CN117426946B - A coupled operating table system - Google Patents

Abstract

The invention discloses a coupling operating table system, which relates to the field of medical operating tables and comprises the following components in a pairing mode: the output end of the first mechanical arm system is rotationally connected with the first operation bed board; the output end of the second mechanical arm system is rotationally connected with the second operation bed board; so that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in the separated state, the surgical bed plate can be rotated circumferentially in the separated state. The invention not only realizes all functions of the whole-position and rapid-position switching operating table, but also reduces occupation of peripheral space of an operation bed board by arranging the mechanical arm system, and can adjust the position and the length of the mechanical arm where the output end is positioned according to the needs, thereby reducing influence on an operation area to the greatest extent; under the control of a computer system, the whole-course automation of the coupling and separation states and various body positions is realized.

Description

A coupled operating table system

Technical Field

The invention relates to the field of medical operating tables, and in particular to a coupled operating table system.

Background technique

Surgery involves complex surgical sites and corresponding body positions, simultaneous exposure of multiple surgical sites, and quick switching of multiple surgical positions. The realization of all this depends on the function of the operating table.

Taking waist and abdomen surgery as an example, the commonly used surgical sites and corresponding positions are as follows: the lithotomy position (supine + hip and knee flexion) corresponds to the surgeon performing transurethral, transvaginal, transanal and perineal surgery between the legs of the supine patient; the lateral position corresponds to the incision for lumbar and back surgery; the oblique lateral position corresponds to the simultaneous approach of lumbar and back and transurethral approach; the prone position corresponds to the incision for lumbar and back surgery; the supine position corresponds to the incision for upper and lower abdomen surgery, etc. Moreover, in recent years, minimally invasive surgical techniques have developed rapidly, and surgical positions have also been innovated. From the five basic positions commonly used in open surgery in the past: lithotomy position, supine position, oblique lateral position, lateral position, prone position, a large number of new positions have been derived, a total of about 20, such as: the lateral position has derived the lateral position + folding knife position, the lateral position + hip and knee flexion position, the oblique lateral position has derived the oblique lateral position + hip and knee flexion position, the oblique lateral position + folding knife position, etc.

From the above, we can see that surgeries on different parts of the body require corresponding surgical positions. The current clinical situation is that many surgical positions are required and each position requires manual movement of the patient to be implemented; what is more troublesome is that during the operation, the patient needs to be manually moved and switched between the various positions, because the patient is in a state of muscle relaxation after anesthesia, and each manual movement of the patient is a huge risk.

An operating table that can switch between all positions and quickly refers to an operating table that can implement all of the approximately 20 positions mentioned above, and can quickly switch between various positions. The lithotomy position (supine position + hip and knee flexion position) is used in many clinical specialties. It is very difficult to implement quick position switching in the lithotomy position. The lithotomy position is the decisive position for the operating table that can switch between all positions and quickly. However, the characteristic of the lithotomy position that requires the legs to be separated determines that the rotating actuator of the operating table that can achieve the lithotomy position and quick position switching must be designed in the middle of the operating table, and when the rotating actuator is in the middle, it will inevitably affect and hinder the surgical area. These difficulties have slowed the development of operating tables that can achieve the lithotomy position and quick position switching. Clinically, once the lithotomy position, oblique lateral position, and lateral position are involved, it is completely dependent on manual labor.

Patent CN114404201 discloses a full-position and quick-position switching operating table solution that can achieve all five basic surgical positions and their derivative positions, multiple surgical site exposure, and quick position switching. Its main design idea is to use the annular component as the rotating execution structure of the operating table. At the same time, by folding the annular component, the part of the arc-shaped component that does not play a supporting role temporarily moves out of the plane of the annular component to expose the surgical area. Relying on the foldable annular component as a rotating actuator solves the problem of full-position and quick position switching to a certain extent, but it still has the following problems:

(1) In the patent, “the surgical bed board can be detachably connected within the hollow space of the rotating component” means that the diameter of the annular component must be larger than the width of the surgical bed board, and the annular component + bed board support frame surrounds the surgical bed board, and serves as a rotating actuator (annular component + bed board support frame) on the working surface, bottom surface, and two side surfaces of the surgical bed board. Its large size itself is an obstacle to the surgical area.

(2) In this patent, although each arc-shaped component can be removed under different circumstances, due to the influence of the operating table, the table support frame, the rotating wheel and the limiting wheel, not every arc-shaped component can be removed at any rotation angle. As a result, the operating table can be rotated to any angle, but only at a specific rotation angle can the annular component be removed by folding, exposing the operating area so that the operation can be performed; even worse is that folding only removes the obstruction of half of the annular component to the operating area. At any rotation angle, the other half of the annular component + the table support frame always exist in the operating area or around the operating area, which has a certain degree of impact not only on the surgeon but also on the assistant.

(3) Moreover, in the oblique lateral position or lateral position, the working surface, bottom surface, and upward side of the operating table can all be the operating area; the size and position of the annular component and the bed support frame are fixed: their length cannot be reduced, and the angle between the operating table and the bed support frame cannot be adjusted. At this time, as a rotating actuator, it greatly hinders the operating area.

(4) There are support seats and other structures under the operating table, which is very unfavorable for X-ray fluoroscopy in the supine position. If X-ray fluoroscopy is required, it is necessary to switch to the oblique lateral position or lateral position.

(5) Before and after switching between the supine and prone positions, the operating table board above the patient's body needs to be manually disassembled and installed. Since the manual operation is performed close to the patient's body, there is a risk of injuring the patient. In addition, the operating table board has inherent requirements for structural strength. The weight of the operating table board depends entirely on manual disassembly and installation, and the willingness of medical staff to accept it must also be considered. Therefore, it seriously affects the further increase of weight to add more functions to the operating table board.

