic mechanism 5 rotating around the first rotating joint axis.

[0070] The coordinate increment of the rotating mechanism 4 in the first horizontal axis X and the first vertical axis Y is:

[0071] Wherein, IncX is the coordinate increment of the rotating mechanism 4 in the first horizontal axis, IncY is the coordinate increment of the rotating mechanism 4 in the first vertical axis, V x2 is the movement speed of the rotating mechanism 4 in the second horizontal axis direction, V y2 is the movement speed of the rotating mechanism 4 in the second vertical axis direction, and t is the control time (the control time is the program running period, generally within 10 ms).

[0072] Wherein, when the positioning adjusting knob 21 is up and down, the rotating mechanism 4 generates the coordinate increment in the first vertical axis Y. When the positioning adjusting knob 21 is left and right, the rotating mechanism 4 generates the coordinate increment in the first horizontal axis X. When the positioning adjusting knob 21 is obliquely moved, the rotating mechanism 4 generates the coordinate increment in the first horizontal axis X and the coordinate increment in the first vertical axis Y.

[0073] The end point coordinates of the rotating mechanism 4 in the first three-dimensional coordinate system are: TarPosX = X Cur + IncX TarPosY = Y Cur + IncY

[0074] Wherein, TarPosX is the value of the end point in the first horizontal axis, TarPosY is the value of the end point in the first vertical axis, X Cur is the value of the initial point in the first horizontal axis, Y Cur is the value of the initial point in the first vertical axis. It is to be noted that the embodiment is to obtain the coordinate change of the rotating mechanism in the horizontal plane under the condition that the Z-axis coordinate of the rotating mechanism in the first three-dimensional coordinate system is unchanged. If the Z-axis coordinate of the rotating mechanism changes, the final Z-axis coordinate of the rotating mechanism is obtained according to the initial Z-axis coordinate of the rotating mechanism, the lifting speed and the control time. In the following embodiment, the method for obtaining the Z-axis coordinate of the rotating mechanism will not be described again, and only the method for obtaining the X-axis and Y-axis coordinates will be discussed.

[0075] When the positioning adjustment knob 21 is moved up and down, the rotating mechanism 4 moves along the first longitudinal axis Y. When the positioning adjustment knob 21 is moved left and right, the rotating mechanism 4 moves along the first horizontal axis X. When the positioning adjustment knob 21 is moved obliquely, the rotating mechanism 4 moves along an oblique line intersecting the first horizontal axis X and the first longitudinal axis Y.

[0076] In this embodiment, the display screen is arranged on the rotating mechanism 4, and the operator operates the positioning adjustment knob 21 through the display screen. The display screen takes the second horizontal coordinate system as the reference, and the controller adjusts the position of the rotating mechanism 4 according to the control signal, which takes the first three-dimensional coordinate system as the reference. When the rotating mechanism 4 rotates, the relative relationship between the second horizontal coordinate system and the first three-dimensional coordinate system in the display screen changes. At this time, the operator's operation on the positioning adjustment knob 21 is input in the second horizontal coordinate system, while the controller adjusts the position of the rotating mechanism 4 according to the first three-dimensional coordinate system. Therefore, the control signal in the second horizontal coordinate system is converted into the first three-dimensional coordinate system by using the transpose matrix, so as to solve the difference between the two coordinate systems. Correspondingly, the controller can accurately adjust the position of the rotating mechanism 4 in the first three-dimensional coordinate system. In this way, the control signal in the second horizontal coordinate system is converted into the first three-dimensional coordinate system by using the transpose matrix, which can avoid the operation deviation caused by the change of the relative relationship between the two coordinate systems due to the rotation of the rotating mechanism 4, and ensure that the operator's control intention is consistent with the actual position adjustment of the controller.

[0077] In other words, the operator operates according to the display screen. If the operator's input command is not converted between the coordinate systems, once the rotating mechanism 4 rotates by an arbitrary angle other than 0, the adjustment process will not be intuitive. For example, the operator wants to operate the rotating mechanism to move to the right of the display screen, but the rotating mechanism may move along the positive direction of the X axis without reaching the desired effect. Therefore, the operator's input command is converted between the coordinate systems in this embodiment. In this embodiment, the operation effect of each button can remain unchanged regardless of whether the rotating mechanism rotates.

[0078] In the second embodiment of the present application, the operating table works in the second control mode, and the specific control process includes:

[0079] First, before the operator performs manual control, the first three-dimensional coordinate system is established with the highest stationary point of the position adjustment mechanism on the horizontal plane during horizontal adjustment as the origin. The first three-dimensional coordinate system includes a first horizontal axis, a first longitudinal axis, and a first vertical axis. The third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, and the third horizontal coordinate system includes a third horizontal axis and a third longitudinal axis.

[0080] Then, the control process of the operator controlling the operating trolley to position by operating the manual controller includes:

[0081] Step S31, receiving the first control signal, controlling the rotating mechanism to move in the first three-dimensional coordinate system, and keeping the orientation of the rotating mechanism unchanged during the movement;

[0082] Step S32, obtaining and outputting the target position of the rotating mechanism according to the initial coordinate value of the rotating mechanism, and the expected movement speed and control time of the rotating mechanism in the first horizontal axis and the first vertical axis.

[0083] Wherein, the target position of the rotating mechanism is: TarPosX = XCur + VX1 x t TarPosY = YCur + VY1 x t

[0084] Wherein, TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the value of the target position in the first vertical axis, XCur is the initial coordinate value of the rotating mechanism in the first horizontal axis, YCur is the initial coordinate value of the initial point in the first vertical axis, VX1 is the expected movement speed of the rotating mechanism in the first horizontal axis direction, VY1 is the expected movement speed of the rotating mechanism in the first vertical axis direction, and t is the control time.

[0085] In the second embodiment, the control process of the operator controlling the operating trolley to position by operating the manual controller further includes:

[0086] Step S41, receiving the second control signal, and obtaining the expected rotating speed of the rotating mechanism;

[0087] Step S42, obtaining and outputting the target angle of the rotating mechanism according to the initial angle of the rotating mechanism, and the expected rotating speed and control time;

[0088] Step S43, controlling the rotating mechanism to rotate to the expected posture based on the target angle.

[0089] Specifically, please refer to FIG. 5, which is a schematic diagram of the positioning control process in the second control mode provided by the embodiment of the present disclosure. In the second control mode, the origin O of the first three-dimensional coordinate system is taken as the reference point. As shown in the figure, the rectangle with the center point A represents the initial position and initial angle of the rotating mechanism 4, and the rectangle with the center point B represents the final target position and target angle of the rotating mechanism 4. The first three-dimensional coordinate system takes the center point of the first rotating joint as the origin O, OA is the initial length L of the telescopic mechanism 5, OB is the length L1 of the telescopic mechanism 5 after positioning, X axis is the first horizontal axis, Y axis is the first vertical axis, and θ is the rotation angle of the telescopic mechanism 5 relative to the Y axis. The initial coordinate of the rotating mechanism 4 is (0, L), and the terminal coordinate of the rotating mechanism 4 is (L1 x sinθ, L1 x cosθ).

[0090] The position adjustment knob 21 can be adjusted to adjust the position and orientation angle of the rotating mechanism 4 in the horizontal direction. The position adjustment knob 21 is adjusted to the left and right to move the rotating mechanism 4 in the X-axis direction, wherein the position adjustment knob 21 is adjusted to the right, the rotating mechanism 4 moves in the positive direction of the X-axis, and the position adjustment knob 21 is adjusted to the left, the rotating mechanism 4 moves in the negative direction of the X-axis. The position adjustment knob 21 is adjusted up and down to move the rotating mechanism 4 in the Y-axis direction, wherein the position adjustment knob 21 is adjusted up, the rotating mechanism 4 moves in the positive direction of the Y-axis, and the position adjustment knob 21 is adjusted down, the rotating mechanism 4 moves in the negative direction of the Y-axis. The position adjustment knob 21 is rotated clockwise or counterclockwise to rotate the rotating mechanism 4 around the origin O, wherein the position adjustment knob 21 is rotated clockwise, the rotating mechanism 4 rotates clockwise around the origin O, and the position adjustment knob 21 is rotated counterclockwise, the rotating mechanism 4 rotates counterclockwise around the origin O.