In addition, in the operating table solutions with robotic arms, such as US2022125466, US20190105785, and CN115957007, the robotic arms are only arranged around the bed board to facilitate the robotic arms to perform surgery or other auxiliary work, and the movement of the robotic arms does not cause the position of the operating bed board to change.

US20190255359 discloses a solution for a mechanical arm to control the movement of a bed board, the purpose of which is to transfer the patient into the imaging examination area and rotate the patient's body before performing an imaging examination. The rotation plane of its rotating part (connected to the side of the end of the bed board) is perpendicular to the plane of movement of the mechanical arm. The two have no coordinated or cooperative effect on the circumferential rotation of the bed board. The functions of the two are independent of each other, that is, multiple mechanical arms move the bed board forward and backward, and the rotating part connected to the side of the end of the bed board can make the bed board rotate circumferentially. This solution provides an examination bed, not an operating table. It can achieve circumferential rotation by means of a bed board + restraining the patient, but it cannot be a solution for an operating table, especially a solution for an operating table in all positions, because the mechanical arm is an obstruction to the operating area in any position; when in the prone position, the bed board covers the patient, and the non-detachable bed board completely blocks the operating area, making it impossible to perform surgery; when in the lateral position, the restraint device also becomes an obstruction to the operating area. In addition, the solution of arranging the rotating part on the side of the bed board end is only applicable to the situation where the patient lies on it for a short time. Obviously, the solution does not consider the weight relationship of the entire bed board as to where the rotating part is connected.

Summary of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a coupled operating table system, which serves as an operating table with all positions and quick position switching, and not only fully meets the needs of all five basic surgical positions and their derivative positions, simultaneous exposure of multiple surgical sites, and quick switching of multiple positions; moreover, by setting up a robotic arm system, the space occupied by the operating bed is reduced, and the position and length of the robotic arm where the output end is located can be adjusted as needed to minimize the impact on the operating area; under the control of the computer system, the coupling, separation states and various positions are fully automated.

In order to achieve the above object, the present invention is implemented through the following technical solutions:

An embodiment of the present invention provides a coupled operating table system, comprising: a first robotic arm system, the output end of which is rotatably connected to a first operating table; and a second robotic arm system, the output end of which is rotatably connected to a second operating table;

So that the coupled operating table system is in: a coupled state, in which the operating table can rotate circumferentially; or a separated state, in which the operating table can rotate circumferentially.

As a further implementation method, the coupling state refers to that the working surface of the first operating table board and the working surface of the second operating table board are arranged face to face with a set distance, and an accommodation space is formed therebetween, which can limit the movement of the patient's body in the accommodation space.

As a further implementation method, the circumferential rotation of the operating bed in the coupled state means that in the coupled state, the first operating bed and the second operating bed rotate synchronously in the circumferential direction during the rotation process, and the accommodation space between the two remains stable, which can limit the movement of the patient's body in the accommodation space.

As a further implementation method, a first rotating member is arranged between the output end of the first robotic arm system and the first operating bed, and the first rotating member can cause the first operating bed to rotate circumferentially; a second rotating member is arranged between the output end of the second robotic arm system and the second operating bed, and the second rotating member can cause the second operating bed to rotate circumferentially.

As a further implementation method, the first robotic arm system and the second robotic arm system are arranged in left and right pairs.

As a further implementation, the mechanical motion output by the first robotic arm system and the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table in the coupled state.

As a further implementation, the first robotic arm system has at least one mechanical degree of freedom and the second robotic arm system has at least one mechanical degree of freedom.

As a further implementation, the mechanical movement output by the first robotic arm system or the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table in the coupled state.

As a further implementation, the first robotic arm system has at least two mechanical degrees of freedom or the second robotic arm system has at least two mechanical degrees of freedom.

As a further implementation, a plurality of the first robotic arm systems are provided, and the plurality of first robotic arm systems are connected by a connecting rod; and the spacing between the plurality of first robotic arm systems is adjustable or not adjustable;

And/or, a plurality of second robotic arm systems are provided, and the plurality of second robotic arm systems are connected by a connecting rod; and the spacing between the plurality of second robotic arm systems is adjustable or not adjustable.

The beneficial effects of the above embodiments of the present invention are as follows:

(1) The coupled operating table system of the present invention can be in a coupled state or a separated state, eliminating the influence of the rotary actuator on the operating area. Regardless of any rotation state or body position, the operating table is supported by only one robotic arm as a rotary actuator, and its size is significantly smaller than that of the annular member + bed support frame.

(2) At any rotation angle, the robotic arm is only connected to one part of the operating table, causing minimal interference to the operating area and its surroundings.

(3) By adjusting the position and length of the robot arm where the output end is located, it is possible to avoid obstruction of the surgical area, because the working surface, bottom surface and upward side of the surgical table are all surgical areas in the oblique lateral position and lateral position.

(4) The surgical table of the present invention is supported by a robotic arm system, and there is no other setting below the surgical table that can affect X-ray fluoroscopy in the supine position; it is also very convenient to rotate to the oblique lateral position or the lateral position for X-ray fluoroscopy.