[0091] When the position adjustment knob 21 starts to adjust, the desired movement speed for a certain unit of time can be obtained, for example, the position adjustment knob 21 is adjusted to a certain angle in one direction and lasts for a certain time t, the rotating mechanism 4 moves correspondingly, and the movement speed of the rotating mechanism 4 (the desired movement speed) remains unchanged, and the control time of the rotating mechanism 4 is t.

[0092] Alternatively, the position adjustment knob 21 is adjusted to a certain angle in one direction and lasts for a certain time t, the movement speed of the rotating mechanism 4 (the desired movement speed) uses a changing desired movement speed, for example, the greater the adjustment angle, the faster the desired movement speed, or the faster the adjustment speed, the faster the desired movement speed, and the specific definition depends on the definition of the knob control amount); and the control time of the rotating mechanism 4 is t.

[0093] Then, the end point coordinates of the rotating mechanism 4 are: TarPosX=X Cur +V x1 ×t TarPosY=Y Cur +V y1 ×t

[0094] Wherein, TarPosX is the value of the end point on the first horizontal axis, TarPosY is the value of the end point on the first vertical axis, X Cur is the value of the initial point on the first horizontal axis, Y Cur is the value of the initial point on the first vertical axis, V x1 is the movement speed of the rotating mechanism 4 in the first horizontal axis direction, and V y1 is the movement speed of the rotating mechanism 4 in the first vertical axis direction.

[0095] When the positioning adjustment knob 21 is not rotated, and only moved leftward, rightward, upward and downward, the angle of the rotating mechanism 4 remains unchanged. However, since the telescopic mechanism 5 is connected with the rotating mechanism 4, the movement of the rotating mechanism 4 will cause the rotation of the telescopic mechanism 5, and the rotation of the telescopic mechanism 5 will cause the change of the angle of the rotating mechanism 4. Therefore, in order to keep the angle of the rotating mechanism 4 unchanged, compensation adjustment is needed: according to the end point coordinates of the rotating mechanism 4, the rotation angle θ of the telescopic mechanism caused by the movement of the rotating mechanism 4 can be obtained. According to the geometric principle, during the adjustment process, the rotation angle α of the rotating mechanism 4 changes with the rotation angle θ of the telescopic mechanism 5, i.e. α = - θ. In other words, during the adjustment process, the rotating mechanism 4 needs to rotate reversely by a rotation angle α to offset the influence caused by the rotation of the telescopic mechanism 5. Thus, by making the rotating mechanism 4 rotate reversely by a rotation angle α, the angle of the rotating mechanism 4 remains unchanged.

[0096] In some embodiments, the controller receives the second control signal at the same time as receiving the first control signal, i.e. when the positioning adjustment knob 21 is moved leftward, rightward, upward and downward, the positioning adjustment knob 21 is also rotated clockwise or counterclockwise, then the rotation angle α of the rotating mechanism 4 is determined according to the control rotation angle and the rotation angle θ of the telescopic mechanism 5, i.e.

[0097] In the third embodiment of the present application, the operating table trolley can work in the first control mode or the second control mode, and the specific control process includes:

[0098] Firstly, before the manual control by the operator, a first three-dimensional coordinate system is established with the highest stationary point of the position adjustment mechanism on the horizontal plane during the horizontal adjustment as the origin, the first three-dimensional coordinate system including a first horizontal axis, a first vertical axis and a first vertical axis; a second horizontal coordinate system is established with the center point of the image acquisition device as the origin, the second horizontal coordinate system including a second horizontal axis and a second vertical axis; and a third horizontal coordinate system is established with the center point of the driving wheel of the chassis driving mechanism as the origin, the third horizontal coordinate system including a third horizontal axis and a third vertical axis.