(5) The coupling state and separation state of the present invention are all controlled by full automation, which reduces the intensity of manual labor and the possibility of human error. When switching between the supine position and the prone position, it is only necessary to change to the separation state to remove the upper operating table to expose the operating area, and there is no need to manually remove the operating table above the patient's body. Similarly, after entering the coupling state, the operating table is installed in place and no manual installation is required.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

FIG1 is a schematic diagram of a side-lying position in a separated state according to an embodiment of the present invention;

FIG2 is a schematic diagram of a lateral lying position + hip and knee flexion position in a separated state according to an embodiment of the present invention;

FIG3 is a schematic diagram of a side-lying position + a folding knife position in a separated state according to an embodiment of the present invention;

4 is a schematic diagram of the position of the mechanical arm where the output end is located in the oblique lateral position + adjustment output state in the separation state of the first embodiment of the present invention;

FIG5 is a schematic diagram of a supine position in a separated state according to an embodiment of the present invention;

FIG6 is a schematic diagram of a lithotomy position in a separated state according to an embodiment of the present invention;

7 to 9 are schematic diagrams of the circumferential rotation process of the surgical table in a coupled state according to the first embodiment of the present invention;

FIG10 is a schematic diagram of a separation state of a first embodiment of the present invention;

11 to 13 are schematic diagrams of the circumferential rotation process of the surgical table in the coupled state according to the second embodiment of the present invention;

14 to 16 are schematic diagrams of the circumferential rotation process of the surgical table in the coupled state according to the third embodiment of the present invention;

17 is a schematic diagram of a horizontal position + adjusting the length of the mechanical arm where the output end is located in a separation state of the third embodiment of the present invention;

18 is a schematic diagram of an oblique lateral position + adjusting the length of the mechanical arm where the output end is located in a separation state of the third embodiment of the present invention;

19 to 21 are schematic diagrams of the circumferential rotation process of the operating table in the coupled state in the fourth embodiment of the present invention.

Among them, 1. the first robotic arm system, 2. the second robotic arm system, 3. the first rotating part, 4. the second rotating part, 5. the first operating bed board, 6. the second operating bed board, 7. the connecting rod, 8. the slide rail, 9. the side baffle, 10. the leg board, and 11. the lower limb support frame.

Detailed ways

Glossary:

A. In the coupled operating table system of the present invention, the robotic arm system supports the operating table to a set height. When the patient is in the supine initial position (lying flat), the patient's ventral side, the side away from the ground, is up; the patient's dorsal side, the side facing the ground, is down. The vertical direction is the up and down direction, that is, the direction perpendicular to the ground; the direction along the long axis of the operating table and the long axis of the patient's body, that is, the front-to-back direction, the direction of the head end and the foot end of the operating table; the lateral direction is the direction parallel to the ground and along the left and right sides of the patient. For example, the overall movement of the robotic arm system along the left and right direction is the lateral movement of the robotic arm system.

In the present invention, the function of the operating table is to support the entire body of the patient, including the head, torso, and lower limbs; the operating table is set up with a human figure as a template, therefore, the operating table includes a head fixing device (head frame), an operating table torso, and an operating table lower limb part (leg board or lower limb support frame). The working surface of the operating table refers to the side that supports the patient; the bottom surface of the operating table refers to the side that does not support the patient, the back of the working surface; the side surface refers to the left and right sides corresponding to the edge of the table; the head end and foot end of the operating table are the two ends in the front and back directions.

The rotating part can be connected to the part of the operating table board except the working surface, including the bottom surface, both sides, head and foot ends, which can meet the requirements of circumferential rotation of the operating table board; the specific selection is affected by factors such as the counterweight relationship and structural strength. For example, for an operating table with all positions including a lithotomy position, it is not advisable to set a rotating part at the foot end with a detachable leg board.

The supine initial position (flat position) in the present invention refers to the position where the patient lies supine on the operating table when the operating table is approximately parallel to the ground and begins endotracheal intubation anesthesia. This is the position at the beginning of the operation. At this time, the angle between the operating table and the ground is approximately 0°; under the action of the mechanical movement of the output end of the robotic arm system and the rotation of the rotating part, the rotating operating table and the ground generate a set angle, and according to the increase of the angle, they become the oblique lateral position (0°<angle<90°), lateral position (about 90°), and prone position (about 180°).

It should be noted that the surgical positions such as supine initial position, oblique lateral position, lateral position, and prone position are only a general description, using quantitative indicators of the angle with the ground to vividly reflect the surgical position, and it does not limit a certain position to a certain degree.

B. Circumferential rotation of the operating table: The purpose of the rotation of the operating table is to make the patient on the table rotate with the long axis of the body as the rotation axis, so as to achieve the switching of supine position, oblique lateral position, lateral position, prone position, etc. This kind of rotation of the operating table is the circumferential rotation of the operating table. The circumferential rotation of the operating table is the basis of position switching. The circumferential rotation of the operating table is divided into: circumferential rotation of the operating table in the coupled state and circumferential rotation of the operating table in the separated state.

The source power for the circumferential rotation of the operating table includes: the mechanical movement of the output end of the robotic arm system (i.e. the mechanical movement output by the robotic arm system) and the rotation of the rotating part; wherein, the mechanical movement of the output end of the robotic arm system includes: the mechanical movement of the robotic arm system (vertical sliding of the robotic arm, lateral sliding of the robotic arm, rotation of the robotic arm) and the lateral movement of the robotic arm system.

In the present invention, one rotational degree of freedom, one sliding degree of freedom (one lateral sliding degree of freedom, one vertical sliding degree of freedom), and the lateral movement of the robot system are all considered to be one mechanical degree of freedom of the robot system (rotation of the rotating part does not belong to the robot system). For example, if a robot system has one lateral sliding degree of freedom and one vertical sliding degree of freedom, it is considered that the robot system has two mechanical degrees of freedom; if it also has one rotational degree of freedom, it is considered that the robot system has three mechanical degrees of freedom; if it can also move laterally, it is considered that the robot system has four mechanical degrees of freedom.