[0099] Then, the control process of the operator selecting the first control mode or the second control mode includes:

[0100] Step S51, receiving a mode selection signal, the mode selection signal indicating the use of the first control mode or the second control mode;

[0101] Step S52, according to the mode selection signal, executing the corresponding control method: if the mode selection signal indicates the use of the first control mode, turning on the image acquisition device, and executing the first control method; if the mode selection signal indicates the use of the second control mode, turning off the image acquisition device, and executing the second control method.

[0102] If the first control method is executed, the control process of the operator operating the manual controller to control the positioning of the operating trolley is the same as the corresponding process of the first embodiment. If the second control method is executed, the control process of the operator operating the manual controller to control the positioning of the operating trolley is the same as the corresponding process of the second embodiment.

[0103] In the embodiments of the present disclosure, the method provides two control modes (a first control mode and a second control mode). Medical staff can flexibly choose the most suitable control mode according to actual needs and personal preferences. This flexibility not only improves work efficiency, but also enhances user experience. In the first control mode, by starting the image acquisition device and displaying the real-time image under the rotating laser on the display screen, the operator can directly observe and adjust the position of the operating trolley. The first control mode does not require the command of other auxiliary personnel. The first control mode makes the adjustment process more intuitive and convenient, reducing communication costs and errors. The second control mode takes into account the operation habits of existing medical staff. Operation habits can be more accustomed to traditional operation methods for some medical staff. The traditional operation method is to adjust under the command of auxiliary personnel, and the second control mode allows them to operate according to the original habit, thereby realizing the compatibility and adaptation of new and old operation methods.

[0104] FIG. 6 shows a possible structure of an electronic device provided by an embodiment of the present disclosure. Referring to FIG. 6, the electronic device includes a processor, a memory and a communication interface, which are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanism (not shown).

[0105] The memory includes one or more (only one is shown in the figure), which can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) and the like. The processor and other possible components can access the memory to read and / or write data therein.

[0106] The processor includes one or more (only one is shown in the figure), which can be an integrated circuit chip with signal processing capability. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a micro controller unit (MCU), a network processor (NP) or other conventional processors; it can also be a special-purpose processor, including a neural network processing unit (NPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Moreover, when the processor is multiple, part of them can be general-purpose processors, and the other part can be special-purpose processors.

[0107] The communication interface includes one or more (only one is shown in the figure), which can be used for direct or indirect communication with other devices to interact with data. The communication interface can include an interface for wired and / or wireless communication.

[0108] One or more computer program instructions can be stored in the memory, and the processor can read and run the computer program instructions to implement the method provided by the embodiments of the present disclosure.

[0109] It can be understood that the structure shown in FIG. 6 is only schematic, and the electronic device can further include more or less components than those shown in FIG. 6, or have a different structure from that shown in FIG. 6. The components shown in FIG. 6 can be implemented in hardware, software or a combination thereof. The electronic device can be a physical device, such as a PC, a notebook computer, a tablet computer, a mobile phone, a server, an embedded device, etc., or a virtual device, such as a virtual machine, a virtualization container, etc. Moreover, the electronic device is not limited to a single device, but can also be a combination of multiple devices or a cluster of a large number of devices.

[0110] The computer program product provided by the embodiments of the present disclosure includes computer programs / instructions, which are executed by the processor to implement the steps of any of the above-mentioned methods.

[0111] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. The embodiments described above are merely exemplary, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0112] In addition, the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0113] In addition, the functional modules in each of the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0114] In this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations.