C. Rotation of rotating parts: The rotation of rotating parts enables the operating table to rotate relative to the output end of the robot system. The operating table rotates around the rotation axis of the rotating parts, with the output end of the robot system as a support and reference. A rotating part that can rotate around one axis can meet the needs of circumferential rotation of the operating table. Of course, a rotating part that can rotate around multiple axes can add additional functions. The rotation of the rotating part and the mechanical movement of the output end of the robot system may be out of sync, but the two can work together to rotate the operating table circumferentially to achieve position switching.

D. Robotic arm system: In the present invention, in most cases, the mechanism is designed to output mechanical motion, but sometimes it can be designed not to output mechanical motion; the robotic arm system does not include the surgical table, and does not include the rotating parts between the output end of the robotic arm system and the surgical table. The mechanical motion modes of the robotic arm system include: vertical sliding, lateral sliding, and rotation. The mechanical motion of the robotic arm system is output through its output end, and the lateral motion of the robotic arm system is also output through its output end. Therefore, the mechanical motion of the output end of the robotic arm system is the result of the combined action of the mechanical motion of the robotic arm system and the lateral motion of the robotic arm system.

Regardless of whether the robotic arm system outputs mechanical motion, it has the following two functions: 1. Supporting the robotic arm system and the operating table to a set height from the ground; 2. Making the robotic arm system and the operating table stable and preventing them from overturning; the specific form of the robotic arm system can be set according to needs, and there is no limitation on its specific structure and appearance.

It should be noted that the first robot arm system and the second robot arm system of the present invention can be independently provided, or the two can be connected together, for example, a common base is provided to connect the two, a common slide rail is provided to connect the two, etc.

E. Lateral movement of the robotic arm system: refers to the lateral movement of the first robotic arm system and/or the second robotic arm system so that the left-right distance between the two changes. For example, by setting a pulley, a slide rail, etc. at the lower end of the robotic arm system, the robotic arm system as a whole can slide on the ground, thereby generating lateral movement of the robotic arm system. Although the mobility of the robotic arm system is not a necessary function, the lateral movement of the robotic arm system makes the left-right distance between the two robotic arm systems adjustable. In this case, it is actually equivalent to the robotic arm system having a lateral sliding degree of freedom, which can replace the function of the lateral sliding robotic arm set in the robotic arm system.

F. The mechanical movement output by the first robotic arm system or the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table board in the coupled state; the mechanical movement output by the first robotic arm system and the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table board in the coupled state; these are two ways in which the robotic arm system helps to achieve the circumferential rotation of the operating table board in the coupled state.

1. The mechanical motion output by the first robotic arm system or the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table in the coupled state: that is, under the premise that the two rotating parts of the coupled operating table system provide source power, in the two robotic arm systems, as long as one of the robotic arm systems can output at least two different mechanical motions, regardless of whether the other robotic arm system outputs mechanical motion, the circumferential rotation of the operating table in the coupled state can be achieved, that is, the first robotic arm system has at least two mechanical degrees of freedom or the second robotic arm system has at least two mechanical degrees of freedom.

The specific settings include:

a. The first robotic arm system has at least two sliding degrees of freedom or the second robotic arm system has at least two sliding degrees of freedom.

b. The first robotic arm system has at least one sliding degree of freedom and one rotational degree of freedom or the second robotic arm system has at least one sliding degree of freedom and one rotational degree of freedom.

c. The first robotic arm system has at least two rotational degrees of freedom or the second robotic arm system has at least two rotational degrees of freedom.

2. The mechanical motion output by the first robotic arm system and the second robotic arm system can enable the coupled operating table system to complete the circumferential rotation of the operating table board in the coupled state: that is, under the premise that the two rotating parts of the coupled operating table system provide source power, each robotic arm system provides at least one mechanical motion, and the two work together to enable the coupled operating table system to complete the circumferential rotation of the operating table board in the coupled state, that is, the first robotic arm system has at least one mechanical degree of freedom and the second robotic arm system has at least one mechanical degree of freedom.

The specific configuration in which the first robotic arm system and the second robotic arm system both have one mechanical degree of freedom includes: the first robotic arm system has a vertical sliding degree of freedom and the second robotic arm system has a lateral sliding degree of freedom; the first robotic arm system has a lateral sliding degree of freedom and the second robotic arm system has a rotational degree of freedom.

In addition, there are many specific settings with more than one mechanical degree of freedom, which are not listed here.

Of course, increasing the mechanical degrees of freedom of the robotic arm system can reduce the size of the robotic arm system and make it more flexible, and can also add additional functions. For example, after adding an additional rotational degree of freedom to the robotic arm system, the operating table can be tilted up and down (the patient's head is high and the feet are low, or the head is low and the feet are high).

G. Coupling state: After the surgical table and the corresponding robotic arm system are accurately positioned, the computer accurately controls the rotating parts and the robotic arm system; the working surface of the first surgical table and the working surface of the second surgical table are set face to face with a set distance, and the edges of the two surgical tables are adapted to form a storage space between the two. This state is called the coupling state, which can effectively limit the movement of the patient's body in the storage space. Under computer control, whether it is stationary or rotating, the face-to-face setting state formed by the two surgical tables is maintained.

It should be noted that the two operating table working surfaces are arranged face to face with a set distance. The purpose is to support the patient's abdomen and dorsal sides and limit the vertical movement of the patient's body in the accommodation space during rotation. The distance is not a constant value. According to actual application conditions, the distance needs to be adaptively adjusted. The influencing factors in actual application include: patient's body shape, elasticity and function of the covering material, etc.

A specific implementation scheme of the coupling state is listed, and the process of switching between the supine position and the prone position is as follows:

The specific process of entering the coupling state: starting from the initial supine position, the head is placed in the head fixing device to protect the head from rotating simultaneously with the body; the restraint strips and side baffles are used to effectively limit the lateral movement of the patient's body in the accommodation space; at the same time, when the patient is supine, the chest and abdomen are bulging and the lower limbs are small, and the patient's entire ventral body is covered with a covering material that does not damage the human body and has a certain degree of elasticity, and then the ventral operating bed board working surface is controlled to cover the surface of the covering material, so that the gap between the ventral bed board and the patient's ventral side is completely filled, effectively limiting the vertical movement of the patient's body in the accommodation space. At this point, the vertical and lateral movements of the patient in the accommodation space are effectively restricted.

The specific process of exiting the coupling state: after rotating to the prone position, the filler in the gap between the ventral bed board and the patient's ventral side will not interfere with the lumbar and back surgery and does not need to be handled during the operation; the computer controls the dorsal surgical bed board to move away, exit the coupling state, and after exposing the lumbar and back surgical area, the operation can be performed; after the lumbar and back surgery is completed, the dorsal surgical bed board is moved back and actually contacts the back, entering the coupling state again, switching back to the supine position, and the computer controls the ventral surgical bed board to move away, finally exiting the coupling state, and the operation is completed.

Circumferential rotation of the surgical table in the coupled state: In the coupled state, under the precise control of the computer preset program, the mechanical movement of the output end of the robotic arm system and the rotation of the rotating parts cooperate with each other. During the rotation process, the two surgical table boards rotate synchronously in the circumferential direction, and the accommodation space between the two remains stable, which can effectively limit the movement of the patient's body in the accommodation space. The circumferential rotation of the surgical table in the coupled state can complete the position switching in the range of about 0°-180°, for example, switching between the supine position and the prone position.

The above-mentioned synchronous circumferential rotation refers to the movement process from the beginning to the end when the surgical table rotates circumferentially in the coupled state, and the time taken for the movement process of the two table boards is equal. When switching between the supine position and the prone position in the coupled state, the two table boards start rotating from the supine position at the same time, and end the rotation at the same time to reach the prone position, completing the switch from the supine position to the prone position, and the time taken for the movement process of the two table boards is equal; similarly, when switching from the prone position to the supine position, the time taken is also equal.

H. Separation state: After completing the position switching using the two paired robotic arm systems, or when only one robotic arm system is needed to meet the surgical position switching needs, the two robotic arm systems can be separated left and right, or the coupled operating table system can be put into a separation state by rotating the robotic arm system and lifting the operating table board: the two operating table boards are separated until they are no longer in a face-to-face setting. After entering the separation state, the two robotic arm systems do not interfere with each other and can be used separately.

Circumferential rotation of the surgical bed in the separated state: In the separated state, the setting of each robotic arm system + rotating part + surgical bed supports the use of each system separately and can complete the circumferential rotation of the surgical bed; the body position switching in the range of about 0°-90° can be implemented, for example, the switching between the supine position, the oblique lateral position, and the lateral position. Among the source power of the circumferential rotation of the surgical bed, only the rotation of the rotating part supports the circumferential rotation of the surgical bed in the separated state. According to the different settings of the specific robotic arm system, the mechanical movement of the output end of the robotic arm system participates in the rotation process to varying degrees.

I. Pairing setting: The coupled operating table system of the present invention is paired with a pair of robotic arm systems, which can be paired left and right or front and back. Different relative position relationships do not affect its ultimate purpose: to achieve circumferential rotation of the operating table in the coupled state and jointly complete 180° body position switching. Therefore, left-right pairing or front-back pairing is only a rough relative relationship, not absolute left-right alignment or front-back alignment, because the two robotic arm systems themselves can also move.

When paired left and right, in the middle position during rotation in the coupled state (lying sideways at about 90° in the coupled state), the first robotic arm system and the second robotic arm system are separately arranged on both sides of the operating table in the coupled state; when paired front and back, in the middle position during rotation in the coupled state (lying sideways at about 90° in the coupled state), one of the robotic arm systems occupies both sides of the operating table.

J. Adjust the position and length of the mechanical arm where the output end is located: in the oblique lateral position and lateral position, the working surface, bottom surface, and upward side of the surgical bed board can all be the surgical area. At this time, the mechanical arm where the output end is located, as the only supporting structure of the surgical bed board, also affects the surgical area. The avoidance measures of the present invention include that when the mechanical arm where the output end is located is a horizontal sliding mechanical arm, the length of the mechanical arm can be adjusted to shorten. When the mechanical arm where the output end is located is a rotating mechanical arm, the surgical bed board and the mechanical arm where the output end are located can be rotated in opposite directions, and the angle between the mechanical arm where the output end is located and the upper surgical bed board can be increased to expose the upper waist surgical area. For example, during the transurethral transurethral double mirror combined lithotripsy of kidney stones, by removing the surgical bed board that blocks the waist, the upper waist is the surgical area, and increasing the angle between the mechanical arm where the output end is located and the upper surgical bed board or adjusting its length can effectively avoid obstruction to the surgical area.