[0115] The above only describes the embodiments of the present application, and is not used to limit the protection scope of the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning control method of a surgical trolley, the surgical trolley comprising a surgical arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism and a manual controller; the chassis driving mechanism, the position adjusting mechanism, the rotating mechanism and the surgical arm are connected in sequence; a rotation center of the rotating mechanism is further provided with an image acquisition device; the method comprising: acquiring a picture below the rotating mechanism collected by the image acquisition device, and displaying the picture on a display screen to an operating user; acquiring at least one of a first control signal, a second control signal and a third control signal received by the manual controller; wherein the first control signal is used to indicate that movement of the position adjusting mechanism causes movement of the rotating mechanism in a three-dimensional space, the second control signal is used to indicate that movement of the rotating mechanism causes rotation of the surgical arm in a horizontal plane, and the third control signal is used to indicate that movement of the chassis driving mechanism causes movement or rotation of the position adjusting mechanism in the horizontal plane; based on at least one of the first control signal, the second control signal and the third control signal, controlling movement of at least one corresponding mechanism of the position adjusting mechanism, the rotating mechanism and the chassis driving mechanism, thereby realizing at least one of movement of the surgical trolley in the horizontal plane, movement of the surgical arm in space and rotation of the surgical arm in the horizontal plane, respectively. 2.The method of claim 1, before the acquiring at least one of the first control signal, the second control signal and the third control signal received by the manual controller, further comprising: establishing a first three-dimensional coordinate system with a highest stationary point of the position adjusting mechanism on a horizontal plane when horizontally adjusted as an origin, the first three-dimensional coordinate system comprising a first horizontal axis, a first vertical axis and a first vertical axis; establishing a second horizontal coordinate system with a center point of the image acquisition device as an origin, the second horizontal coordinate system comprising a second horizontal axis and a second vertical axis; establishing a third horizontal coordinate system with a center point of a driving wheel of the chassis driving mechanism as an origin, the third horizontal coordinate system comprising a third horizontal axis and a third vertical axis.

3. The method of claim 2, wherein the manual controller comprises a trigger device providing at least six degrees of freedom of independent movement, the degree to which the trigger device is triggered, the magnitude of the control signal having a unique mapping to the desired speed of movement of the chassis drive mechanism, the position adjustment mechanism, and the rotation mechanism; and wherein, Among the six degrees of freedom, three degrees of freedom correspond to the generation of the first control signal, one degree of freedom corresponds to the generation of the second control signal, and the last two degrees of freedom correspond to the generation of the third control signal. 4.The method of claim 3, further comprising: obtaining a position increment of the rotating mechanism in the first three-dimensional coordinate system according to a desired movement speed and a control time of the rotating mechanism and an angle difference of the second horizontal coordinate system relative to the first three-dimensional coordinate system; obtaining a target position of the rotating mechanism in the first three-dimensional coordinate system according to an initial position of the rotating mechanism in the first three-dimensional coordinate system and the position increment; and controlling movement of each joint of the position adjusting mechanism based on coordinates of the target position to enable the rotating mechanism to reach a desired position.

5. The method of claim 4, wherein, The position increment is: Wherein, IncX is the position increment of the rotating mechanism in the first horizontal axis, IncY is the position increment of the rotating mechanism in the first vertical axis, VX2 is the desired movement speed of the rotating mechanism in the second horizontal axis direction, VY2 is the desired movement speed of the rotating mechanism in the second vertical axis direction, t is the control time, and β is the angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system.

6. The method of claim 5, wherein, The target position of the rotation mechanism in the first three-dimensional coordinate system is: TarPosX=X Cur +IncX TarPosY=Y Cur +IncY Wherein, TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the coordinate value of the target position in the first vertical axis, XCur is the initial coordinate value of the rotating mechanism in the first horizontal axis, and YCur is the initial coordinate value of the rotating mechanism in the first vertical axis.

7. The method of claim 5 or 6, wherein, The position adjusting mechanism comprises a telescopic mechanism connected to the rotating mechanism and a lifting mechanism connected to the telescopic mechanism, and the other end of the lifting mechanism is connected to the chassis driving mechanism. The telescopic mechanism can also rotate around the central axis of the lifting mechanism. β = α + θ Wherein, α is the rotation angle of the rotating mechanism relative to the zero position, and θ is the rotation angle of the telescopic mechanism around the central axis of the lifting mechanism relative to the zero position.