Embodiment 1:

The present embodiment provides a coupled operating table system, as shown in FIGS. 7 to 10 , comprising a first robotic arm system 1 and a second robotic arm system 2 arranged in pair, wherein the output end of the first robotic arm system 1 is rotatably connected to a first operating table board 5, and the output end of the second robotic arm system 2 is rotatably connected to a second operating table board 6; so that the coupled operating table system is in: a coupled state, in which the operating table board can rotate circumferentially; or a separated state, in which the operating table board can rotate circumferentially.

In this embodiment, the first robot arm system 1 and the second robot arm system 2 are arranged in pairs on the left and right, as shown in FIG8 , in the middle position during the rotation in the coupled state (about 90° side-lying in the coupled state), the first robot arm system 1 and the second robot arm system 2 are arranged on both sides of the operating table in the coupled state. The first robot arm system 1 and the second robot arm system 2 are in the coupled state, the working surface of the first operating table 5 and the working surface of the second operating table 6 are arranged face to face, and there is a set distance between the working surfaces of the two to form a holding space, which can effectively limit the movement of the patient's body therein.

Figures 7 to 9 show the circumferential rotation process of the operating table in the coupled state. Before the rotation, the first operating table 5 is located on the upper side of the second operating table 6, and the side baffle 9 connected to the second operating table 6 serves to block the patient during the rotation; Figure 8 shows the middle position during the rotation, the first operating table 5 and the second operating table 6 rotate about 90°, so that the side baffle 9 is located on the lower side; Figure 9 shows the state after the rotation, the second operating table 6 is located on the upper side of the first operating table 5, and the side baffle 9 rotates to the right with the second operating table 6.

The separation state is shown in FIG10 , where the first robot arm system 1 and the second robot arm system 2 are separated from each other, and the two operating table boards are separated to the point where they are no longer face-to-face, and the two can be used separately without affecting each other.

The first robotic arm system 1 and the second robotic arm system 2 of this embodiment are fixed and cannot move laterally; the first robotic arm system 1 and the second robotic arm system 2 each include two rotational degrees of freedom, specifically, the first robotic arm system 1 and the second robotic arm system 2 each include two rotating robotic arms, and the rotatable robotic arms are driven by a motor.

It should be noted that only one robotic arm system with two rotational degrees of freedom is needed to support the circumferential rotation of the surgical bed in the coupled state; at this time, there is no need for another robotic arm system to provide source power, and only the rotational coordination of the rotating parts is required to achieve the circumferential rotation of the surgical bed in the coupled state.

When both robotic arm systems have two rotational degrees of freedom, their use is more flexible. You can choose to use the mechanical movement output by the first robotic arm system and the second robotic arm system, or choose to use the mechanical movement output by the first robotic arm system or the second robotic arm system. Both of them can enable the coupled operating table system to complete the circumferential rotation of the operating table in the coupled state.

As shown in Figures 7 to 10, the first robot arm system 1 and the second robot arm system 2 of this embodiment can both output mechanical motion, and the circumferential rotation of the operating bed is achieved under the synergistic effect of the mechanical motion of the output end of the robot arm system and the rotation of the rotating member. The output end of the first robot arm system 1 is connected to the first operating bed 5 through the first rotating member 3, and the output end of the second robot arm system 2 is connected to the second operating bed 6 through the second rotating member 4. The rotating member can rotate around one axis and can only support the circumferential rotation of the operating bed.

In this embodiment, the rotating member includes a connecting ear and a motor drive assembly, the connecting ear is fixed to the bottom surface of the operating table, and the output end of the robotic arm system is rotatably connected to the connecting ear through a pin shaft. The motor drive assembly includes a motor, a reducer, a coupling, an output shaft, a pin, a bearing, etc., which are conventional technical features and will not be described in detail here.

In this embodiment, the output end motion plane of the first robotic arm system and the rotation plane of the first rotating part are both in the same plane, and the output end motion plane of the second robotic arm system and the rotation plane of the second rotating part are both in the same plane, so that the mechanical motion output by the robotic arm system can cooperate with the rotation of the rotating part, thereby realizing the circumferential rotation of the operating table in the coupled state; the above two planes are the same plane.

In this embodiment, when setting up the robotic arm system, the relationship of counterweight is taken into consideration, and the robotic arm system is set in the middle area of the bottom surface of the operating table, which corresponds to the waist and hip of the patient. When the operating table is a detachable and modular type (part of the operating table is a leg frame), a robotic arm system should be set in the middle area of the operating table.

In this embodiment, the mechanical arm where the output end is located is a rotating mechanical arm, so the position of the mechanical arm where the output end is located is adjusted to avoid the obstruction of the rotating actuator to the surgical area. As shown in Figure 4, the surgical bed and the mechanical arm where the output end is located rotate in opposite directions, increasing the angle between the mechanical arm where the output end is located and the upper surgical bed, exposing the upper waist surgical area.

The operating table board can be integral or detachable and modular. The operating table board of this embodiment is detachable and modular, which is required for lithotomy and simultaneous exposure of multiple surgical sites. For example, during a kidney stone surgery in the side-lying position, the detachable operating table board that hinders the surgery can be removed during the surgery to expose the lumbar surgical area without affecting the bed board's support for the patient. The lower limbs of the operating table board are provided with detachable leg boards 10 and/or lower limb support frames 11. The leg boards 10 and lower limb support frames 11 can support the patient's legs and facilitate placing the patient's legs in different positions. One of the leg boards 10 and lower limb support frames 11 can be selectively provided, or both can be provided. The leg boards 10 can be translated, and the lower limb support frames 11 can be bent at a certain angle to accommodate the operation.