8. The method of claim 3, further comprising: receiving the first control signal to control the rotating mechanism to move in the first three-dimensional coordinate system while keeping the orientation of the rotating mechanism unchanged during the movement; obtaining and outputting the target position of the rotating mechanism according to the initial coordinate value of the rotating mechanism and the desired movement speed of the rotating mechanism in the first horizontal axis and the first vertical axis and the control time.

9. The method of claim 8, wherein, The target position of the rotating mechanism is: TarPosX = XCur + VX1 × t TarPosY = YCur + VY1 × t Wherein, TarPosX is the coordinate value of the target position in the first horizontal axis, TarPosY is the coordinate value of the target position in the first vertical axis, XCur is the initial coordinate value of the rotating mechanism in the first horizontal axis, YCur is the initial coordinate value of the initial point in the first vertical axis, VX1 is the desired movement speed of the rotating mechanism in the first horizontal axis direction, VY1 is the desired movement speed of the rotating mechanism in the first vertical axis direction, and t is the control time.

10. The method of claim 3, further comprising: receiving the second control signal to obtain the desired rotation speed of the rotating mechanism; obtaining and outputting the target angle of the rotating mechanism according to the initial angle of the rotating mechanism and the desired rotation speed and the control time; and controlling the rotating mechanism to rotate to the desired posture based on the target angle.

11. A positioning control method of a surgical trolley, wherein, The operating trolley comprises an operating arm, a chassis driving mechanism, a position adjusting mechanism, a rotating mechanism, and a manual controller. The chassis driving mechanism, the position adjusting mechanism, the rotating mechanism, and the operating arm are connected in sequence. The rotating center of the rotating mechanism is also provided with an image acquisition device. The method comprises: receiving a mode selection signal, the mode selection signal indicating the use of a first control mode or a second control mode; According to the mode selection signal, a corresponding control method is executed: if the mode selection signal indicates to use the first control mode, the image acquisition device is turned on, and the first control method is executed; if the mode selection signal indicates to use the second control mode, the image acquisition device is turned off, and the second control method is executed.

12. The method of claim 11, wherein, The execution of the first control method comprises: According to the desired motion speed and control time of the rotating mechanism, and the angle difference between the second horizontal coordinate system and the first three-dimensional coordinate system, a position increment of the rotating mechanism in the first three-dimensional coordinate system is obtained; According to the initial position of the rotating mechanism in the first three-dimensional coordinate system, and the position increment, a target position of the rotating mechanism in the first three-dimensional coordinate system is obtained; Based on the target position coordinate, the motion of each joint of the position adjustment mechanism is controlled to make the rotating mechanism reach the desired position.

13. The method of claim 11, wherein, The execution of the second control method comprises: A first control signal is received to control the motion of the rotating mechanism in the first three-dimensional coordinate system, and the orientation of the rotating mechanism is kept unchanged during the motion; According to the initial coordinate value of the rotating mechanism, and the desired motion speed and control time of the rotating mechanism in the first horizontal axis and the first vertical axis, a target position of the rotating mechanism is obtained and outputted.

14. The method of claim 11, wherein the execution of the second control method further comprises: A second control signal is received to obtain the desired rotation speed of the rotating mechanism; According to the initial angle of the rotating mechanism, and the desired rotation speed and control time, a target angle of the rotating mechanism is obtained and outputted; Based on the target angle, the rotating mechanism is controlled to rotate to the desired posture.

15. An electronic device comprising: A processor and a memory, the memory stores machine readable instructions executable by the processor, when the machine readable instructions are executed by the processor, the method of any one of claims 1-14 is executed.

16. A computer program product comprising computer programs / instructions, when executed by a processor, implement the steps of the method of any one of claims 1-14.

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