The operating table is provided with a head fixing device, a side baffle 9, a restraint belt and a covering structure. A plurality of restraint belts and covering structures can be provided, and a plurality of restraint belts are arranged at intervals on the side of the operating table. The restraint belt can bind the patient to the operating table to fix the patient. When the operating table is tilted, the patient can also be fixed to limit the left and right movement; the side baffle is detachable and can be folded to limit the left and right movement of the patient when rotating; the covering structure is made of soft material and is used to fill the gap between the patient's ventral side and the operating table; the head fixing device can adopt a head frame, which is detachable and supports and fixes the patient's head.

When using the coupled operating table system for surgery, the patient lies on the operating table and is fixed with a restraint belt. According to the needs of the operation, if the position switching in the range of about 0°-90° is to be implemented, for example, the switching between the supine position, the oblique lateral position, and the lateral position, the separation state can be entered, and a single robotic arm system can be used to adjust to the required position under the precise control of the computer for surgery; if the position switching in the range of about 0°-180° is to be implemented, for example, the switching between the supine position and the prone position, the coupling state is entered, and the two robotic arm systems are used in pairs. After adjusting to the required position, the separation state is entered, and the operation is performed after the surgical area is exposed. If the position switching is still required during the operation, the separation or coupling state is entered to switch the position as needed. Any position switching during the entire operation is performed under computer control and is fully automated.

Figures 1 to 6 show different body positions that can be implemented by a single robotic arm system, among which Figure 1 is a lateral lying position in a separated state, Figure 2 is a lateral lying position + hip and knee flexion position in a separated state, Figure 3 is a lateral lying position + knife folding position in a separated state, Figure 4 is a schematic diagram of an oblique lateral lying position + adjusting the position of the robotic arm where the output end is located in the separated state, Figure 5 is a supine position in a separated state, and Figure 6 is a lithotomy position in a separated state.

In this embodiment, the circumferential rotation of the operating table in the coupled state is performed under the precise control of a preset computer program. The paired use of two robotic arm systems can complete body position switching in the range of approximately 0°-180°, for example, switching between supine and prone positions. Positioning and ranging devices are set at multiple parts of the coupled operating table system, and the computer system processes and precisely controls the robotic arm system and rotating parts. In order for the computer system to accurately control the circumferential rotation of the operating table in the coupled state, the variables that affect the precise control should be minimized, and the corresponding measures include: 1. The two robotic arm systems have the same structure, size, and function. 2. A fixed track is set under the two robotic arm systems, and coupling and separation are achieved by sliding the track. 3. Positioning points are set on the ground, etc.

The coupled operating table system of this embodiment can be in a coupled state or a separated state, eliminating the influence of the rotating actuator on the operating area. Regardless of any rotation state or body position, the operating table is supported by only one mechanical arm as a rotating actuator, and its size is significantly smaller than that of the annular member + table support frame. Moreover, at any rotation angle, the mechanical arm is only connected to one part of the operating table, which has minimal interference with the operating area and the surrounding area.

Embodiment 2:

This embodiment provides a coupled operating table system, as shown in Figures 11-13, which differs from the first embodiment in that: the first robotic arm system 1 has a vertically sliding robotic arm, and the second robotic arm system 2 has a non-movable robotic arm; the first robotic arm system 1 and the second robotic arm system 2 can both move laterally, and the two achieve lateral movement through a common slide rail 8.

In this embodiment, the length of the first robotic arm system 1 is adjustable, which helps to reduce the size of the operating table system; the robotic arm is driven by a multi-section retractable hydraulic motor/pneumatic motor, which should include: a motor, a coupling, an output shaft, pins, bearings, etc., which belongs to the prior art and will not be repeated here.

In this embodiment, the lateral movement of the robot system is achieved by means of a common slide rail, and two methods can be provided to achieve the circumferential rotation of the operating table in the coupled state: 1. The first robot system 1 has a vertical sliding robot and lateral movement of the robot system, and the method of using the mechanical movement output by the first robot system or the second robot system can be selected; 2. The first robot system 1 has a vertical sliding robot, and the second robot system 2 can move laterally, and the method of using the mechanical movement output by the first robot system and the second robot system can be selected.

Embodiment three:

This embodiment provides a coupled operating table system, as shown in Figures 14 to 18, which differs from the first embodiment in that: 1. The first robotic arm system 1 and the second robotic arm system 2 both include vertically sliding and horizontally sliding robotic arms, that is, there are two linear sliding degrees of freedom; the length of the robotic arm is adjustable. 2. A plurality of first robotic arm systems 1 and a plurality of second robotic arm systems 2 are provided, and adjacent first robotic arm systems 1 are connected by connecting rods 7, and the spacing between the first robotic arm systems 1 is not adjustable; adjacent second robotic arm systems 2 are connected by connecting rods 7, and the spacing between the second robotic arm systems 2 is not adjustable.

Of course, in other embodiments, the spacing between the first robotic arm systems 1 is set to be adjustable, and the spacing between the second robotic arm systems 2 is set to be adjustable.

Specifically, the linear sliding mechanical arm is driven by a multi-section retractable hydraulic motor/pneumatic motor, which should include: a motor, a coupling, an output shaft, a pin, a bearing, etc. The length of the linear sliding mechanical arm is adjustable.

As shown in FIGS. 14 to 16 , two first robotic arm systems 1 are provided, and the first operating table 5 is connected to the two first robotic arm systems 1 ; two second robotic arm systems 2 are also provided, and the second operating table 6 is connected to the two second robotic arm systems 2 .

It should be noted that the connecting rod 7 of the operating table refers to a device that only needs to have the following functions: connecting and fixing multiple robotic arm systems so that they can move synchronously; it is arranged below the robotic arm system and does not affect X-ray examination in the supine position.

In this embodiment, the mechanical arm where the output end is located is a horizontal sliding mechanical arm, so the length of the mechanical arm where the output end is located is adjusted to avoid the obstruction of the rotary actuator to the surgical area. As shown in Figures 17 and 18, the obstruction to the lumbar surgical area is reduced by shortening the length of the horizontal sliding mechanical arm.

Embodiment 4:

The present embodiment provides a coupled operating table system, as shown in Figures 19 to 21, which differs from the first embodiment in that: the first robotic arm system 1 is provided with a rotating robotic arm; the second robotic arm system 2 is provided with a vertically sliding robotic arm, and a slide rail 8 is provided under the second robotic arm system 2, so that the second robotic arm system 2 can move laterally; at the same time, the first robotic arm system 1 and the second robotic arm system 2 of the present embodiment are arranged in a front-to-back pair, and in the middle position during rotation in the coupled state (approximately 90° sideways in the coupled state), the first robotic arm system 1 occupies both sides of the operating table.

In this embodiment, the output end motion plane of the first robotic arm system and the rotation plane of the first rotating part are both in the same plane, and the output end motion plane of the second robotic arm system and the rotation plane of the second rotating part are both in the same plane, so that the mechanical motion output by the robotic arm system can cooperate with the rotation of the rotating part, thereby realizing the circumferential rotation of the operating table in the coupled state; the above two planes are parallel to each other, and the circumferential rotation of the operating table in the coupled state can also be realized.

Among them, the vertical sliding robotic arm of the second robotic arm system 2 is driven by a multi-section retractable hydraulic motor/pneumatic motor; in this way, the vertical sliding and lateral movement of the robotic arm of the second robotic arm system 2 cooperate with each other to realize the circumferential rotation of the operating table in the coupled state; of course, the rotating robotic arm provided in the first robotic arm system 1 can also participate in the circumferential rotation of the operating table in the coupled state.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (4)

1. A coupled surgical table system comprising a mating arrangement: the output end of the first mechanical arm system is rotationally connected with the first operation bed board; the output end of the second mechanical arm system is rotationally connected with the second operation bed board;

So that the coupled operating table system is in: the coupling state is adopted, and the operation bed board can rotate circumferentially in the coupling state; or, in a separated state, the surgical bed plate can be rotated circumferentially in the separated state;

the coupling state means that the first operation bed board working face and the second operation bed board working face are arranged face to face at a set interval, an accommodating space is formed between the first operation bed board working face and the second operation bed board working face, and the movement of a patient body in the accommodating space can be limited;

The surgical bed board rotates circumferentially in the coupling state, and in the coupling state, the first surgical bed board and the second surgical bed board rotate circumferentially synchronously in the rotating process, and the accommodating space between the first surgical bed board and the second surgical bed board is kept stable, so that the body of a patient can be limited to move in the accommodating space;

The first robotic arm system having at least two sliding mechanical degrees of freedom and the first robotic arm system being capable of outputting at least two different mechanical movements, comprising: sliding vertically and laterally; alternatively, the second robotic arm system has at least two degrees of sliding mechanical freedom, and the second robotic arm system is capable of outputting at least two different mechanical movements, comprising: sliding vertically and laterally;

Alternatively, the first robotic arm system has at least one sliding mechanical degree of freedom, one rotating mechanical degree of freedom, and the first robotic arm system is capable of outputting at least two different mechanical movements, comprising: rotating, vertically sliding and transversely sliding; or, the second mechanical arm system has at least one sliding mechanical degree of freedom, one rotating mechanical degree of freedom, and the second mechanical arm system is capable of outputting at least two different mechanical movements, comprising: rotating, vertically sliding and transversely sliding;

Or the first mechanical arm system has at least two rotational mechanical degrees of freedom, and can output at least two different mechanical movements, including rotation, vertical sliding and transverse sliding; or the second mechanical arm system has at least two rotational mechanical degrees of freedom, and the second mechanical arm system can output at least two different mechanical movements, including rotation, vertical sliding and transverse sliding;

or, the first mechanical arm system has at least one vertical sliding mechanical degree of freedom, and the first mechanical arm system outputs at least one mechanical motion, including vertical sliding; and, the second robotic arm system has at least one lateral sliding mechanical degree of freedom, and the second robotic arm system outputs at least one mechanical motion comprising a lateral sliding;

Or, the first mechanical arm system has at least one lateral sliding mechanical degree of freedom, and the first mechanical arm system outputs at least one mechanical motion, including lateral sliding; and the second mechanical arm system has at least one rotational mechanical degree of freedom, and the second mechanical arm system outputs at least one mechanical motion including rotation and forms an output end motion plane.

2. The coupled surgical table system of claim 1, wherein a first rotating member is disposed between the output end of the first robotic arm system and the first surgical bed plate, the first rotating member being configured to rotate the first surgical bed plate circumferentially; a second rotating piece is arranged between the output end of the second mechanical arm system and the second surgical bed board, and the second rotating piece can enable the second surgical bed board to circumferentially rotate.

3. The coupled surgical table system of claim 1, wherein the first robotic arm system and the second robotic arm system are paired right and left.

4. The coupled surgical table system of claim 1, wherein the first robotic arm system is provided in plurality, the plurality of first robotic arm systems being connected by a connecting rod; and the spacing between the plurality of first robotic arm systems may be adjustable or non-adjustable;

And/or a plurality of second mechanical arm systems are arranged and are connected through connecting rods; and the spacing between the plurality of second robotic arm systems may or may not be adjustable.